CN111714037A - Indoor and outdoor universal intelligent sweeping and washing integrated robot and cleaning method thereof - Google Patents
Indoor and outdoor universal intelligent sweeping and washing integrated robot and cleaning method thereof Download PDFInfo
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- CN111714037A CN111714037A CN202010566567.0A CN202010566567A CN111714037A CN 111714037 A CN111714037 A CN 111714037A CN 202010566567 A CN202010566567 A CN 202010566567A CN 111714037 A CN111714037 A CN 111714037A
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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
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
- A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
- A47L11/305—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools the tools being disc brushes
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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
- A47L11/4011—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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
- A47L11/4022—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids with means for recycling the dirty liquid
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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
- A47L11/4038—Disk 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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing 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
- 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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
- E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
- E01H1/0836—Apparatus dislodging all of the dirt by suction ; Suction nozzles
- E01H1/0845—Apparatus dislodging all of the dirt by suction ; Suction nozzles with mechanical loosening or feeding instruments for the dirt to be sucked- up, e.g. brushes, scrapers
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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
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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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Sustainable Development (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The embodiment of the invention discloses an indoor and outdoor universal intelligent sweeping and washing integrated robot and a cleaning method thereof.
Description
Technical Field
The embodiment of the invention relates to the technical field of cleaning equipment, in particular to an indoor and outdoor universal intelligent sweeping and washing integrated robot and a cleaning method thereof.
Background
The prior domestic ground washing vehicle is mostly operated by manual driving, which easily causes omission of cleaning areas in the process of ground washing, and has lower working efficiency and higher labor cost. While the existing intelligent floor washing robot can clean the ground, the existing intelligent floor washing robot cannot effectively clean and remove tiny garbage and objects (fruit scraps, paper, leaves and the like) on the ground, the objects can be drawn into a rotating brush disc together in the cleaning process, more and more garbage brought into the brush disc can be generated, the clean road surface can be more and more dirty, meanwhile, the garbage can be changed into fine scraps, the garbage is sucked into a sewage tank through a sewage motor, the sewage tank can be blocked due to continuous accumulation, overload faults can be caused, and then the cleaning of the brush disc and the sewage tank is very inconvenient because the complex road surface in an outdoor public place cannot be cleaned. And current intelligence floor cleaning robot still has that the structure is complicated, bulky existence potential safety hazard, can't clean indoor each region, for example: the door or the elevator can not be accessed, and the manufacturing cost and the maintenance cost are high.
Disclosure of Invention
Therefore, the embodiment of the invention provides an indoor and outdoor universal intelligent sweeping and washing integrated robot and a cleaning method thereof, and aims to solve the problems that the existing intelligent floor washing robot can effectively remove tiny garbage and objects and cannot be used universally indoors and outdoors.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to a first aspect of the embodiment of the invention, an indoor and outdoor universal intelligent sweeping and washing integrated robot is provided, the robot comprises a chassis, a cabin, a dust collection system, a ground washing system and a sewage collection system, wherein the cabin is arranged above the chassis;
the dust collection system comprises two sweeping brush discs, two first brush disc motors, a dust collection port, a dust collection box and a dust collection motor, wherein the two sweeping brush discs are arranged on the front side of a chassis through a brush disc support, the two first brush disc motors are fixed on the brush disc support and are respectively connected with the two sweeping brush discs, a crescent dust collection port is arranged below the front end of the chassis, the dust collection port is connected with the dust collection box through a dust collection pipeline, the dust collection motor is connected with the dust collection box through a pipeline with a rotary buckle, and the dust collection box and the dust collection motor are both arranged in the cabin;
the floor washing system comprises a floor washing brush disc, a second brush disc motor, a cleaning nozzle, an electromagnetic water valve, a clean water motor and a clean water tank, wherein the floor washing brush disc is arranged in the middle of the lower portion of a chassis, the second brush disc motor is arranged in the chassis, the second brush disc motor is connected with the floor washing brush disc through a coupling, the cleaning nozzle is arranged below the chassis and located between a dust suction port and the floor washing brush disc, the cleaning nozzle is connected with the electromagnetic water valve through a pipeline, the electromagnetic water valve is connected with the clean water motor, the clean water motor is connected with the clean water tank, a first water level monitor is arranged in the clean water tank, and the electromagnetic water valve, the clean water motor and the clean water tank are all arranged in a cabin;
the sewage collecting system comprises a water sucking rake, an adjustable support, a sewage motor, a sewage tank and a water filtering motor, wherein the water sucking rake is installed on the rear side of a chassis through the adjustable support, guide wheels are installed at two ends of the water sucking rake, a through hole in the water sucking rake is connected with the sewage motor through a sewage pipe, the sewage motor is connected with the sewage tank, a second water level monitor is arranged in the sewage tank, the sewage tank is connected with the water filtering motor, the water filtering motor is connected with a clean water tank, and the sewage motor, the sewage tank and the water filtering motor are all arranged in the engine room.
Further, the robot further comprises a main controller, the main controller is arranged in the chassis, and the first water level monitor, the second water level monitor, the dust collection motor, the electromagnetic water valve, the clean water motor, the sewage motor and the water filtering motor are all electrically connected with the main controller.
Further, the robot further comprises six-wheel differential traveling system, the six-wheel differential traveling system comprises two driving wheels which are arranged on two sides of the middle of the chassis and can perform differential motion and four driven wheels arranged on the front side and the rear side of the chassis, two driving motors are arranged in the chassis and connected with the two driving wheels through couplers respectively, and the driving motors are connected with a main controller.
Further, the robot still includes navigation, navigation includes laser radar and area array laser radar that are connected with main control unit electricity, laser radar sets up the top in cabin, area array laser radar sets up in the cabin front side.
Furthermore, a camera is further arranged on the front side of the engine room and electrically connected with the main controller.
Further, a battery is arranged in the chassis, the main controller is electrically connected with the battery, and a charging port and an emergency switch which are electrically connected with the battery are arranged on the outer side of the chassis.
Further, an LED lamp is further arranged on the front side of the engine room and electrically connected with the main controller.
Further, the cabin includes the cabin body, top cap and bottom plate, the top cap lid is established in cabin body top, the bottom plate is connected in cabin body bottom, be connected through the shirt rim between cabin and the chassis, first hatch door is opened to the cabin body front side, dust collection box and dust absorption motor set up and are being close to first hatch door one side, the cabin body rear side is opened and is equipped with the second hatch door, clean water box and sewage case set up and are being close to second hatch door one side, the clean water motor sets up in clean water box top, the sewage motor sets up in sewage case top, the drainage motor sets up at the sewage case rear side, all be provided with the hatch door switch of being connected with main control unit electricity on first hatch door and the second hatch door.
According to a second aspect of the embodiments of the present invention, a cleaning method for an intelligent sweeping and washing integrated robot that is universal for indoor and outdoor use is provided, the method includes:
during cleaning operation, the first brush disc motor is started to drive the sweeping brush disc to rotate, garbage is swept and concentrated in the front center of the robot, the dust collection motor is started, and dust and garbage in front of the robot are sucked into the dust collection box through the dust collection port in the front end of the chassis;
starting a clean water motor to pump water from a clean water tank and supply the water to a cleaning nozzle, controlling the water outlet and water flow of the cleaning nozzle through an electromagnetic water valve, spraying high-pressure water by the cleaning nozzle to clean stubborn stains on the ground, providing cleaning liquid for a floor-scrubbing brush disc, starting a second brush disc motor, adjusting the corresponding rotating speed, and driving the floor-scrubbing brush disc below a chassis to deeply clean the ground;
the method comprises the following steps that sewage generated by cleaning the ground by a ground washing brush plate is collected by a water absorption rake at the rear end of a chassis, a sewage motor is started to collect the sewage collected by the water absorption rake to a sewage tank so as to clean and dry the ground, and when a second water level monitor in the sewage tank detects that a certain amount of sewage in the sewage tank is collected, a water filtering motor is started to pump water from the sewage tank and filter the sewage and then convey the sewage to a clean water tank for recycling;
when the water level monitor in the clean water tank detects that the water in the clean water tank is used up, the cleaning operation is stopped, the robot returns to a preset stop point, the dust collection tank is taken out, garbage is dumped and cleaned, clean water and cleaning agents are supplemented to the clean water tank, and the sewage tank is cleaned and discharged.
Further, the method further comprises:
the robot has two working modes of manual operation and unmanned driving;
in a manual operation mode, the robot is in remote communication connection through an intelligent mobile terminal, the ambient environment information is monitored and observed through a camera arranged on the robot, and an operator remotely operates the robot through the intelligent mobile terminal to perform cleaning operation;
in the unmanned driving mode, the laser radar arranged on the robot is used for acquiring surrounding environment information, a main controller of the robot is used for processing the surrounding environment information, then a map is built, a plurality of routes are planned for one map, and the robot carries out automatic reciprocating cruising operation along the routes, so that the cleaning operation of the robot in different areas and in the whole time period is realized;
during the walking operation, start driving motor, it is rotatory to drive the action wheel, and the action wheel drives whole robot walking, passes through laser radar location at the walking in-process, and area array laser radar surveys the place ahead object, if there is closely object in the place ahead, and the robot continues cleaning operation after keeping away the barrier automatically.
The embodiment of the invention has the following advantages:
the robot comprises a chassis, a cabin, a dust collection system, a floor washing system and a dirt collection system, wherein two floor sweeping brush discs arranged at the front end are used for sweeping and collecting garbage to the center of the robot, the collected garbage and dust are collected into a dust collection box through a dust collection port at the lower end of the chassis, the ground cleaned is cleaned through the floor washing system, and sewage generated by cleaning is collected through the dirt collection system in a centralized manner, so that tiny garbage can be effectively removed and the ground can be effectively cleaned.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a perspective view of an indoor and outdoor universal intelligent sweeping and washing integrated robot provided in embodiment 1 of the present invention;
fig. 2 is a top view of an indoor and outdoor universal intelligent sweeping and washing integrated robot provided in embodiment 1 of the present invention after a top cover is opened;
fig. 3 is a left side view of the opened first door of the indoor and outdoor general intelligent sweeping and washing integrated robot provided in embodiment 1 of the present invention;
fig. 4 is a bottom view of an indoor and outdoor universal intelligent sweeping and washing integrated robot provided in embodiment 1 of the present invention;
fig. 5 is a right side view of the second door of the indoor and outdoor universal intelligent sweeping and washing integrated robot provided in embodiment 1 of the present invention after being opened;
fig. 6 is a schematic view of an internal structure of an indoor and outdoor universal intelligent sweeping and washing integrated robot chassis provided in embodiment 1 of the present invention.
In the figure: the device comprises a chassis 1, a skirt 2, a cabin 3, a first cabin door 4, a second cabin door 5, a bottom plate 6, a top cover 7, a dust collection motor 8, a dust collection pipeline 9, a dust collection box 10, a sweeping brush disc 11, a first brush disc motor 12, a brush disc support 13, a dust collection port 14, a clean water tank 15, a clean water motor 16, an electromagnetic water valve 17, a cleaning nozzle 18, a second brush disc motor 19, a floor washing brush disc 20, a water suction rake 21, an adjustable support 22, a sewage motor 23, a sewage tank 24, a sewage pipe 25, a water filtering motor 26, a driving wheel 27, a driving motor 28, a driven wheel 29, a laser radar 30, a planar array laser radar 31, a camera 32, a battery 33, an emergency switch 34, a charging port 35, an LED lamp 36 and a main controller 37.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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.
Example 1
The embodiment provides an indoor outer general intelligence is swept and is washed integrative robot, can be in large-scale public space such as indoor airport, office building, market, use under places such as outdoor factory garden, community's garden, pedestrian's road, can play the work of keeping a public place clean and alleviate intensity of labour, the effect of the thing power of using manpower sparingly, reducible repetition work of keeping a public place clean improves work efficiency by a wide margin, improves living space.
As shown in fig. 1 and 2, the robot includes a chassis 1, a cabin, a dust suction system, a ground washing system, a dirt collecting system, a six-wheel differential walking system and a navigation system.
The cabin is arranged above the chassis 1 and comprises a cabin body 3, a top cover 7 and a bottom plate 6, the top cover 7 is covered above the cabin body 3, the bottom plate 6 is connected to the bottom of the cabin body 3, and the cabin is connected with the chassis 1 through a skirt edge 2.
As shown in fig. 3 and 4, the dust collection system includes two sweeping brush discs 11, two first brush disc motors 12, a dust collection port 14, a dust collection box 10 and a dust collection motor 8, the two sweeping brush discs 11 are installed on the front side of the chassis 1 through a brush disc support 13, and can sweep and collect garbage at the center of the front end of the robot, so that the garbage can be conveniently sucked and collected, the two first brush disc motors 12 are fixed on the brush disc support 13 and are respectively connected with the two sweeping brush discs 11, a crescent-shaped dust collection port 14 is arranged below the front end of the chassis 1, so that the dust collection range can be effectively increased, the dust collection port 14 is connected with the dust collection box 10 through a dust collection pipeline 9, the dust collection motor 8 is connected with the dust collection box 10 through a pipeline with a rotary buckle, the dust collection box 10 and the dust collection motor 8 can be separated through the rotary buckle, so as to realize quick removal and garbage dumping, and the dust collection.
The floor washing system comprises a floor washing brush disc 20, a second brush disc motor 19, a cleaning nozzle 18, an electromagnetic water valve 17, a clean water motor 16 and a clean water tank 15, wherein the floor washing brush disc 20 is arranged in the middle of the lower portion of a chassis 1, the second brush disc motor 19 is arranged in the chassis 1, the second brush disc motor 19 is connected with the floor washing brush disc 20 through a coupler, the cleaning nozzle 18 is arranged below the chassis 1 and positioned between a dust suction port 14 and the floor washing brush disc 20, the cleaning nozzle 18 can be used for spraying high-pressure water to clean stubborn stains on the floor and providing cleaning liquid for the floor washing brush disc 20, the cleaning nozzle 18 is connected with the electromagnetic water valve 17 through a pipeline and can be used for controlling whether the cleaning nozzle 18 discharges water or not and controlling the water flow so as to save water, the electromagnetic water valve 17 is connected with the clean water motor 16, the clean water motor 16 is connected with the clean water tank 15, a first water level monitor is arranged in the clean water, the clean water tank 15 is provided with a water inlet and a water outlet and can be used for supplementing clean water and detergent and cleaning the water tank, and the electromagnetic water valve 17, the clean water motor 16 and the clean water tank 15 are all arranged in the machine cabin.
As shown in fig. 5, the sewage collecting system includes a water absorbing rake 21, an adjustable bracket 22, a sewage motor 23, a sewage tank 24 and a water filtering motor 26, the water absorbing rake 21 is installed at the rear side of the chassis 1 through the adjustable bracket 22, the adjustable bracket 22 is installed and fixed through a sheet metal part and can rotate around a positioning hole and adjust a pitching angle, guide wheels are installed at both ends of the water absorbing rake 21 for collecting sewage on the ground and cleaning and drying the ground, a through hole on the water absorbing rake 21 is connected with the sewage motor 23 through a sewage pipe 25, the sewage motor 23 is connected with the sewage tank 24, a second water level monitor is arranged in the sewage tank 24, the sewage tank 24 is provided with a water inlet and a water outlet for discharging sewage and cleaning the water tank, the sewage tank 24 is connected with the water filtering motor 26, the water filtering motor 26 is connected with the clean water tank 15, sewage can be filtered into the clean water tank 15, water, the efficiency is increased, and the sewage motor 23, the sewage tank 24 and the water filtering motor 26 are all arranged in the cabin.
As shown in fig. 6, the robot further comprises a main controller 37, the main controller 37 is disposed in the chassis 1, and the first water level monitor, the second water level monitor, the dust suction motor 8, the electromagnetic water valve 17, the clean water motor 16, the sewage motor 23 and the water filtration motor 26 are electrically connected to the main controller 37.
The front side of the cabin body 3 is provided with a first cabin door 4, the dust collection box 10 and the dust collection motor 8 are arranged on one side close to the first cabin door 4, the dust collection box 10 can be taken out by opening the first cabin door 4, the dust collection box 10 is dumped and cleaned, the rear side of the cabin body 3 is provided with a second cabin door 5, the clean water box 15 and the sewage box 24 are arranged on one side close to the second cabin door 5, the clean water box 15 can be supplemented with clean water and cleaning agents by opening the second cabin door 5, the clean water motor 16 is arranged above the clean water box 15, the sewage motor 23 is arranged above the sewage box 24, the water filtering motor 26 is arranged on the rear side of the sewage box 24, and the first cabin door 4 and the second cabin door 5 are both provided with cabin door switches electrically connected.
The six-wheel differential walking system comprises two driving wheels 27 capable of performing differential motion and four driven wheels 29 arranged on the front side and the rear side of a chassis 1, wherein the two driving wheels 27 are arranged on the two sides of the middle of the chassis 1, the four driven wheels 29 are arranged on the front side and the rear side of the chassis 1, two driving motors 28 are arranged in the chassis 1, two drivers are arranged on one sides of the two driving motors 28, the two driving motors 28 are respectively connected with the two driving wheels 27 through couplers, the two driving wheels 27 can perform in-situ turning through differential motion, 90-degree turning is performed to clean various areas, the driving motors 28.
The navigation system comprises a laser radar 30 and an area array laser radar 31 which are electrically connected with a main controller 37, the laser radar 30 is arranged at the top end of the cabin and is the basis for establishing a map, GPS positioning, navigation and unmanned driving, the area array laser radar 31 is arranged on the front side of the cabin, and when an object in a super-close range is encountered, the driving motor 28 can be used for emergency braking, the obstacle is avoided, and the safety is ensured. The front side of the cabin is also provided with an LED lamp 36, and the LED lamp 36 is electrically connected with a main controller 37 and used for lighting and reminding passers-by to avoid at night. The front side of the cabin is also provided with a camera 32, the surrounding environment is monitored in real time, the road surface cleanness can also be judged, and the camera 32 is electrically connected with a main controller 37.
The chassis 1 is internally provided with a battery 33, a main controller 37 is electrically connected with the battery 33, the outer side of the chassis 1 is provided with a charging port 35 and an emergency switch 34 which are electrically connected with the battery 33, and the emergency switch 34 can be used for emergency braking when meeting emergency situations to stop the operation of the robot.
The cleaning method of the indoor and outdoor universal intelligent sweeping and washing integrated robot provided by the embodiment comprises the following steps:
the robot has two working modes of manual operation and unmanned driving;
in a manual operation mode, the robot is in remote communication connection through the intelligent mobile terminal, the surrounding environment information is monitored and observed through a camera 32 arranged on the robot, an operator remotely operates the robot through the intelligent mobile terminal to perform cleaning operation, a person is not required to be on site in real time, and labor cost is saved;
in the unmanned driving mode, the laser radar 30 arranged on the robot is used for collecting surrounding environment information, a map is established after the information is processed by a main controller 37 of the robot, a plurality of routes are planned for one map, and the robot automatically carries out reciprocating cruising operation along the routes, so that the cleaning operation of the robot in different areas and all time periods is realized;
during walking operation, the driving motor 28 is started to drive the driving wheel 27 to rotate, the driving wheel 27 drives the whole robot to walk, the robot is positioned by the laser radar 30 in the walking process, the area array laser radar 31 detects a front object, and if a short-distance object exists in the front, the robot continues cleaning operation after automatic obstacle avoidance;
during cleaning operation, the first brush disc motor 12 is started to drive the sweeping brush disc 11 to rotate, garbage is swept and concentrated in the front center of the robot, the dust collection motor 8 is started, and dust and garbage in front of the robot are sucked into the dust collection box 10 through the dust collection port 14 in the front end of the chassis 1;
starting a clean water motor 16 to pump water from a clean water tank 15 to supply to a cleaning nozzle 18, controlling the water outlet and water flow of the cleaning nozzle 18 through an electromagnetic water valve 17, spraying high-pressure water to the cleaning nozzle 18 to clean stubborn stains on the ground, providing cleaning liquid for a floor-washing brush disc 20, starting a second brush disc motor 19, adjusting the corresponding rotating speed, and driving the floor-washing brush disc 20 below the chassis 1 to deeply clean the ground;
the sewage generated by cleaning the ground by the floor washing brush plate 20 is gathered by the water absorption scratcher 21 at the rear end of the chassis 1, the sewage motor 23 is started to collect the sewage gathered by the water absorption scratcher 21 to the sewage tank 24 so as to clean and dry the ground, and when the second water level monitor in the sewage tank 24 detects that a certain amount of sewage is collected in the sewage tank 24, the water filtering motor 26 is started to pump water from the sewage tank 24 and filter the sewage and then convey the sewage to the clean water tank 15 for recycling;
when the water level monitor in the clean water tank 15 detects that the water in the clean water tank 15 is used up, the cleaning operation is stopped, the robot returns to a preset stopping point, the first cabin door 4 is opened, the dust collection box 10 is taken out, garbage is dumped and cleaned, the second cabin door 5 is opened, clean water and cleaning agent are supplied to the clean water tank 15, and the sewage tank 24 is cleaned and discharged.
The embodiment provides an indoor and outdoor universal intelligent sweeping and washing integrated robot and a cleaning method thereof, the two sweeping brush discs 11 arranged at the front end sweep and concentrate garbage to the center of the robot, the concentrated garbage and dust are collected in the dust collection box 10 through the dust suction port 14 at the lower end of the chassis 1, the ground cleaned is cleaned through the sweeping system, the sewage generated by cleaning is collected through the dirt collection system, the tiny garbage can be effectively removed and the ground can be effectively cleaned, the cleaning operation of the robot can be manually and remotely monitored and controlled, the operation (automatic cruise) can be carried out under the unmanned condition, a map, a specified route and the automatic cruise are established through a navigation system, the robot can sweep and clean for many times in different areas and all time periods, the labor is saved, the whole structure is compact and simple, the size is small, the washing and sweeping integrated machine has the advantages of low manufacturing cost and maintenance cost, integration of washing and sweeping, indoor and outdoor universality and rich applicable scenes.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. An indoor and outdoor universal intelligent sweeping and washing integrated robot is characterized by comprising a chassis, an engine room, a dust collection system, a ground washing system and a sewage collection system, wherein the engine room is arranged above the chassis;
the dust collection system comprises two sweeping brush discs, two first brush disc motors, a dust collection port, a dust collection box and a dust collection motor, wherein the two sweeping brush discs are arranged on the front side of a chassis through a brush disc support, the two first brush disc motors are fixed on the brush disc support and are respectively connected with the two sweeping brush discs, a crescent dust collection port is arranged below the front end of the chassis, the dust collection port is connected with the dust collection box through a dust collection pipeline, the dust collection motor is connected with the dust collection box through a pipeline with a rotary buckle, and the dust collection box and the dust collection motor are both arranged in the cabin;
the floor washing system comprises a floor washing brush disc, a second brush disc motor, a cleaning nozzle, an electromagnetic water valve, a clean water motor and a clean water tank, wherein the floor washing brush disc is arranged in the middle of the lower portion of a chassis, the second brush disc motor is arranged in the chassis, the second brush disc motor is connected with the floor washing brush disc through a coupling, the cleaning nozzle is arranged below the chassis and located between a dust suction port and the floor washing brush disc, the cleaning nozzle is connected with the electromagnetic water valve through a pipeline, the electromagnetic water valve is connected with the clean water motor, the clean water motor is connected with the clean water tank, a first water level monitor is arranged in the clean water tank, and the electromagnetic water valve, the clean water motor and the clean water tank are all arranged in a cabin;
the sewage collecting system comprises a water sucking rake, an adjustable support, a sewage motor, a sewage tank and a water filtering motor, wherein the water sucking rake is installed on the rear side of a chassis through the adjustable support, guide wheels are installed at two ends of the water sucking rake, a through hole in the water sucking rake is connected with the sewage motor through a sewage pipe, the sewage motor is connected with the sewage tank, a second water level monitor is arranged in the sewage tank, the sewage tank is connected with the water filtering motor, the water filtering motor is connected with a clean water tank, and the sewage motor, the sewage tank and the water filtering motor are all arranged in the engine room.
2. The indoor and outdoor universal intelligent sweeping and washing integrated robot is characterized in that the robot further comprises a main controller, the main controller is arranged in the chassis, and the first water level monitor, the second water level monitor, the dust suction motor, the electromagnetic water valve, the clean water motor, the sewage motor and the water filtering motor are electrically connected with the main controller.
3. The indoor and outdoor general intelligent sweeping and washing integrated robot is characterized in that the robot further comprises six-wheel differential walking system, the six-wheel differential walking system comprises two driving wheels capable of moving in a differential mode and four driven wheels, the two driving wheels are mounted on two sides of the middle of a chassis, the four driven wheels are mounted on the front side and the rear side of the chassis, two driving motors are arranged in the chassis and are respectively connected with the two driving wheels through couplers, and the driving motors are connected with a main controller.
4. The indoor and outdoor universal intelligent sweeping and washing integrated robot is characterized by further comprising a navigation system, wherein the navigation system comprises a laser radar and an area array laser radar, the laser radar is electrically connected with a main controller and is arranged at the top end of the cabin, and the area array laser radar is arranged on the front side of the cabin.
5. The indoor and outdoor universal intelligent sweeping and washing integrated robot is characterized in that a camera is further arranged on the front side of the cabin and electrically connected with a main controller.
6. An indoor and outdoor general intelligent sweeping and washing integrated robot as claimed in claim 2, wherein a battery is arranged in the chassis, the main controller is electrically connected with the battery, and a charging port and an emergency switch which are electrically connected with the battery are arranged outside the chassis.
7. The indoor and outdoor universal intelligent sweeping and washing integrated robot is characterized in that an LED lamp is further arranged on the front side of the cabin and electrically connected with a main controller.
8. The indoor and outdoor intelligent sweeping and washing integrated robot as claimed in claim 2, wherein the cabin comprises a cabin body, a top cover and a bottom plate, the top cover is arranged above the cabin body, the bottom plate is connected to the bottom of the cabin body, the cabin body is connected with the chassis through a skirt, a first cabin door is arranged on the front side of the cabin body, the dust collection box and the dust collection motor are arranged on one side close to the first cabin door, a second cabin door is arranged on the rear side of the cabin body, the clean water box and the sewage box are arranged on one side close to the second cabin door, the clean water motor is arranged above the clean water box, the sewage motor is arranged above the sewage box, the water filtration motor is arranged on the rear side of the sewage box, and cabin door switches electrically connected with the main controller are arranged on the first cabin door and the second cabin door.
9. The cleaning method of the indoor and outdoor universal intelligent sweeping and washing integrated robot is characterized by comprising the following steps of:
during cleaning operation, the first brush disc motor is started to drive the sweeping brush disc to rotate, garbage is swept and concentrated in the front center of the robot, the dust collection motor is started, and dust and garbage in front of the robot are sucked into the dust collection box through the dust collection port in the front end of the chassis;
starting a clean water motor to pump water from a clean water tank and supply the water to a cleaning nozzle, controlling the water outlet and water flow of the cleaning nozzle through an electromagnetic water valve, spraying high-pressure water by the cleaning nozzle to clean stubborn stains on the ground, providing cleaning liquid for a floor-scrubbing brush disc, starting a second brush disc motor, adjusting the corresponding rotating speed, and driving the floor-scrubbing brush disc below a chassis to deeply clean the ground;
the method comprises the following steps that sewage generated by cleaning the ground by a ground washing brush plate is collected by a water absorption rake at the rear end of a chassis, a sewage motor is started to collect the sewage collected by the water absorption rake to a sewage tank so as to clean and dry the ground, and when a second water level monitor in the sewage tank detects that a certain amount of sewage in the sewage tank is collected, a water filtering motor is started to pump water from the sewage tank and filter the sewage and then convey the sewage to a clean water tank for recycling;
when the water level monitor in the clean water tank detects that the water in the clean water tank is used up, the cleaning operation is stopped, the robot returns to a preset stop point, the dust collection tank is taken out, garbage is dumped and cleaned, clean water and cleaning agents are supplemented to the clean water tank, and the sewage tank is cleaned and discharged.
10. The cleaning method of the indoor and outdoor universal intelligent sweeping and washing integrated robot is characterized by further comprising the following steps:
the robot has two working modes of manual operation and unmanned driving;
in a manual operation mode, the robot is in remote communication connection through an intelligent mobile terminal, the ambient environment information is monitored and observed through a camera arranged on the robot, and an operator remotely operates the robot through the intelligent mobile terminal to perform cleaning operation;
in the unmanned driving mode, the laser radar arranged on the robot is used for acquiring surrounding environment information, a main controller of the robot is used for processing the surrounding environment information, then a map is built, a plurality of routes are planned for one map, and the robot carries out automatic reciprocating cruising operation along the routes, so that the cleaning operation of the robot in different areas and in the whole time period is realized;
during the walking operation, start driving motor, it is rotatory to drive the action wheel, and the action wheel drives whole robot walking, passes through laser radar location at the walking in-process, and area array laser radar surveys the place ahead object, if there is closely object in the place ahead, and the robot continues cleaning operation after keeping away the barrier automatically.
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| CN113353499A (en) * | 2021-06-21 | 2021-09-07 | 南通大学 | Automatic cleaning system and method for vehicle-mounted dustbin of unmanned sweeper |
| CN114010114A (en) * | 2021-12-03 | 2022-02-08 | 江苏集萃智能制造技术研究所有限公司 | Automatic purification water circulation mechanism of unmanned ground washing robot |
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