CN111419122A - Intelligent automatic floor sweeping and mopping robot - Google Patents

Abstract

The invention discloses an intelligent automatic sweeping and mopping robot, comprising a robot body. The robot body includes a machine box, a control panel installed on the machine box, a controller installed in the machine box, and a robot installed at the bottom of the machine box. The walking mechanism and the cleaning mechanism also include a mopping mechanism for mopping the ground and capable of automatic cleaning and a hot air blowing mechanism for drying the ground, the mopping mechanism and the hot air blowing mechanism are installed in sequence in sequence. On the rear side of the cleaning mechanism on the machine box, the mopping mechanism and the hot air blowing mechanism are connected to the controller; the machine box is also equipped with a human sensor, a camera system and a wireless signal device connected to the controller. The invention can dry the mopped ground with hot air to prevent pedestrians from slipping on the ground; can automatically clean the mop during the sweeping and mopping process to improve the cleaning effect; can also improve the automation degree of the cleaning work, reduce manual use and reduce costs.

Description

An intelligent automatic sweeping and mopping robot

technical field

The invention relates to an intelligent automatic sweeping and mopping robot, which belongs to the technical field of sweeping robots.

Background technique

At present, most of the sweepers used in supermarkets and shopping malls are manually controlled sweepers and moppers. In actual use, there are the following problems: 1. After sweeping and mopping, there is water on the ground and pedestrians are prone to fall; 2. Replacement The mopping needs to be done manually and cannot be cleaned automatically. It takes up a lot of labor, and the operation is slow and the efficiency is low; 3. The cleaning work requires manual operation and cannot be automated.

SUMMARY OF THE INVENTION

In view of the above problems in the prior art, the present invention provides an intelligent automatic sweeping and mopping robot, which can blow hot air to dry the mopped ground to prevent pedestrians from slipping on the ground; it can automatically clean the mopping cloth during the sweeping and mopping process, and improve the Cleaning effect; it can also improve the automation of cleaning work, reduce manual use and reduce costs.

In order to achieve the above purpose, the present invention adopts the following technical solutions: an intelligent automatic sweeping and mopping robot, comprising a robot body, and the robot body includes a machine box, a control panel installed on the machine box, and a controller installed in the machine box , a walking mechanism and a cleaning mechanism installed at the bottom of the machine box, and also include a mopping mechanism for mopping the ground and can realize automatic cleaning and a hot air blowing mechanism for drying the ground. The mopping mechanism and The hot-blowing mechanism is sequentially installed on the back side of the cleaning mechanism on the machine box, and the mopping mechanism and the hot-blowing mechanism are both connected to the controller; the machine box is also installed with a human sensor and a camera system The human body sensor, the camera system and the wireless signal device are all connected to the controller. The human body sensor and the camera system are used to detect pedestrians and image information around the robot body in real time. The received signal is sent to the host computer for monitoring.

Preferably, the mopping mechanism includes a crawler-type mop, a mop driving wheel installed at the bottom of the machine box, a drive motor installed on the machine box for driving the mop driving wheel to rotate, a cleaning pool installed in the machine box, A guide mechanism installed on the cleaning pool, and a rolling brush mechanism arranged in the cleaning pool for brushing the crawler-type mop, a cleaning nozzle mechanism for rinsing the crawler-type mop, and a mechanism for squeezing the water in the crawler-type mop dry The crawler-type mop is surrounded by the mop driving wheel and the guide mechanism; a washing liquid tank is installed on the machine box; It is conveyed to the cleaning nozzle mechanism; the drive motor is connected with the controller.

Preferably, the guiding mechanism includes a first guiding wheel arranged in the cleaning pool, a front guiding wheel and a rear guiding wheel correspondingly installed on the front and rear side walls of the cleaning pool, the rolling brush mechanism, the cleaning nozzle mechanism, the extrusion The roller mechanism is sequentially arranged between the first guide wheel and the rear guide wheel from front to back, and the brushes in the rolling brush mechanism are symmetrically arranged on the upper and lower sides of the crawler mop; in the extrusion roller mechanism The rollers are symmetrically arranged on the upper and lower sides of the crawler mop.

Preferably, the hot air blowing mechanism includes a hood, a fan installed at the end of the hood, a fan motor that drives the fan to work, and a heating wire installed in the hood, and the hood is provided with several rows of apertures that gradually increase the air outlet, the fan motor is connected to the controller.

Preferably, the traveling mechanism includes a universal drive wheel installed at the front end of the machine box, a driven wheel installed at the rear end of the machine box, and a driving device for providing power to the universal drive wheel.

Preferably, the cleaning mechanism includes a sweeping brush and a vacuum cleaner, both of which are connected to the controller.

Preferably, the sweeping brush is a drum type sweeping brush, including a drum and a brush mounted on the drum, the diameter of the drum plus the thickness of the brush is greater than the diameter of the universal drive wheel, the drum and the machine box A spring is installed between the bodies.

Compared with the prior art, the beneficial effects of the present invention are as follows:

First, by adding a mopping mechanism for mopping the ground and realizing automatic cleaning on the existing sweeping robot, the cleaning efficiency and effect are improved, and the mopping cloth is automatically cleaned during the sweeping and mopping process to improve the cleaning effect;

Second, by adding a hot air blowing mechanism for drying the ground, the ground can be dried with hot air to prevent pedestrians from slipping on the ground;

Third, the human body sensor, camera system and wireless signal device installed on the machine box can be used to detect pedestrians and image information around the robot body in real time, and transmit the detected signal to the main control machine through the wireless signal device for monitoring. , Real-time monitoring of the working status of the sweeping and dragging robots through the wireless network, and timely adjustment, can monitor multiple sweeping and dragging robots at the same time; can avoid pedestrians to protect the safety of pedestrians;

Finally, through the cooperation of various components, the deficiencies of the current cleaning machines can be overcome, the mop can be cleaned automatically, the cleaning effect can be improved, the cleaning work can be completed automatically, the manual use can be reduced, and the wireless network real-time monitoring can be realized.

Description of drawings

FIG. 1 is a schematic structural diagram of the present invention.

Detailed ways

The technical solutions in the implementation of the present invention will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

As shown in FIG. 1, an intelligent automatic sweeping and mopping robot provided by an embodiment of the present invention includes a robot body. The robot body includes a machine box 1, and a control panel 17 installed on the machine box 1 is installed on the machine box. 1. The controller used to control the overall operation of the machine, the walking mechanism and the cleaning mechanism installed at the bottom of the machine box 1, and the mopping mechanism for mopping the ground and capable of automatic cleaning and for drying the ground. The hot air blowing mechanism 9, the mopping mechanism and the hot air blowing mechanism 9 are sequentially installed on the rear side of the cleaning mechanism on the machine box 1, and the mopping mechanism and the hot air blowing mechanism 9 are connected to the controller; The machine box 1 is also equipped with a human body sensor, a camera system and a wireless signal device. The human body sensor, the camera system and the wireless signal device are all connected to the controller. The human body sensor mainly uses infrared rays to sense pedestrians. , the camera system is used to record the image around the robot body, and the detected signal is transmitted to the main control machine through the wireless signal device for monitoring. Among them, the control panel is provided with various control buttons for performing different operations for manual operation. The wireless signal device is used to communicate with the main controller, receive and send wireless wifi signals.

Preferably, the mopping mechanism may include a crawler-type mop 7, a mop driving wheel 6 installed at the bottom of the machine box 1, a drive motor installed on the machine box 1 for driving the mop driving wheel 6 to rotate, installed on the machine The cleaning tank 15 used for cleaning the crawler-type mop 7 in the box body 1, the guiding mechanism installed on the cleaning tank 15, and the rolling brush mechanism 11 arranged in the cleaning tank 15 for brushing the crawler-type mop 7, with The cleaning nozzle mechanism 14 for flushing the crawler mop 7 and the squeezing roller mechanism 12 for squeezing the water out of the crawler mop 7; the crawler mop 7 surrounds the mop driving wheel 6 and the guide mechanism; A washing liquid tank is installed on the machine box 1, and washing liquid is stored in the washing liquid tank, and the washing liquid is released into the cleaning pool regularly and quantitatively; a filtering device is installed in the cleaning pool 15, and the filtering device has a built-in small water pump for use. The water in the cleaning tank is filtered, and clean water is discharged while filtering, so as to continuously purify the cleaning tank; in addition, part of the filtered clean water is transported to the cleaning nozzle mechanism 14 by a high-pressure water pump; the drive motor is connected to the controller. The mop driving wheel 6 needs to have a certain frictional force, which is the same width as the crawler mop 7, and the rotation direction is opposite to the moving direction of the traveling mechanism. The drive motor provides driving force for the mop driving wheel 6 to drive the crawler mop 7 to move. Among them, the crawler mop 7 can be a pure cotton mop or a PVC sponge mop, and the width is the same as that of the machine box 1. The movement direction of the crawler mop 7 is the same as that of the robot, so as to increase the friction between the mop and the ground, so that the The mopping effect is better.

Preferably, the guiding mechanism includes a first guiding wheel 8 arranged in the cleaning pool 15 , a front guiding wheel 16 and a rear guiding wheel 13 correspondingly installed on the front and rear side walls of the cleaning pool 15 , and the rolling brush mechanism 11 , The cleaning nozzle mechanism 14 and the extrusion roller mechanism 12 are sequentially arranged between the first guide wheel 8 and the rear guide wheel 13 from front to back, and the brushes in the rolling brush mechanism 11 are symmetrically arranged on the crawler mop On the upper and lower sides of the 7, the brushes are rotated under the drive of the motor, which are used to wash the dirt on the crawler mop 7. The rotation direction is opposite to the movement direction of the crawler mop 7; the rollers in the squeeze roller mechanism 12 are arranged symmetrically. On the upper and lower sides of the crawler-type mop 7, the distance between the two rollers is less than the thickness of the crawler-type mop 7. When the servo motor drives the rollers to rotate, the crawler-type mop 7 can be squeezed, so that the crawler-type mop 7 can be squeezed. Squeeze the moisture out.

Preferably, the hot air blowing mechanism 9 includes a head cover 91 , a fan 92 installed at the end of the head cover 91 , a fan motor that drives the fan 92 to work, and a heating wire 93 installed in the head cover 91 . Several rows of air outlet holes 94 with gradually increasing diameters are opened, and the fan motor is connected to the controller. When it starts to work, the fan rotates under the drive of the fan motor, and the heating wire also starts to heat, and the wind generated by the fan turns into hot air after passing through the heating wire to dry the ground. The hot air blowing mechanism 9 is simple in structure, low in cost and good in drying effect.

Preferably, the traveling mechanism includes a universal drive wheel 3 installed at the front end of the machine box 1 , a driven wheel 10 installed at the rear end of the machine box 1 , and a drive device 2 for providing power to the universal drive wheel 3 . The driving device 2 provides a driving force for the universal drive wheel 3, and drives the universal drive wheel 3 to rotate, thereby driving the entire machine box 1 to move.

Preferably, the cleaning mechanism includes a sweeping brush 4 and a vacuum cleaner 5, and both the sweeping brush 4 and the vacuum cleaner 5 are connected to the controller. Among them, the suction mouth of the vacuum cleaner is rectangular, the width of the suction mouth is about 10-20 cm, and the length of the suction mouth is the same as the width of the machine box 1 . The moving direction of the sweeping brush 4 can be opposite to the moving direction of the machine box 1 , and dust and other garbage can be swept to the bottom of the vacuum cleaner 5 for adsorption and cleaning by the vacuum cleaner 5 .

Preferably, the sweeping brush is a drum type sweeping brush, including a drum and a brush mounted on the drum, the diameter of the drum plus the thickness of the brush is greater than the diameter of the universal drive wheel, the drum and the machine box A spring is installed between the bodies 1 . The distance from the ground is adjusted by the spring, and the drum-type sweeping brush is the same width as the machine box 1.

work process:

After the robot receives the sweeping and mopping command (wireless command or control panel command), it starts to work, and the universal drive wheel 3, the sweeping brush 4, the vacuum cleaner 5, the crawler mop 7, and the hot air blowing mechanism 9 start to work at the same time. During work, the front-end universal drive wheel 3 provides power and is responsible for steering, the sweeping brush 4 behind it mainly sweeps the ground, and the vacuum cleaner behind it mainly absorbs the debris on the ground after sweeping by the sweeping brush, and then the crawler-type sweeper behind it. The mop 7 mainly performs mopping and washing function on the ground, and brings the flowing dirt into the cleaning pool 15 through the rotation of the crawler mop 7 and cleans it. In order to prevent pedestrians from slipping and falling; during the work process, the robot generally keeps sweeping and mopping the floor in a straight line. When encountering and touching an obstacle, the universal drive wheel 3 will automatically change its direction to run under the action of the touch force, or When encountering a pedestrian, the human body sensor will transmit a signal to the controller, suspend the operation for 5-10 seconds, and change the direction if it can still sense a pedestrian ahead. Human body sensors can be infrared sensors or life detectors.

To sum up, through the cooperation of various components, the present invention can dry the mopped ground with hot air to prevent pedestrians from slipping on the ground; it can automatically clean the mop during the sweeping and mopping process to improve the cleaning effect; it can also improve the cleaning work. The degree of automation reduces manual use and costs.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes within the meaning and scope of the equivalents of , are included in the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim.

In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole, The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims (7)

1. An intelligent automatic sweeping and mopping robot, comprising a robot body, the robot body comprising a machine box (1), a control panel (17) installed on the machine box (1), and installed in the machine box (1) The controller, the traveling mechanism installed at the bottom of the machine box (1), and the cleaning mechanism for cleaning the ground are characterized in that it also includes a mopping mechanism for mopping the ground and capable of realizing automatic cleaning and A hot air blowing mechanism for drying the ground, the mopping mechanism and the hot air blowing mechanism are sequentially installed on the rear side of the cleaning mechanism on the machine box (1), the mopping mechanism, the hot air blowing mechanism ( 9) are all connected with the controller; the machine box (1) is also equipped with a human body sensor, a camera system and a wireless signal device, and the human body sensor, the camera system and the wireless signal device are all connected with the controller, so The human body sensor and camera system are used for real-time detection of pedestrians and image information around the robot body, and the detected signals are transmitted to the main control computer for monitoring through the wireless signal device. 2. The intelligent automatic sweeping and mopping robot according to claim 1, wherein the mopping mechanism comprises a crawler-type mopping cloth (7), and a mopping cloth driving wheel (6) installed at the bottom of the machine box (1) ), a drive motor installed on the machine box (1) for driving the mop driving wheel (6) to rotate, a cleaning pool (15) installed in the machine box (1), a cleaning pool (15) installed on the cleaning pool (15) A guide mechanism, and a rolling brush mechanism (11) arranged in the cleaning pool (15) for brushing the crawler mop (7), and a cleaning nozzle mechanism (14) for washing the crawler mop (7) and a squeezing roller mechanism (12) for squeezing out the water in the crawler-type mop (7); the crawler-type mop (7) surrounds the mop driving wheel (6) and the guide mechanism; the machine box ( 1) A washing liquid tank is installed on it; a filter device is installed in the cleaning pool (15), and part of the filtered clean water is transported to the cleaning nozzle mechanism (14) by a high-pressure water pump; the drive motor is connected to the controller. 3. The intelligent automatic sweeping and mopping robot according to claim 2, wherein the guide mechanism comprises a first guide wheel (8) arranged in the cleaning pool (15), correspondingly installed in the front and rear of the cleaning pool The front guide wheel (16) and the rear guide wheel (13) on the two side walls, the rolling brush mechanism (11), the cleaning nozzle mechanism (14), and the squeezing roller mechanism (12) are sequentially from front to back, from They are arranged in sequence between the first guide wheel (8) and the rear guide wheel (13) from bottom to top, and the brushes in the rolling brush mechanism (11) are symmetrically arranged on the upper and lower sides of the crawler mop (7); The rollers in the extrusion roller mechanism (12) are symmetrically arranged on the upper and lower sides of the crawler mop (7). 4. The intelligent automatic sweeping and mopping robot according to claim 1, characterized in that, the hot air blowing mechanism (9) comprises a head cover, a fan installed at the end of the head cover, a fan motor for driving the fan to work, and The heating wire is installed in the head cover, the head cover is provided with several rows of air outlet holes with gradually increasing apertures, and the fan motor is connected with the controller. 5. An intelligent automatic floor-sweeping and mopping robot according to claim 1, characterized in that the traveling mechanism comprises a universal drive wheel (3) installed on the front end of the machine box (1), mounted on the machine box (1). (1) The driven wheel (10) at the rear end and the driving device for providing power to the universal drive wheel (3). 6 . The intelligent automatic sweeping and mopping robot according to claim 1 , wherein the cleaning mechanism comprises a sweeping brush and a vacuum cleaner, and both the sweeping brush and the vacuum cleaner are connected to the controller. 7 . 7. The intelligent automatic sweeping and mopping robot according to claim 6, wherein the sweeping brush is a bucket-type sweeping brush, comprising a bucket and a brush installed on the bucket, and the diameter of the bucket increases . The thickness of the brush is greater than the diameter of the universal drive wheel, and a spring is installed between the drum and the machine box (1).

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