CN111266325A

CN111266325A - Method for cleaning robot to constantly follow long-edge zigzag cleaning path

Info

Publication number: CN111266325A
Application number: CN201911161538.XA
Authority: CN
Inventors: 吴清健; 陈应洪
Original assignee: Shenzhen Monster Robot Co ltd
Current assignee: Shenzhen Monster Robot Co ltd
Priority date: 2019-11-22
Filing date: 2019-11-22
Publication date: 2020-06-12
Anticipated expiration: 2039-11-22
Also published as: CN111266325B

Abstract

The invention relates to a method for cleaning a long-edge bow-shaped cleaning path of a robot by a cleaning robot, which comprises the following steps: s1: establishing a map, and setting a cleaning robot to be placed in a designated position area at the bottom of a first photovoltaic array area needing cleaning in the map; s2: reading a two-dimensional rectangular map of the designated position area, and calculating the side length of the map of the designated position area; s3: the cleaning robot advances along the long side of the designated area map, and turns towards the uncleaned side after reaching the short side; s4: the cleaning robot turns and then moves forward for a specific distance, and the cleaning robot continues to drive along the original long edge forward direction for cleaning; s5: and cleaning along the horizontal direction of the long edge is circulated until the opposite angle of the original starting point is reached, and cleaning of all photovoltaic array areas is completed so as to achieve the aim that the cleaning path is constantly in a bow shape along the long edge in the cleaning process. The photovoltaic cleaning robot can improve the cleaning efficiency of the photovoltaic cleaning robot so as to achieve the purposes of autonomous walking cleaning, manpower saving and power station maintenance cost reduction.

Description

Method for cleaning robot to constantly follow long-edge zigzag cleaning path

Technical Field

The embodiment of the invention relates to the technical field of cleaning robots, in particular to a method for cleaning a long-edge bow-shaped cleaning path of a cleaning robot.

Background

Solar photovoltaic has become an important power of energy revolution in the world as a renewable clean energy. The surface of the solar cell panel is easy to accumulate dirt such as wind sand, dust and the like, and if the solar cell panel is not timely cleaned scientifically and professionally, the generated power of the module is reduced by 40% -60% to the maximum extent, and the generated energy is reduced by 20% -30%. Therefore, the concept of improving the power generation capacity and the benefit of the power station by reasonably and scientifically cleaning the solar cell panel and carefully maintaining the components is accepted by the industry.

When the photovoltaic cleaning walking robot works, the process is basically full-automatic. At present, a relatively mature technology for autonomously selecting a cleaning route on the market basically cleans an N-shaped or Z-shaped path on a photovoltaic array which is vertically or horizontally distributed according to the photovoltaic array, the photovoltaic array is cleaned once and then is required to be linearly returned to the original place or be cleaned again once again by the original path, and the array which is conveyed to the same cleaning direction and is vertically and horizontally distributed is continuously cleaned in the same cleaning mode by a conveying machine.

Such an automatically planned route is not only inefficient due to the need to return to the original site of the photovoltaic array after each cleaning is completed, but also is susceptible to the distribution of the photovoltaic array and has poor applicability.

Disclosure of Invention

In view of the above problems in the prior art, a primary object of the present invention is to provide a method for a cleaning robot to constantly follow a long-side zigzag cleaning path, which can start cleaning after being placed as specified, is not affected by the vertical and horizontal distribution of a photovoltaic array, and can realize fully automatic and autonomous cleaning selection, and meanwhile, since a new photovoltaic array can automatically determine the cleaning direction and the cleaning direction, it is not necessary to return to the cleaning origin after cleaning of one array, thereby improving the cleaning efficiency of the photovoltaic cleaning robot.

The technical scheme of the invention is as follows:

the method for cleaning the path along the long-edge bow-shaped path of the cleaning robot constantly comprises a robot body, wherein a driving mechanism, a crawler mechanism and a cleaning mechanism are arranged on the robot body, the driving mechanism is electrically connected with the crawler mechanism, the crawler mechanism drives the robot body to run under the driving of the driving mechanism, the cleaning mechanism performs cleaning operation under the driving of the driving mechanism, and the method for cleaning the path along the long-edge bow-shaped path of the cleaning robot constantly comprises the following steps:

s1: establishing a map, and setting a cleaning robot to be placed in a designated position area at the bottom of a first photovoltaic array area needing cleaning in the map;

s2: reading the two-dimensional rectangular map of the designated position area, and calculating the side length of the map of the designated position area;

s3: the cleaning robot advances along the long side of the designated area map, and turns towards the uncleaned side after reaching the short side;

s4: the cleaning robot turns and then moves forward for a specific distance, and the cleaning robot continues to drive along the original long edge forward direction for cleaning;

s5: and cleaning along the horizontal direction of the long edge is circulated until the opposite angle of the original starting point is reached, and cleaning of all photovoltaic array areas is completed so as to achieve the effect that the cleaning path is constant along the long edge in a bow shape in the cleaning process.

The fuselage bottom is provided with first adsorption component, second adsorption component and third adsorption component, wherein, first adsorption component sets up the front side of fuselage bottom, the second adsorption component sets up the intermediate position of fuselage bottom, just the third adsorption component sets up the rear side of fuselage bottom.

In step S3, the cleaning robot moves forward along the long side of the designated area map, turns toward the uncleaned side after reaching the short side, and when the cleaning robot performs a turning operation, opens the second adsorption component, detects the air pressure inside the second adsorption component by the air pressure detection device, and when the detected air pressure is lower than a preset air pressure expected value, the second adsorption component adsorbs the body onto the operation plane, and simultaneously closes the first adsorption component and the third adsorption component, and the body can be rotated around the second adsorption component by the second adsorption component, and simultaneously the body is driven by the crawler mechanism to perform a turning operation.

The first sucking component comprises a first sucking disc, the second sucking component comprises a second sucking disc, the outer diameter of the second sucking disc is larger than that of the first sucking disc, the third sucking component comprises a third sucking disc, and the outer diameter of the third sucking disc is equal to that of the first sucking disc.

The second adsorbs the subassembly still includes the solid fixed ring of first solid fixed ring, second, fixed bolster, support frame and steering wheel, wherein: first solid fixed ring sets up the solid fixed ring's of second inside, just first solid fixed ring follows through a plurality of pulleys that its lateral wall circumferencial direction set up a plurality of pulley tracks of the vertical setting of the solid fixed ring inside wall circumferencial direction of second reciprocate, the solid fixed ring of second is through the chassis fixed connection of a plurality of fixed convex parts and fuselage bottom that its lateral wall circumferencial direction set up, be provided with deep groove ball bearing in the solid fixed ring of first, just first solid fixed ring inside wall lower part circumferencial direction is provided with the annular installation convex part of circle, deep groove ball bearing outer lane is located on the installation convex part and with first solid fixed ring's inside wall fixed connection.

Fixed surface is provided with fixed disc on the second sucking disc, fixed disc's last fixed surface is provided with annular unable adjustment base of ring, unable adjustment base is located deep groove ball bearing's inside, just unable adjustment base with deep groove ball bearing inner circle fixed connection, deep groove ball bearing inner circle rotates for deep groove ball bearing outer lane, the last first fixed recess that is provided with of unable adjustment base, the fixed spacing portion that is provided with in the first fixed recess, just the outside extension of upper end lateral wall circumferencial direction of spacing portion is provided with annular spacing bulge loop of ring, spacing bulge loop is located deep groove ball bearing's the upper end outside is with the restriction deep groove ball bearing rebound.

The lower end of the fixed bracket is fixedly arranged on a chassis at the bottom of the machine body, the steering engine is fixedly arranged at the upper end of the fixed bracket through a mounting plate, a steering wheel is fixedly arranged at the end part of the driving shaft of the steering engine, a connecting rod is fixedly arranged on the steering wheel, one end of the connecting rod, which is far away from the rudder plate, is fixedly arranged on the support frame, the support frame comprises a support rod, a first support part and a second support part, the first support part and the second support part are fixedly arranged below two ends of the support rod, the inner side wall of the first supporting part is provided with a circular arc-shaped first sliding chute, the inner side wall of the second supporting part is provided with a circular arc-shaped second sliding chute, and the first sliding groove and the second sliding groove are matched with the outer side wall of the first fixing ring, the support frame is tightly matched with the outer side wall of the first fixing ring through the first sliding groove and the second sliding groove, and the machine body is rotatably connected with the second sucker through the deep groove ball bearing.

The fixing disc is characterized in that a limiting hole is formed in a first fixing groove of the fixing base, a second fixing groove is formed in the limiting portion, a positioning convex portion extends downwards from the lower surface of the bottom of the second fixing groove and is arranged in the limiting hole, a plurality of first mounting holes are formed in the second fixing groove, a plurality of second mounting holes are formed in the first fixing groove and correspond to the second mounting holes, a plurality of third mounting holes are formed in the fixing disc, and the third mounting holes correspond to the second mounting holes.

First solid fixed ring lateral wall outwards extends and is provided with a plurality of spacing convex parts, just spacing convex part and first solid fixed ring are integrated into one piece, the vertical spacing recess that is provided with of spacing convex part lateral wall, install a plurality of pulleys along vertical direction in the spacing recess, first solid fixed ring passes through the pulley and sets up along the solid fixed ring inside wall of second the pulley track reciprocates.

The support frame is located the solid fixed ring's of second inside, the upper end center of bracing piece is provided with the installation department, the installation department passes through the lower extreme fixed connection of fastening bolt and connecting rod, the upper end of first supporting part with the one end fixed surface connection of bracing piece, the upper end of second supporting part with the other end fixed surface connection of bracing piece, first spout sets up the lower part of the inside wall of first supporting part, just the second spout sets up the lower part of the inside wall of second supporting part.

The invention has the following advantages and beneficial effects: according to the method for cleaning the long-side-constant-edge-arch-shaped cleaning path of the cleaning robot, the cleaning robot can start cleaning operation after being placed according to the specification, is not influenced by the longitudinal and transverse distribution of the photovoltaic arrays, can realize full-automatic and autonomous cleaning selection, and meanwhile, the cleaning direction and the cleaning direction can be automatically judged in a new photovoltaic array, so that the cleaning origin is not required to be returned after one array is cleaned, and the cleaning efficiency of the photovoltaic cleaning robot is improved.

Drawings

Fig. 1 is a schematic view of a cleaning robot provided in an embodiment of the present invention, when photovoltaic panels are distributed in a longitudinal direction, performing cleaning operation along a long-side zigzag cleaning path.

Fig. 2 is a schematic view of a cleaning robot provided in an embodiment of the present invention performing cleaning operation along a long-side zigzag cleaning path when photovoltaic panels are distributed in a horizontal manner.

Fig. 3 is a schematic top view of a cleaning robot according to an embodiment of the present invention.

Fig. 4 is a schematic view illustrating rotation of a body of the cleaning robot according to the embodiment of the present invention during a turning operation.

Fig. 5 is a schematic perspective view of a second adsorption assembly according to an embodiment of the present invention.

Fig. 6 is an exploded schematic view of a second adsorption assembly according to an embodiment of the present invention.

Fig. 7 is an enlarged schematic structural view of a support frame in a second adsorption assembly according to an embodiment of the present invention.

Fig. 8 is a schematic perspective view of an air pressure detecting device according to an embodiment of the present invention.

Fig. 9 is an exploded schematic view of an air pressure detecting device according to an embodiment of the present invention.

Fig. 10 is a schematic structural diagram of the second adsorption assembly according to the embodiment of the present invention, in which the position-limiting portion, the deep groove ball bearing, and the first fixing ring are engaged with each other.

Fig. 11 is a schematic perspective view of a fixing base in a second adsorption assembly according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The invention will be further described with reference to the drawings and specific examples.

As shown in fig. 1 to 11: the method for the cleaning robot to constantly follow the long-side zigzag cleaning path comprises a machine body 100, wherein a driving mechanism (not shown in the figure), a crawler belt mechanism 101 and a cleaning mechanism 102 are arranged on the machine body 100, the driving mechanism is electrically connected with the crawler belt mechanism 101, the crawler belt mechanism 101 drives the machine body 100 to run under the driving of the driving mechanism, the cleaning mechanism 102 carries out cleaning operation under the driving of the driving mechanism, and the method for the cleaning robot to constantly follow the long-side zigzag cleaning path comprises the following steps:

The embodiment of the invention provides a method for cleaning a long-edge herringbone cleaning path of a robot, which comprises the following steps:

in the grid map established in advance, the cleaning robot is specified to be placed at a specified position at the bottom of a first area (photovoltaic array) needing cleaning in the map, such as the lower left corner of the photovoltaic array. And the master control reads the two-dimensional rectangular map of the area (photovoltaic array), calculates the side length of the area (photovoltaic array) map, and if the length of the upper side and the lower side is greater than that of the left side and the right side, the master control advances along the horizontal direction of the upper side and the lower side at the moment.

When walking along the long side to the right edge of the area (photovoltaic array), the cleaning robot now turns towards the uncleaned side, i.e. after turning left the body is up, going a certain distance, then turning left, when the body is to the left, the machine goes towards the horizontal left.

The specific distance described above is specifically as follows, the length of the short side of the area (photovoltaic array) is first calculated, assuming that the length of the short side is 2000 mm. The effective cleaning width of the machine is 300mm, the number of rows for cleaning the area (photovoltaic array) is obtained by dividing the length of the short side by the effective cleaning width of the machine, and the number of the rows needs to be odd in order to maintain the end point of cleaning completion as the opposite angle of the original starting point. If the calculation result is not an integer, rounding up, and then obtaining a final calculation result according to the following conditions; if the calculation result is an integer and is an odd number, directly taking the calculation result; if the calculation result is an integer and is an even number, adding one to the calculation result to become an odd number, and the number of cleaning lines is 7; finally, the specific distance L is equal to the quotient of the difference of the short side length of the area (photovoltaic array) minus the effective cleaning width of the fuselage divided by the number of cleaning rows minus one, i.e., L ═ 2000-.

The cleaning is cycled along the long-side horizontal direction, in this embodiment 7 times, finally reaches the opposite angle of the original starting point, and the area (photovoltaic array) cleaning is completed, so that the cleaning path is completely and constantly along the long-side bow shape in the cleaning process, and the opposite angle of the original starting point is reached after the cleaning is completed.

A first adsorption component 300, a second adsorption component 400 and a third adsorption component 500 are arranged on the chassis 103 at the bottom of the machine body 100, wherein the first adsorption component 300 is arranged at the front side of the chassis 103 at the bottom of the machine body, the second adsorption component 300 is arranged at the middle position of the chassis 103 at the bottom of the machine body 100, the third adsorption component 500 is arranged at the rear side of the chassis 103 at the bottom of the machine body 100, when the cleaning robot performs a turning operation, the second adsorption component 400 is opened, the air pressure inside the second adsorption component 400 is detected by the air pressure detection device 200, when the detected air pressure is lower than a preset air pressure expected value, the second adsorption component 400 adsorbs the machine body on an operation plane, the first adsorption component 300 and the third adsorption component 500 are closed at the same time, and the machine body 100 can rotate by taking the second adsorption component as a circle center through the second adsorption component 400, at the same time, the body 100 is driven by the crawler belt 101 to turn the body 100.

The first suction assembly 300 includes a first suction cup (not shown), the second suction assembly 400 includes a second suction cup 401, and the outer diameter of the second suction cup 401 is greater than the outer diameter of the first suction cup, and the third suction assembly 500 includes a third suction cup (not shown), and the outer diameter of the third suction cup is equal to the outer diameter of the first suction cup. Through the design, the outer diameter of the second sucker in the middle of the bottom of the machine body 100 is larger than the outer diameters of the first sucker and the second sucker, namely, the second sucker in a large size is arranged in the middle of the bottom of the machine body 100, so that the adsorption force of the cleaning robot in turning is increased, and the safety and reliability are improved to a certain degree.

The second adsorption component 400 further comprises a first fixing ring 402, a second fixing ring 403, a fixing bracket 404, a support frame 405 and a steering engine 406, wherein: first solid fixed ring 402 sets up the inside of the solid fixed ring 403 of second, just first solid fixed ring 402 is followed through a plurality of pulleys 407 that its lateral wall circumferencial direction set up a plurality of pulley tracks 408 of the vertical setting of the solid fixed ring 403 inside wall circumferencial direction of second reciprocate, the solid fixed ring 403 of second is through a plurality of fixed convex parts 409 that its lateral wall circumferencial direction set up and the chassis 103 fixed connection of fuselage 100 bottom, be provided with deep groove ball bearing 410 in the first solid fixed ring 402, just first solid fixed ring 402 inside wall lower part circumferencial direction is provided with annular installation convex part 411 of circle, deep groove ball bearing outer lane (not shown in the figure) is located on the installation convex part 411 and with the inside wall fixed connection of first solid fixed ring 402.

The fixed disc 412 that is provided with of second sucking disc 401 upper surface, the fixed annular unable adjustment base 413 that is provided with of fixed disc 412, unable adjustment base 413 is located deep groove ball bearing 410's inside, just unable adjustment base 413 with deep groove ball bearing inner circle (not shown in the figure) fixed connection, deep groove ball bearing inner circle (not shown in the figure) for deep groove ball bearing outer lane rotates, be provided with first fixed recess 414 on the unable adjustment base 413, the fixed spacing portion 415 that is provided with in the first fixed recess 414, just the outside extension of upper end lateral wall circumferencial direction of spacing portion 415 is provided with annular spacing bulge loop 416, spacing bulge loop 416 is located the upper end outside of deep groove ball bearing 410 is in order to restrict deep groove ball bearing 410 rebound. Through the above design, the limiting portion 415 and the fixing base 413 are both fixedly connected to the fixing disc 412, and the fixing disc 412 is fixedly connected to the second suction cup 401, so that the second suction cup 401 is driven by the fixing base 413 to rotate together.

The lower extreme of fixed bolster 404 is fixed to be set up on the chassis 103 of fuselage 100 bottom, steering wheel 406 is fixed to be set up through mounting panel 417 the upper end of fixed bolster 404, the fixed steering wheel 418 that is provided with in tip of the drive shaft (not shown in the figure) of steering wheel 406, the fixed connecting rod 419 that is provided with on steering wheel 418, connecting rod 419 keeps away from the fixed setting of one end of steering wheel 418 is in on the support frame 405, the support frame 405 includes bracing piece 420 and fixed the setting first supporting part 421 and the second supporting part 422 of bracing piece 420 both ends below, the inside wall of first supporting part 421 is provided with convex first spout 423, the inside wall of second supporting part is provided with convex second spout 424, just first spout 423 and second spout 424 all with the lateral wall of first solid fixed ring 402 cooperatees, support frame 405 through first spout 423 and second spout 424 with the lateral wall fastening of first solid fixed ring 402 is tight In cooperation, the machine body 100 is rotatably connected with the second suction cup 401 through the deep groove ball bearing 410.

A limiting hole 425 is formed in the first fixing groove 414 of the fixing base 413, a second fixing groove 426 is formed in the limiting portion 415, a positioning protrusion (not shown) extends downward from a lower surface of a bottom of the second fixing groove 426, the positioning protrusion is located in the limiting hole 425, a plurality of first mounting holes 427 are formed in the second fixing groove 426, a plurality of second mounting holes 428 are formed in the first fixing groove 414, the second mounting holes 428 correspond to the first mounting holes 427, a plurality of third mounting holes 429 are formed in the fixing disc 412, and the third mounting holes 429 correspond to the second mounting holes 428. Through the above design, namely, the limiting hole 425 is arranged in the first fixing groove 414 and the positioning convex part is arranged on the lower surface of the bottom of the second fixing groove 426 in a downward extending manner, so that the limiting part 415 can be conveniently and accurately positioned on the fixing base 413, and meanwhile, the limiting part 415 and the fixing base can be conveniently and firmly fixed on the fixing disc 412 through the arranged first mounting hole 427, the second mounting hole 428 and the third mounting hole 429 by fastening screws, and the safety and reliability are improved.

First solid fixed ring 402 lateral wall outwards extends and is provided with a plurality of spacing convex parts 430, just spacing convex part 430 is integrated into one piece with first solid fixed ring 402, the vertical spacing recess 431 that is provided with of spacing convex part 430 lateral wall, install a plurality of pulleys 407 along vertical direction in the spacing recess 431, first solid fixed ring 402 passes through pulley 407 and follows the setting of the solid fixed ring 403 inside wall of second pulley track 408 reciprocates. Through the design, the steering wheel 418 is driven to rotate by the driving shaft of the steering engine 406, the rotation of the steering wheel 418 further drives the connecting rod 419 to move, the connecting rod 419 further pulls up or puts down the support frame 405, and the support frame 405 drives the suction cup to ascend or descend through the first fixing ring 402.

The support frame 405 is located the inside of the second fixed ring 403, the upper end center of bracing piece 420 is provided with installation department 432, installation department 432 passes through fastening bolt (not shown in the figure) and the lower extreme fixed connection of connecting rod 419, the upper end of first supporting part 421 with the one end fixed surface of bracing piece 420 is connected, the upper end of second supporting part 422 with the other end fixed surface of bracing piece 420 is connected, first spout 423 sets up the lower part of the inside wall of first supporting part 421, just second spout 424 sets up the lower part of second supporting part 422 inside wall.

The air pressure detection device 200 is disposed on the chassis 103 of the body 100, and the air pressure detection device 200 includes an upper housing 201, a base 202, and a lower housing 203, the upper housing 201 is disposed above the base 202, the lower housing 203 is disposed below the base 202, a plurality of first fixing holes 204 are disposed at a left end of the base 202, a plurality of second fixing holes 205 are disposed at a right end of the base 202, a plurality of first pressure sensors 206 are mounted on an upper surface of the base 202, a plurality of first mounting grooves (not shown) are disposed inside the upper housing 201, the first mounting grooves extend to a lower surface of the upper housing 201 and correspond to the first pressure sensors 206, a first input interface 207 and a first output interface 208 communicated with the first mounting grooves are disposed on the upper housing 201, a plurality of second pressure sensors (not shown) are mounted on a lower surface of the base 202, a plurality of second mounting grooves 209 are formed in the lower housing 203, the second mounting grooves 209 extend to the upper surface of the lower housing 203 and correspond to the second pressure sensor, and a second input interface 210 and a second output interface 211 communicated with the second mounting grooves 209 are formed in the lower housing 203. Through the design, the air pressure detection device has multi-path air pressure detection, and is convenient for various machines and industrial equipment to use.

The two ends of the upper shell 201 extend outwards to form a first installation part 212 and a second installation part (not shown in the figure), and the upper shell 201 is fixedly arranged above the base 202 through the first installation part 212 and the second installation part. Through the above design, through setting up first installation department 212 and second installation department at the both ends of last casing 201 promptly, make things convenient for the installation between last casing 201 and the base 202 and the maintenance in later stage, convenient operation and swift.

The first mounting portion 212 is provided with a first mounting hole 213, the first mounting hole 213 corresponds to the first fixing hole 204, the second mounting portion is provided with a second mounting hole (not shown), the second mounting hole corresponds to the second fixing hole 205, and the upper housing 201 is fixedly connected to the base 202 through the cooperation of the first mounting hole 213 and the first fixing hole 204 and the cooperation of the second mounting hole and the second fixing hole 205.

The both ends of lower casing 203 are provided with third installation department 216 and fourth installation department 217 respectively, lower casing 203 passes through third installation department 216 and fourth installation department 217 are fixed to be set up the below of base 202. Through the above design, namely, the third installation part 216 and the fourth installation part are arranged at the two ends of the lower shell 203, so that the installation and the later maintenance between the lower shell 203 and the base 202 are facilitated, and the operation is convenient and fast.

A third mounting hole 218 is formed in the third mounting portion 216, the third mounting hole 218 corresponds to the first fixing hole 204, a fourth mounting hole 219 is formed in the fourth mounting portion 217, the fourth mounting hole 219 corresponds to the second fixing hole 205, and the lower shell 203 is fixedly connected with the base 202 through the cooperation of the third mounting hole 218 and the first fixing hole 204 and the cooperation of the fourth mounting hole 219 and the second fixing hole 205.

Through the above design, namely, the first mounting hole 213 is disposed on the first mounting portion 212, the second mounting hole is disposed on the second mounting portion, the first fixing hole 204 and the second fixing hole 205 are correspondingly disposed at the left end and the right end of the base 205, the third mounting hole 218 is disposed on the third mounting portion 216, and the fourth mounting hole 219 is disposed on the fourth mounting portion 217, that is, the two fastening screws respectively pass through the first mounting hole 213 or the second mounting hole, then pass through the first fixing hole 204 or the second fixing hole 205 on the base 202, then pass through the third mounting hole 218 or the fourth mounting hole 219, and finally fasten the fastening screws, thereby achieving the fastening between the upper housing 201 and the lower housing 203 and the base 202, improving the safety and reliability to a certain extent, and further prolonging the service life of the air pressure monitoring device.

Base 202 is the PCB circuit board, base 202's shape is the rectangle just base 202's length and width are 70mm and 35mm respectively, base 202's left end outwards extends and is provided with installation department 220, be provided with data output interface 221 on the installation department 220, first pressure sensor 206 and second pressure sensor all with data output interface 221 links to each other. The mounting portion 220 and the base 202 can be integrally formed, so that the processing is convenient, the strength between the mounting portion 220 and the base 202 is improved, and the service life is prolonged.

The first pressure sensor 206 and the second pressure sensor are both BMP180 high-precision digital pressure sensors, and the first pressure sensor 206 and the second pressure sensor are both BMP180 high-precision digital pressure sensors, so that the detection precision and sensitivity of the air pressure detection device can be improved; base 202's top is provided with first sealed pad (not shown in the figure), the shape of first sealed pad is cuboid and first sealed length, width and height of filling up are 50mm, 10mm and 3mm respectively, just be provided with first opening (not shown in the figure) on the first sealed pad, first pressure sensor 206 is located in the first opening. By the arrangement of the first sealing gasket, good sealing performance can be improved when the upper housing 201 is combined with the base 202, and the first pressure sensor 206 arranged on the upper surface of the base is completely sealed by the upper housing 201.

The below of base 202 is provided with the sealed pad of second (not shown in the figure), the sealed shape of filling up of second is that cuboid and the sealed length, width and the height that fills up of second are 50mm, 10mm and 3mm respectively, just be provided with the second opening on the sealed pad of second, second pressure sensor is located in the second opening. Through the second sealing gasket, the sealing performance of the lower shell 217 and the base 202 can be improved, and the second pressure sensor arranged on the lower surface of the base is completely sealed by the lower shell 217.

The first mounting groove is square, and a third sealing gasket (not shown in the figure) is arranged in the first mounting groove. Through the third gasket that sets up, after last casing 202 and base 202 installation are fixed, first pressure sensor 206 is arranged in first mounting groove to can carry out good sealed processing to first pressure sensor 206, be used for preventing that first pressure sensor 206 from receiving the influence of outside dust, and guarantee good air circulation nature, make the data that above-mentioned atmospheric pressure detection device 200 detected have fine precision and reliability.

The second mounting groove 209 has a square shape, and a fourth gasket (not shown) is disposed in the second mounting groove 209. Through the fourth sealing gasket, when the lower shell 217 is fixedly installed on the base 202, the second pressure sensor is located in the second installation groove 209, so that the second pressure sensor can be well sealed, the second pressure sensor is prevented from being affected by external dust, good air circulation is ensured, and data detected by the air pressure detection device 200 has good accuracy and reliability.

The shape of going up casing 201 is the cuboid, and is a plurality of first input interface 207 evenly sets up in last casing 201 along its length direction's a side, and is a plurality of first output interface 208 evenly sets up go up casing 201 along its length direction's another side.

The lower housing 203 is shaped like a cuboid, the plurality of second input interfaces 210 are uniformly arranged on one side surface of the lower housing 203 along the length direction thereof, and the plurality of second output interfaces 211 are uniformly arranged on the other side surface of the lower housing 203 along the length direction thereof; the second input interface 207, the first output interface 208, the second input interface 210 and the second output interface 211 are all pluggable air pipes.

The plurality of first pressure sensors 206 are 4 first pressure sensors 206, and are respectively and uniformly arranged on the upper surface of the base 202 along the length direction thereof; the plurality of second pressure sensors are 3 second pressure sensors, and are respectively and uniformly arranged on the lower surface of the base 202 along the length direction thereof.

The air pressure detection device adopts multi-path air pressure detection based on the BMP180 high-precision digital pressure sensor, has the characteristics of small volume, high sensitivity, wide application range, easiness in installation and the like, can be used for testing the vacuum air pressure of a small robot (such as a cleaning robot) when a sucker moves, and can also be used for air pressure detection of large-scale industrial equipment.

According to the method for turning the cleaning robot, when the cleaning robot turns, the second adsorption component 400 is opened, the second adsorption component 400 drives the steering wheel 418 to rotate through the driving shaft of the steering engine 406, and the rotation of the steering wheel 418 can drive the connecting rod 419 to move, so that the supporting frame 405 moves downwards through the connecting rod 419, and the first fixing ring 402 moves downwards along the pulley track 408 arranged on the inner side wall of the second fixing ring 403 through the roller driven by the downward acting force of the supporting frame 405 due to the fact that the supporting frame 405 is tightly and fixedly matched with the first fixing ring 402, so that the second suction cup is driven to descend and is tightly adsorbed with a working plane; then, the air pressure inside the second suction cup in the second suction assembly 400 is detected by the air pressure detection device 200, and when the detected air pressure is lower than a preset expected value of the air pressure, the second suction assembly 400 firmly sucks the body of the cleaning robot on the working plane; then, the first adsorption assembly 300 and the third adsorption assembly 500 are closed, and the exhaust valves arranged in the first adsorption assembly 300 and the third adsorption assembly 500 are simultaneously started, so that the adsorption force of the first suction cup and the third suction cup is reduced at an accelerated speed to enable the first suction cup and the third suction cup to move upwards so as to be separated from the operation plane, and the machine body 100 can rotate around the second adsorption assembly as a circle center through the second adsorption assembly 400; meanwhile, after the body 100 is driven by the two crawler mechanisms 101 to turn the body 100 to reach a specified angle, the first adsorption component and the third adsorption component are started to adsorb, when the detected air pressure in the first adsorption component and the third adsorption component is lower than a preset air pressure expected value, the second adsorption component is closed, and the cleaning robot starts cleaning operation through the first adsorption component and the third adsorption component.

Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a method of cleaning machines people permanent edge long limit bow style of calligraphy clean route, cleaning machines people includes the fuselage, be provided with actuating mechanism, crawler and clean the mechanism on the fuselage, actuating mechanism with the crawler electricity is connected, crawler drives the fuselage walking under actuating mechanism's drive, clean the mechanism and clean the operation under actuating mechanism's drive, its characterized in that: the method for the cleaning robot to constantly follow the long-side zigzag cleaning path comprises the following steps:

2. The method of claim 1, wherein the bottom of the body is provided with a first adsorption unit, a second adsorption unit and a third adsorption unit, wherein the first adsorption unit is disposed at a front side of the bottom of the body, the second adsorption unit is disposed at a middle position of the bottom of the body, and the third adsorption unit is disposed at a rear side of the bottom of the body.

3. The method of claim 2, wherein the cleaning robot moves forward along the long side of the designated area map and turns toward an uncleaned side after reaching the short side in step S3, the second adsorption module is turned on when the cleaning robot performs a turning operation, the air pressure inside the second adsorption module is detected by the air pressure detecting device, and when the detected air pressure is lower than a predetermined value, the second adsorption module adsorbs the body onto the working plane while the first adsorption module and the third adsorption module are turned off, the body is rotated around the second adsorption module by the second adsorption module while the body is driven by the crawler mechanism to perform a turning operation.

4. The method of claim 2, wherein the first suction assembly comprises a first suction cup, the second suction assembly comprises a second suction cup, the second suction cup has an outer diameter greater than an outer diameter of the first suction cup, the third suction assembly comprises a third suction cup, and the third suction cup has an outer diameter equal to the outer diameter of the first suction cup.

5. The method of claim 4, wherein the second suction assembly further comprises a first stationary ring, a second stationary ring, a stationary bracket, a support frame, and a steering engine, wherein: first solid fixed ring sets up the solid fixed ring's of second inside, just first solid fixed ring follows through a plurality of pulleys that its lateral wall circumferencial direction set up a plurality of pulley tracks of the vertical setting of the solid fixed ring inside wall circumferencial direction of second reciprocate, the solid fixed ring of second is through the chassis fixed connection of a plurality of fixed convex parts and fuselage bottom that its lateral wall circumferencial direction set up, be provided with deep groove ball bearing in the solid fixed ring of first, just first solid fixed ring inside wall lower part circumferencial direction is provided with the annular installation convex part of circle, deep groove ball bearing outer lane is located on the installation convex part and with first solid fixed ring's inside wall fixed connection.

6. The method for the cleaning robot to clean the path along the long-side bow shape constantly according to claim 5, wherein a fixing disc is fixedly arranged on the upper surface of the second suction cup, a circular fixing base is fixedly arranged on the upper surface of the fixing disc, the fixing base is located inside the deep groove ball bearing and is fixedly connected with the inner ring of the deep groove ball bearing, the inner ring of the deep groove ball bearing rotates relative to the outer ring of the deep groove ball bearing, a first fixing groove is formed in the fixing base, a limiting portion is fixedly arranged in the first fixing groove, a circular limiting convex ring is arranged on the outer side wall of the limiting portion in a circumferential direction in an outward extending mode, and the limiting convex ring is located on the outer side of the upper end of the deep groove ball bearing to limit the upward movement of the deep groove ball bearing.

7. The method for cleaning the path of the robot along the long-side bow shape constantly according to claim 6, wherein the lower end of the fixed bracket is fixedly arranged on a chassis at the bottom of the robot body, the steering engine is fixedly arranged at the upper end of the fixed bracket through a mounting plate, a steering wheel is fixedly arranged at the end part of the driving shaft of the steering engine, a connecting rod is fixedly arranged on the steering wheel, one end of the connecting rod, which is far away from the steering wheel, is fixedly arranged on the supporting frame, the supporting frame comprises a supporting rod, a first supporting part and a second supporting part which are fixedly arranged below two ends of the supporting rod, the inner side wall of the first supporting part is provided with a first arc-shaped chute, the inner side wall of the second supporting part is provided with a second arc-shaped chute, and the first chute and the second chute are matched with the outer side wall of the first fixed, the support frame through first spout and second spout with the lateral wall fastening cooperation of first solid fixed ring, the fuselage passes through rotate between deep groove ball bearing and the second sucking disc and be connected.

8. The method for cleaning a path by a cleaning robot along a long-side zigzag shape constantly according to claim 6, wherein a first fixing groove of the fixing base is provided with a limiting hole, a second fixing groove is provided in the limiting portion, a lower surface of a bottom of the second fixing groove extends downward to be provided with a positioning convex portion, the positioning convex portion is located in the limiting hole, the second fixing groove is provided with a plurality of first mounting holes, the first fixing groove is provided with a plurality of second mounting holes, the second mounting holes correspond to the first mounting holes, the fixing disc is provided with a plurality of third mounting holes, and the third mounting holes correspond to the second mounting holes.

9. The method for a cleaning robot to constantly follow a long-side zigzag cleaning path according to claim 7, wherein a plurality of limiting protrusions are extended outward from the outer side wall of the first fixing ring, the limiting protrusions are integrally formed with the first fixing ring, a limiting groove is vertically formed on the outer side wall of the limiting protrusion, a plurality of pulleys are vertically installed in the limiting groove, and the first fixing ring is moved up and down along the pulley track formed on the inner side wall of the second fixing ring by the pulleys.

10. The method of claim 7, wherein the support frame is located inside the second fixing ring, an installation part is arranged at the center of the upper end of the support rod, the installation part is fixedly connected with the lower end of the connecting rod through a fastening bolt, the upper end of the first support part is fixedly connected with the lower surface of one end of the support rod, the upper end of the second support part is fixedly connected with the lower surface of the other end of the support rod, the first sliding groove is formed in the lower portion of the inner side wall of the first support part, and the second sliding groove is formed in the lower portion of the inner side wall of the second support part.