CN111248816A - Indoor comprehensive sweeping robot and control method thereof - Google Patents
Indoor comprehensive sweeping robot and control method thereof Download PDFInfo
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- CN111248816A CN111248816A CN202010069651.1A CN202010069651A CN111248816A CN 111248816 A CN111248816 A CN 111248816A CN 202010069651 A CN202010069651 A CN 202010069651A CN 111248816 A CN111248816 A CN 111248816A
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- chassis
- longitudinal telescopic
- upper cover
- sweeping robot
- longitudinal
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4077—Skirts or splash guards
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
The invention discloses an indoor comprehensive sweeping robot which comprises a chassis and an upper cover, wherein the chassis and the upper cover are connected through a longitudinal telescopic mechanism to control the upper cover to lift, a collision baffle is arranged on the front side of the upper cover, distance measuring sensors are arranged on the left side and the right side of the upper cover, the collision baffle and the upper cover are connected through a collision sensing part, the chassis is provided with a driving wheel, a driven wheel, an adsorption roller exposed out of the lower surface of the chassis and a rolling sweeping dust collection device, an electrostatic generator is arranged inside the adsorption roller, a flow guide scraper plate is arranged at the top of the adsorption roller, the rear end of the flow guide scraper plate extends to an opening of a garbage storage box, the chassis is provided with a longitudinal telescopic steering device, and the longitudinal telescopic steering device can jack up the chassis. The invention also discloses a control method of the indoor comprehensive sweeping robot. According to the sweeping robot, when the sweeping robot turns, the adsorption roller is far away from the ground, the overall height of the sweeping robot is kept unchanged, the possibility of hair winding is reduced, and the problem that the sweeping robot is stuck under furniture is also avoided.
Description
Technical Field
The invention relates to a sweeping robot and a control method thereof, in particular to an indoor comprehensive sweeping robot and a control method thereof.
Background
At present, the living conditions of people are continuously improved, and the people need to regularly and frequently clean the indoor garbage with time and labor, wherein the garbage mainly comprises dust, fine debris and alopecia. And more people of domestic pets, and the domestic health of animals is worried due to the natural hair loss of animals. The sweeping robot common in the market sucks garbage through the rolling sweeping device and the air exhaust system, when the sweeping robot meets more human and animal hairs, the hairs are easy to wind on the rolling sweeping device to influence the rolling of the rolling sweeping device, so that the sweeping effect is influenced, dust cannot be effectively swept, the hairs cannot be swept, and the sweeping efficiency of the sweeping robot is lowered. In addition, the sweeping robot can rotate on the spot when turning on the spot, so that hairs are easy to be wound.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an indoor comprehensive sweeping robot, which solves the problem that hairs are easy to be wound when the sweeping robot is used for sweeping. The invention aims to provide a control method of an indoor comprehensive sweeping robot.
The technical scheme of the invention is as follows: the indoor sweeping robot for comprehensive cleaning comprises a chassis and an upper cover, wherein a longitudinal telescopic gap is formed between the chassis and the upper cover, the chassis and the upper cover are connected through a longitudinal telescopic mechanism, the longitudinal telescopic mechanism controls the size of the longitudinal telescopic gap, a collision baffle is arranged on the front side of the upper cover, distance measuring sensors are arranged on the left side and the right side of the upper cover, a transverse gap is formed between the collision baffle and the chassis, the collision baffle and the upper cover are connected through a collision sensing part, the chassis is provided with a driving wheel and a driven wheel for driving the sweeping robot to move on the bottom surface, a longitudinal telescopic steering device is arranged on the chassis and comprises a foot plate, a rotating motor and a longitudinal telescopic shaft, the foot plate is connected with the rotating shaft of the rotating motor, and a stator of the rotating motor is fixedly connected with the telescopic end of the longitudinal telescopic shaft, the fixed end of the longitudinal telescopic shaft is connected with the chassis, the foot plate extends downwards from the lower surface of the chassis when the longitudinal telescopic shaft extends, an adsorption roller exposed out of the lower surface of the chassis is arranged in front of the longitudinal telescopic steering device on the chassis, an electrostatic generator is arranged inside the adsorption roller, a flow guide scraper blade is arranged at the top of the adsorption roller and opposite to the rolling direction of the adsorption roller, the front end of the flow guide scraper blade is arranged to be clung to the surface of the adsorption roller, the rear end of the flow guide scraper blade extends to the opening of a garbage storage box, the garbage storage box is arranged in the chassis, a rolling sweeping dust collection device is arranged at the rear of the longitudinal telescopic steering device on the chassis, and the rolling sweeping dust collection device comprises a strip-shaped groove with an opening at the bottom, a rolling brush, a dust collection drawer, a filter screen cloth and an air exhaust fan, the bar recess set up in the bottom on chassis, the round brush set up in the bar recess and the axis of rotation of round brush is the level setting, bar recess rear side is equipped with the roll and sweeps the opening, the collection dirt drawer set up in the roll sweeps the opening part, the front side of collection dirt drawer sets up the collection dirt entry, the collection dirt entry with the roll is swept the opening and is laminated mutually, the rear side of collection dirt drawer sets up filter screen cloth, filter screen cloth's rear side sets up exhaust fan.
Furthermore, the longitudinal projection of the chassis is circularly arranged, and the longitudinal telescopic steering device is arranged at the circle center of the longitudinal projection of the chassis.
Furthermore, the longitudinal telescopic mechanism comprises a cross beam, an electromagnetic coil, a spring and an armature, the cross beam is fixedly connected with the chassis, the electromagnetic coil is wound on the cross beam, the armature is fixedly connected with the upper cover and is positioned above the electromagnetic coil, and two ends of the spring are respectively connected with the cross beam and the upper cover.
Furthermore, the crossbeam is provided with a slide hole, the upper cover is provided with a slide column, and the slide column is arranged in the slide hole and is in longitudinal sliding fit with the slide hole.
Further, the collision sensing part includes transverse tentacle, transverse guide cylinder, fixed utmost point and inductor spring, fixed utmost point fixed mounting be in the transverse guide cylinder, transverse guide cylinder fixed connection in the upper cover, transverse tentacle fixed connection in the collision baffle, transverse tentacle set up in the transverse guide cylinder with the transverse guide cylinder is transverse sliding fit, the both ends of inductor spring connect respectively in the front end of transverse guide cylinder with the inboard of collision baffle, transverse tentacle with constitute switching signal's closed loop when the fixed utmost point contacts.
Furthermore, a shovel brush extending towards the ground and touching the ground is arranged on the rear side of the strip-shaped groove, rake teeth extending downwards are arranged on the top wall of the strip-shaped groove, bristles for cleaning the ground are arranged on the rolling brush, and the bottom ends of the rake teeth are in contact with the bristles of the rolling brush.
Further, the upper cover is provided with a movable cover plate, the garbage storage box and the dust collection drawer are located below the movable cover plate, the garbage storage box is connected with the chassis in a clamped mode, and the dust collection drawer is connected with the chassis in a clamped mode.
The utility model provides a control method of robot of sweeping floor is cleaned in indoor synthesis, control method is based on above-mentioned robot of sweeping floor is gone on in indoor synthesis, when the robot of sweeping floor need turn to, the shrink of vertical telescopic machanism reduces vertical flexible clearance, the extension of vertical telescopic shaft makes the foot dish follow the lower surface of chassis stretches out downwards and touches ground and jack-up the chassis, after the rotating electrical machines rotated the steering angle vertical telescopic shaft shortens to withdraw the foot dish makes the chassis descends, finally the extension of vertical telescopic machanism resumes the original size in vertical flexible clearance.
The technical scheme provided by the invention has the advantages that the adsorption roller is arranged in front of the rolling broom dust collection device, firstly adsorbs hairs, then performs rolling broom, simultaneously adsorbs the hairs in an electrostatic adsorption mode, and combines with the in-situ jacking and steering of the sweeping robot, so that when the robot steers, the gaps between the adsorption roller and the rolling broom dust collection device and the ground are increased, adsorption is reduced, and the problem of hair winding caused by simultaneous rolling and rotating of the rolling broom device during in-situ steering in the prior art is avoided. When the chassis of the sweeping robot is jacked up and turned, the height of the upper cover is unchanged, the sweeping robot can be prevented from being stuck at the bottom of a furniture due to height change after jacking, if the jamming occurs during normal sweeping, the overall height can be reduced by reducing the upper cover, and the problem of sweeping failure is reduced.
Drawings
Fig. 1 is a schematic view of a bottom view structure of an indoor comprehensive cleaning and sweeping robot.
Fig. 2 is a schematic structural diagram of an indoor comprehensive sweeping robot in a top view.
Fig. 3 is a schematic view of fig. 1 in the direction of M.
Fig. 4 is a schematic view of the structure of the collision sensing part.
Fig. 5 is a schematic structural view of the longitudinal telescopic steering device.
Fig. 6 is a schematic structural view of the longitudinal telescopic mechanism.
Fig. 7 is a schematic diagram of a cleaning path of the indoor comprehensive cleaning and sweeping robot.
Detailed description of the invention
The present invention is further illustrated by the following examples, which are not to be construed as limiting the invention thereto.
Referring to fig. 1 to 6, a specific structure of the indoor comprehensive cleaning robot according to the embodiment of the present invention includes a chassis 29 and an upper cover 20, and a longitudinal telescopic gap is provided between the chassis 29 and the upper cover 20 for the upper cover 20 to move up and down. The chassis 29 and the upper cover 20 are connected through a longitudinal telescopic mechanism 103, and the longitudinal telescopic mechanism controls the size of a longitudinal telescopic gap. As shown in fig. 6, the longitudinal telescoping mechanism 103 includes a cross beam 36, an electromagnetic coil 30, a conical spring 31 and an armature 35, the cross beam 36 is fixedly connected with the chassis 29, the electromagnetic coil 30 is wound on the cross beam 36, and the armature 35 is fixedly connected with the upper cover 20 and located above the electromagnetic coil 30. The conical spring 31 has a large end attached to the cross member 36 and a small end attached to the upper cover 20. The cross beam 36 is provided with a left slide hole 33 and a right slide hole 33, the upper cover 20 is correspondingly provided with two slide columns 32, and the slide columns 32 are arranged in the slide holes 33 and are in longitudinal sliding fit with the slide holes 33. When the electromagnetic coil 30 is electrified, the armature 35 moves downwards and compresses the conical spring 31, the sliding column 32 moves downwards along the sliding hole 33, and finally the armature 35 is attracted with the electromagnetic coil 30. The attraction of the armature 35 and the electromagnetic coil 30 drives the upper cover 20 to move downward for a certain distance, so that the overall height of the indoor comprehensive sweeping robot is reduced.
The front side of the upper cover 20 is provided with a collision baffle plate 1, the left side and the right side of the upper cover 20 are provided with distance measuring sensors 5, and a transverse gap is arranged between the collision baffle plate 1 and the chassis 29 for the collision baffle plate 1 to move transversely. The collision barrier 1 and the upper cover 20 are connected by a collision sensing member 101. As shown in fig. 4, the collision sensing part 101 includes a lateral tentacle 22, a lateral guide cylinder 23, a fixed pole 24, and a sensor spring 21. The fixed pole 24 is fixedly installed in the transverse guide cylinder 23, and the transverse guide cylinder 23 is fixedly connected to the upper cover 20. The transverse tentacle 22 is fixedly connected to the collision baffle 1, and the transverse tentacle 22 is arranged in the transverse guide cylinder 23 in transverse sliding fit. Both ends of the inductor spring 21 are connected to the front end of the lateral guide cylinder 23 and the inside of the impact barrier 1, respectively. When the collision baffle 1 is not collided by an obstacle such as a wall 27, the transverse tentacle 22 is separated from the fixed pole 24 under the elastic force of the sensor spring 21; when the collision baffle 1 is collided by an obstacle such as a wall 27, the impact force overcomes the elastic force of the sensor spring 21 to enable the transverse tentacle 22 to be in contact with the fixed pole 24, the transverse tentacle 22 and the fixed pole form a closed loop of a switching signal, and the collision electric signal is sent to the electronic control unit 28. The longitudinal projection of the chassis 29 is arranged in a circle, and a longitudinal telescopic steering device 102 is arranged at the center of the longitudinal projection of the chassis 29. As shown in fig. 5, the longitudinal telescopic steering apparatus 102 includes a foot plate 15, a rotating motor 14 with a rotating shaft arranged longitudinally, and a longitudinal telescopic shaft. The longitudinal telescopic shaft is composed of a linear motor 13, a foot disc 15 is connected with a rotating shaft 12 of the rotating motor 14, a stator of the rotating motor 14 is fixedly connected with a telescopic end of the longitudinal telescopic shaft (namely a rotor 25 of the linear motor 13), a fixed end of the longitudinal telescopic shaft (namely the stator of the linear motor 13) is connected with a chassis 29, and the foot disc extends downwards from the lower surface of the chassis 29 when the longitudinal telescopic shaft extends.
The chassis 29 of the indoor comprehensive sweeping robot is provided with a driving wheel 6 and a driven wheel 9 for driving the sweeping robot to move on the ground, a driving wheel driving motor 8 drives the two driving wheels 6 through a driving wheel shaft 7, and the two driven wheels 9 are connected through a driven wheel shaft 10. The driving wheel 6 and the driven wheel 9 are respectively positioned at the front side and the rear side of the longitudinal telescopic mechanism. On the chassis 29, the adsorption roller 3 is arranged on the front side of the longitudinal telescopic mechanism, the driving wheel 6 and the driven wheel 9 on the longitudinal telescopic steering device 102, and the rolling dust collection device is arranged on the rear side of the longitudinal telescopic steering device 102. One end of the roller electrostatic generator 4 is rigidly connected with the stator of the driving motor 2, the other end of the roller electrostatic generator 4 is connected with the inner ring of the adsorption roller bearing 11, and the roller electrostatic generator 4 does not rotate. One end of the adsorption roller 3 is rigidly connected with the rotor of the driving motor 2, and the other end of the adsorption roller 3 is connected with the outer end of the adsorption roller bearing 11. The roller electrostatic generator 4 is electrically connected with the electronic control unit 28 to generate charges with constant polarity, and the electrostatic shielding effect generates charges with opposite polarity on the rotating adsorption roller 3, so that the charges with opposite polarity on the adsorption roller 3 can adsorb ground hair and adsorbable garbage. The top of adsorption cylinder 3 and adsorption cylinder 3's rolling direction are provided with water conservancy diversion scraper blade 18 relatively, and the surface setting of adsorption cylinder 3 is hugged closely to the front end of water conservancy diversion scraper blade 18, and the rear end of water conservancy diversion scraper blade 18 extends to the opening of rubbish receiver 19.
The rolling dust collector comprises a strip-shaped groove 45 with an opening at the bottom, a rolling brush 37, a dust collection drawer 43, a filter screen cloth 40 and an air suction fan 41. The strip-shaped groove 45 is formed in the bottom of the chassis 29, the rolling brush 37 is arranged in the strip-shaped groove, the rotating shaft of the rolling brush is horizontally arranged, the rolling brush 37 and the rolling brush bearing 44 are connected into a whole, and the rolling brush bearing 44 is driven by an independent motor to drive the rolling brush 37 to rotate and clean. The strip recess 45 rear side is equipped with and rolls the opening of sweeping, and collection dirt drawer 43 sets up in rolling the opening part of sweeping, and the front side of collection dirt drawer 43 sets up a collection dirt entry, and collection dirt entry and roll sweep the opening and laminate mutually, and the rear side of collection dirt drawer 43 sets up filter screen cloth 40, and the rear side of filter screen cloth 40 sets up air exhaust fan 41, and air exhaust fan 41 drives rotatoryly through an independent motor. Air outlet holes 42 are installed at the side of the base plate 29 to facilitate the discharge of air filtered from the filter cloth net 40. The rear side of the strip-shaped groove 45 is provided with a shovel brush 38 which extends towards the ground and touches the ground, and the shovel brush 38 contacts the ground when the sweeping trolley moves, so that the garbage is gathered, and the garbage is prevented from being left to the maximum extent. The top wall of the strip-shaped groove 45 is provided with rake teeth 39 extending downwards, the rolling brush 44 is provided with bristles for cleaning the ground, the bottom ends of the rake teeth 39 are in contact with the bristles of the rolling brush 37, and when the rolling brush bearing 44 rotates, the rake teeth 39 can scrape garbage stuck on the rolling brush 37.
The adsorption drum 3 and the rolling brush 37 rotate in the same direction. Garbage storage box 19 and dust collection drawer 43 are arranged in chassis 29 in a clamping manner, so that the garbage storage box and the dust collection drawer are convenient to detach and clean. The upper lid 20 is provided with a front flap 16a and a rear flap 16b, the garbage storage box 19 is positioned below the front flap 16a, and the dust collection drawer 43 is positioned below the rear flap 16 b. The hair adsorbed on the adsorption roller 3 is scraped off when moving to the diversion scraper 18 along with the rotation of the adsorption roller 3, and is stored in the garbage storage box 19 a; the garbage swept by the rolling brush 37 enters the dust collection drawer 43 under the action of the air suction fan 41; the front flap 16a is manually opened along the front hinge 17a, and the garbage storage box 19a can be manually taken out; the dust collection drawer 43 can be manually removed by manually opening the rear flap 16b along the rear hinge 17 b.
As shown in fig. 7, the cleaning path of the indoor comprehensive cleaning robot is as follows: in a specific area, the indoor comprehensive cleaning and sweeping robot moves forwards from point C to point D along a path 26a and collides with a wall 27, the electronic control unit 28 receives a collision electric signal to enable the longitudinal telescopic steering device to act and steer, and the longitudinal telescopic mechanism 103 contracts to reduce the longitudinal telescopic gap between the chassis 29 and the upper cover 20, so that the upper cover 20 descends for a certain distance, and the overall height is reduced. The linear motor acts to drive the longitudinal telescopic shaft to extend to enable the foot plate to extend downwards from the lower surface of the chassis 29 to touch the ground and jack up the chassis 29, the longitudinal telescopic shaft shortens and retracts the foot plate to enable the chassis 29 to descend after the rotary motor rotates rightwards by a steering angle, and finally the longitudinal telescopic mechanism extends to recover the original size of the longitudinal telescopic gap to complete steering. After the turning is finished, the indoor comprehensive cleaning and sweeping robot moves for a set distance to reach the point E, the electric control unit 28 controls the longitudinal telescopic mechanism to cooperate with the longitudinal telescopic turning device to move again to turn, at the moment, the indoor comprehensive cleaning and sweeping robot actually completes a turning motion, after the turning motion is finished, the indoor comprehensive cleaning and sweeping robot moves forwards from the point E to the point F along the path 26b, and after the turning motion is finished, the turning, the forward movement and the turning are carried out again after touching the wall, so that the turning is finished, and the back-and-forth cleaning in the area is realized.
Claims (8)
1. The indoor sweeping robot capable of comprehensively cleaning is characterized by comprising a chassis and an upper cover, wherein a longitudinal telescopic gap is formed between the chassis and the upper cover, the chassis and the upper cover are connected through a longitudinal telescopic mechanism, the longitudinal telescopic mechanism controls the size of the longitudinal telescopic gap, a collision baffle is arranged on the front side of the upper cover, distance measuring sensors are arranged on the left side and the right side of the upper cover, a transverse gap is formed between the collision baffle and the chassis, the collision baffle and the upper cover are connected through a collision sensing component, the chassis is provided with a driving wheel and a driven wheel for driving the sweeping robot to move on the bottom surface, the chassis is provided with a longitudinal telescopic steering device, the longitudinal telescopic steering device comprises a foot plate, a rotating motor and a longitudinal telescopic shaft, the rotating motor is longitudinally arranged on the rotating shaft, and the foot plate is connected with the rotating shaft of the rotating motor, the stator of the rotating motor is fixedly connected with the telescopic end of the longitudinal telescopic shaft, the fixed end of the longitudinal telescopic shaft is connected with the chassis, the foot plate extends downwards from the lower surface of the chassis when the longitudinal telescopic shaft extends, an adsorption roller exposed out of the lower surface of the chassis is arranged in front of the longitudinal telescopic steering device on the chassis, an electrostatic generator is arranged inside the adsorption roller, a flow guide scraper blade is arranged at the top of the adsorption roller and opposite to the rolling direction of the adsorption roller, the front end of the flow guide scraper blade is tightly attached to the surface of the adsorption roller, the rear end of the flow guide scraper blade extends to the opening of a garbage storage box, the garbage storage box is arranged in the chassis, a rolling sweeping dust collection device is arranged behind the longitudinal telescopic steering device on the chassis, and the rolling sweeping dust collection device comprises a strip-shaped groove, Round brush, collection dirt drawer, filter screen cloth and air exhaust fan, the bar recess set up in the bottom on chassis, the round brush set up in the bar recess and the axis of rotation of round brush is the level setting, bar recess rear side is equipped with to roll sweeps the opening, collection dirt drawer set up in roll sweep the opening part, the front side of collection dirt drawer sets up an album dirt entry, collection dirt entry with roll sweep the opening and laminate mutually, the rear side of collection dirt drawer sets up filter screen cloth, filter screen cloth's rear side sets up air exhaust fan.
2. The indoor comprehensive cleaning robot as claimed in claim 1, wherein the longitudinal projection of the chassis is circularly arranged, and the longitudinal telescopic steering device is arranged at the center of the longitudinal projection of the chassis.
3. The indoor comprehensive cleaning robot according to claim 1, wherein the longitudinal telescopic mechanism comprises a beam, an electromagnetic coil, a spring and an armature, the beam is fixedly connected with the chassis, the electromagnetic coil is wound on the beam, the armature is fixedly connected with the upper cover and positioned above the electromagnetic coil, and two ends of the spring are respectively connected with the beam and the upper cover.
4. The indoor comprehensive cleaning robot according to claim 3, wherein the beam is provided with a slide hole, the upper cover is provided with a slide column, and the slide column is arranged in the slide hole and is in longitudinal sliding fit with the slide hole.
5. The indoor comprehensive cleaning and sweeping robot according to claim 1, wherein the collision sensing component comprises a transverse tentacle, a transverse guide cylinder, a fixed pole and a sensor spring, the fixed pole is fixedly installed in the transverse guide cylinder, the transverse guide cylinder is fixedly connected to the upper cover, the transverse tentacle is fixedly connected to the collision baffle, the transverse tentacle is arranged in the transverse guide cylinder and is in transverse sliding fit with the transverse guide cylinder, two ends of the sensor spring are respectively connected to the front end of the transverse guide cylinder and the inner side of the collision baffle, and the transverse tentacle and the fixed pole form a closed loop of a switching signal when in contact.
6. The indoor comprehensive sweeping robot according to claim 1, wherein the rear side of the bar-shaped groove is provided with a shovel brush extending towards and touching the ground, the top wall of the bar-shaped groove is provided with a rake extending downwards, the roller brush is provided with bristles for sweeping the ground, and the bottom end of the rake is in contact with the bristles of the roller brush.
7. The indoor comprehensive sweeping robot of claim 1, wherein the upper cover is provided with a movable cover plate, the garbage storage box and the dust collection drawer are positioned below the movable cover plate, the garbage storage box is clamped with the chassis, and the dust collection drawer is clamped with the chassis.
8. The control method is based on the indoor comprehensive sweeping robot in any one of claims 1 to 7, and is characterized in that when the indoor comprehensive sweeping robot needs to turn, the longitudinal telescopic mechanism contracts to reduce the longitudinal telescopic gap, the longitudinal telescopic shaft extends to enable the foot disc to extend downwards from the lower surface of the chassis to touch the ground and jack up the chassis, the longitudinal telescopic shaft shortens and retracts the foot disc to enable the chassis to descend after the rotating motor rotates a turning angle, and finally the longitudinal telescopic mechanism extends to recover the original size of the longitudinal telescopic gap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010069651.1A CN111248816B (en) | 2020-01-21 | 2020-01-21 | Indoor comprehensive sweeping robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010069651.1A CN111248816B (en) | 2020-01-21 | 2020-01-21 | Indoor comprehensive sweeping robot and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111248816A true CN111248816A (en) | 2020-06-09 |
| CN111248816B CN111248816B (en) | 2021-10-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010069651.1A Active CN111248816B (en) | 2020-01-21 | 2020-01-21 | Indoor comprehensive sweeping robot and control method thereof |
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| Country | Link |
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| CN (1) | CN111248816B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022142393A1 (en) * | 2020-12-28 | 2022-07-07 | 追觅创新科技(苏州)有限公司 | Collision plate structure and robot vacuum cleaner |
Citations (5)
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| US20110162157A1 (en) * | 2010-01-06 | 2011-07-07 | Evolution Robotics, Inc. | Apparatus for holding a cleaning sheet in a cleaning implement |
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| WO2022142393A1 (en) * | 2020-12-28 | 2022-07-07 | 追觅创新科技(苏州)有限公司 | Collision plate structure and robot vacuum cleaner |
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| Publication number | Publication date |
|---|---|
| CN111248816B (en) | 2021-10-19 |
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