CN112155467A - Multifunctional intelligent cleaning robot - Google Patents
Multifunctional intelligent cleaning robot Download PDFInfo
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- CN112155467A CN112155467A CN202011048890.5A CN202011048890A CN112155467A CN 112155467 A CN112155467 A CN 112155467A CN 202011048890 A CN202011048890 A CN 202011048890A CN 112155467 A CN112155467 A CN 112155467A
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- motor
- intelligent cleaning
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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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or 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
- A47L11/24—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
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators 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
- A47L11/4011—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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
Abstract
A multifunctional intelligent cleaning robot belongs to the technical field of intelligent cleaning and aims to solve the problems of high cost, complex structure, complex cleaning, single function and the like in the prior art. The invention comprises the following steps: a movable housing including at least a bottom chassis; a caterpillar movement mechanism installed in the moving housing and penetrating through the bottom housing; a central centrifugal suction motor mounted in the movable housing and passing through the bottom housing; the cleaning sponge is detachably arranged on the outer surface of the bottom shell; a plurality of reflective photoelectric sensors mounted on the outer surface of the movable housing; and the power supply and the main control circuit board are arranged in the movable shell, and the power supply supplies power for the track moving mechanism, the central centrifugal suction motor and the main control circuit board. The multifunctional intelligent cleaning robot has two control modes of manual and automatic, can realize double-motion mode and autonomous obstacle avoidance motion, has compact structure and larger cleaning area, and can meet the cleaning requirements under different environments.
Description
Technical Field
The invention belongs to the technical field of intelligent cleaning, and particularly relates to a multifunctional intelligent cleaning robot.
Background
The research and development of the multifunctional intelligent cleaning robot are important components of the technical development of modern service robots, and the multifunctional intelligent cleaning robot is beneficial to the convenience brought to life by the fact that people can enjoy the progress of the intelligent cleaning equipment technology in time. However, the cleaning service technology in China starts late, the types of cleaning equipment in the market are few, the cleaning equipment is relatively simple and crude, and the requirements of more and more families and public places on intelligent cleaning products cannot be met.
At present, a household daily cleaning window mainly uses a manual cleaning tool with attracted magnets, and a ceiling, a wall, a slit and the like can be cleaned only manually. Aiming at cleaning of planes such as window glass and the ground, some intelligent cleaning devices are appeared in the market, and the intelligent cleaning devices have complex structures, high prices and single functions. The existing plane cleaning technology is mainly divided into two types according to the application field: one is cleaning the ground, generally adopting modes such as brushing, dust absorption and scrubbing to absorb the sundries on the ground into a garbage storage box, thereby completing the cleaning of the ground. The other is wall cleaning, the wall cleaning robot uses a vacuum centrifugal suction motor to generate negative pressure to adsorb the robot to a glass plane and the like, and the wall is cleaned by the movement of the cleaning robot and a cleaning device at the bottom of the cleaning robot. The two cleaning modes have complex structures, can only realize plane cleaning, do not solve the problem that the wall surfaces such as ceilings, walls, slits and the like are difficult to clean by people, and have the defects of high cost, complex structure, complex cleaning and single function.
Disclosure of Invention
The invention aims to provide a multifunctional intelligent cleaning robot, which solves the problems of high cost, complex structure, complex cleaning and single function in the prior art.
To achieve the above object, a multifunctional intelligent cleaning robot of the present invention comprises:
a mobile housing comprising at least a bottom enclosure;
a caterpillar track mechanism mounted within the mobile housing and passing through the bottom housing;
a central centrifugal suction motor mounted within said mobile housing and passing through said bottom housing;
a cleaning sponge detachably mounted on the outer surface of the bottom casing;
a plurality of reflective photoelectric sensors mounted on the outer surface of the moving housing;
and the power supply and the main control circuit board are arranged in the movable shell, the power supply supplies power to the track moving mechanism and the central centrifugal suction motor, and the main control circuit board is in electrical communication with the track moving mechanism, the central centrifugal suction motor and the reflective photoelectric sensor through a control bus.
The cleaning robot also comprises a wireless transmission module, and the wireless transmission module is Bluetooth; the master control circuit board is connected with an external mobile terminal through the Bluetooth.
The movable shell further comprises an annular peripheral shell, and the bottom shell is mounted on the bottom end face of the peripheral shell.
The outer surface of the bottom shell and the periphery of the matching part of the central centrifugal suction motor are connected by adopting an elastic material.
The track motion includes two sets ofly, is diagonal line symmetrical arrangement, and every group track motion includes:
a motion motor installed inside the moving housing;
the transmission mechanism comprises two transmission belt wheels with parallel axes, and the motion motor is coaxially and fixedly connected with any one of the transmission belt wheels;
a track connected between the two drive pulleys;
and a photoelectric encoder mounted on a motor output shaft of the motion motor.
The main control circuit board respectively controls the two motion motors of the two groups of track motion mechanisms to move.
The center centrifugal suction motor includes:
the central brushless motor is arranged in the movable shell and is controlled to move by the main control circuit board;
and the centrifugal blade is connected with the output shaft of the central brushless motor and is arranged right above the central through hole of the bottom shell.
The central centrifugal suction motor further comprises a filter screen, and the filter screen is arranged at the through hole in the center of the bottom shell.
Clean sponge demountable installation in bottom casing surface specifically does: the outer surface of the bottom casing is provided with two grooves which are arranged diagonally, and the two cleaning sponges are detachably nested and fixed in the grooves.
The number of the reflection type photoelectric sensors is six, and the six photoelectric sensors are symmetrically arranged at two ends of the length direction of the movable shell
The main control circuit board is provided with a main control chip and an electrode driving chip; the main control chip receives external signals through the wireless transmission module and drives the movement motor of the track movement mechanism and the movement of the central centrifugal suction motor through the motor driving chip.
The invention has the beneficial effects that:
1. the multifunctional intelligent cleaning robot is small in size, the number of the motion motors is reduced, two motion motors and one centrifugal suction motor are adopted, the mass of the whole robot body is reduced, and the compactness and the light weight of the whole robot body are realized;
2. the multifunctional intelligent cleaning robot adopts the crawler belt which is convenient for the robot to move at the bottom, and can perform cleaning movement on smooth glass, the inner surface of an elevator and a rough wall surface;
3. the multifunctional intelligent cleaning robot has the advantages that the two transmission crawler wheels can enable the whole robot to have a double-motion mode. When the two crawler wheels move at the same speed, the whole machine can be linearly cleaned in a narrow cleaning space or can quickly move to a cleaning area; when the two crawler wheels do differential motion, the whole machine can rotate around the center of the whole machine, and the cleaning space in a large range can be efficiently cleaned.
4. The multifunctional intelligent cleaning robot is internally provided with the wireless Bluetooth communication module, and can be controlled at a long distance. When the mobile phone cleaning robot is used, the mobile phone is connected with the cleaning robot through the Bluetooth, and the motion control of the cleaning robot can be realized through the mobile phone App.
5. The multifunctional intelligent cleaning robot control module can not only manually control the movement of the robot, but also realize an automatic movement obstacle avoidance mode so as to meet the actual requirements of different occasions.
Drawings
FIG. 1 is a front structural view of a multifunctional intelligent cleaning robot according to the present invention;
FIG. 2 is a diagram of a back structure of a multifunctional intelligent cleaning robot according to the present invention;
FIG. 3 is an exploded view of a cleaning sponge of the multifunctional intelligent cleaning robot of the present invention;
FIG. 4 is a structural diagram of a track moving mechanism in the multifunctional intelligent cleaning robot of the invention;
fig. 5 is a schematic diagram of a reflection-type photoelectric sensor of the multifunctional intelligent cleaning robot according to the present invention.
Fig. 6 is a control schematic diagram of a main control chip in the multifunctional intelligent cleaning robot of the present invention.
FIG. 7 is a diagram illustrating the effect of the automatic exercise mode according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating the effect of the automatic exercise mode according to another embodiment of the present invention;
wherein: 1. the device comprises a movable shell, 101, a bottom shell, 102, a peripheral shell, 103, through holes, 104, grooves, 2, a track moving mechanism, 201, a moving motor, 202, a transmission mechanism, 203, a track, 204, a photoelectric encoder, 3, a central centrifugal suction motor, 301, a central brushless motor, 302, centrifugal blades, 303, a filter screen, 4, cleaning sponge, 5, a reflection type photoelectric sensor, 501, an infrared emission tube, 502, an infrared receiving tube, 6, a power supply, 7, a main control circuit board, 701, a main control chip, 702, a motor driving chip, 8, a wireless transmission module, 9 and obstacles.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1 to 6, a multifunctional intelligent cleaning robot according to the present invention includes:
a mobile casing 1, said mobile casing 1 comprising at least a bottom casing 101;
a crawler movement mechanism 2 installed in the movable housing 1 and penetrating through the bottom case 101, wherein the cleaning robot is driven to move integrally by the crawler movement mechanism 2;
a central centrifugal suction motor 3 mounted inside said mobile casing 1 and passing through said bottom casing 101;
a cleaning sponge 4 detachably mounted on the outer surface of the bottom chassis 101;
a plurality of reflective photoelectric sensors 5 mounted on the outer surface of the moving housing 1;
and the power supply 6 and the main control circuit board 7 are arranged inside the movable shell 1, the power supply 6 is connected with the track moving mechanism 2 and the central centrifugal suction motor 3 for power supply, and the main control circuit board 7 is electrically connected with the track moving mechanism 2, the central centrifugal suction motor 3 and the reflection type photoelectric sensor 5. The power supply 6 is a rechargeable lithium battery, and the voltage of the battery is 3.7V; the cleaning robot can work by wired power supply at a short distance and work by battery power supply at a long distance.
The cleaning robot also comprises a wireless transmission module 8, wherein the wireless transmission module 8 is Bluetooth; and the main control circuit board 7 is connected with an external mobile terminal through the Bluetooth. The Bluetooth receiver is HC-05 in model, is integrated in the mobile shell 1, and transmits a user command to the main control chip 701 through Bluetooth to realize remote control.
The movable housing 1 further includes a ring-shaped peripheral housing 102, and the bottom housing 101 is mounted on a bottom end surface of the peripheral housing 102.
The outer surface of the bottom shell 101 is connected with the matching part of the central centrifugal suction motor 3 by adopting an elastic material, and the elastic material is made of PET or PVC material.
Crawler motion 2 includes two sets ofly, is diagonal symmetry installation, every group crawler motion 2 includes:
a motion motor 201 installed inside the moving case 1;
the transmission mechanism 202 comprises two transmission belt wheels with parallel axes, and the motion motor 201 is coaxially and fixedly connected with any one of the transmission belt wheels;
a crawler 203 connected between the two transmission pulleys;
and a photoelectric encoder 204 mounted on an output shaft of the motion motor 201 for detecting a position and speed signal of the motor and feeding back the detection signal to the main control circuit board.
The main control circuit board 7 respectively controls the two motion motors 201 of the two sets of track motion mechanisms 2 to move.
The center centrifugal suction motor 3 includes:
a central brushless motor 301 installed inside the mobile housing 1, wherein the central brushless motor 301 is controlled to move by the main control circuit board 7;
and a centrifugal blade 302 connected with an output shaft of the central brushless motor 301, wherein the centrifugal blade 302 is installed right above a through hole 103 formed in the center of the bottom case 101.
The central centrifugal suction motor 3 further comprises a filter screen 303, and the filter screen 303 is installed at the through hole 103 in the center of the bottom casing 101.
The central centrifugal suction motor 3 drives the centrifugal blades 302 to rotate at a high speed through the central brushless motor 301 and is matched with elastic materials around the bottom to rapidly pump out air at the bottom, so that negative pressure is generated to realize wall climbing.
The cleaning sponge 4 is detachably mounted on the outer surface of the bottom casing 101 and specifically comprises: two grooves 104 which are symmetrically distributed in a diagonal line are formed in the outer surface of the bottom casing 101, and the two cleaning sponges are detachably nested and fixed in the grooves 104. The cleaning sponge 4 is made of kitchen and bathroom sponge with strong dirt absorption capacity, is easy to wash and replace, is nested at the bottom of the movable shell 1, is arranged in a manner that a diagonal line and the moving crawler 203 are oppositely crossed, is generally fixed in a nesting mode, is easy to wash and replace, and is higher than the exposed height of the crawler 203 and the exposed height of the crawler 203 by about 1-2 mm. The cleaning force of the cleaning sponge 4 is made stronger when the central centrifugal suction motor 3 provides a sufficient negative pressure suction force.
The number of the reflective photoelectric sensors 5 is six, and the six photoelectric sensors are symmetrically arranged at two ends of the movable shell 1 in the length direction. The reflective photoelectric sensor 5 is ITR20001/T, an infrared transmitting tube 501 and an infrared receiving tube 502 are arranged in the reflective photoelectric sensor, and when the reflective photoelectric sensor is close to an obstacle 9, a pulse signal is fed back to a main control chip 701.
The main control circuit board 7 is provided with a main control chip 701 and an electrode driving chip; the main control chip 701 receives an external signal through the wireless transmission module 8 and controls the movement motor 201 of the track movement mechanism 2 and the central brushless motor 301 of the central centrifugal play motor to move through the motor driving chip 702. The model of the main control chip 701 is STM32F103ZET6, a user command is received through the main control chip 701, and an intelligent control algorithm is embedded to realize intelligent control of the cleaning robot. The motor driver chip 702 is model L298N. In the automatic movement mode, when the multifunctional cleaning robot housing approaches the obstacle 9, a feedback signal is generated, and the main control chip 701 and the motor driving chip 702 adjust the current movement state according to the feedback signal.
The main control chip 701 controls the central brushless motor 301 to rotate to generate negative pressure suction and controls the motion motor 201 to rotate to provide power for the movement of the crawler 203, so that the cleaning robot body can realize climbing motion on the wall surface. The elastic material at the bottom of the central centrifugal suction motor 3 is generally made of PET or PVC material.
And after receiving the user instruction, the Bluetooth receiver starts a manual control mode. The serial port sends the command to the main control chip 701 for decoding, then the STM32 main control chip generates and sends two paths of PWM signals with different duty ratios to the motor driving core 702, and the two paths of PWM signals are transmitted to the two moving motors 201 through the timer for motor control, namely, TIM1_ CH1 and TIM1_ CH2, so as to control the rotating speed of the moving motors 201 to realize the double-moving mode. Meanwhile, the main control chip 701 generates a high level to be sent to the central brushless motor 301 through the PC1, and the high level is controlled to drive the centrifugal blades 302 to rotate, so as to generate negative pressure suction.
The cleaning robot can be manually controlled to move by a user through Bluetooth, and can also realize an automatic movement mode, wherein the automatic movement mode is a movement mode that the user does not need to issue a command to a control chip, the control chip automatically controls the track movement mechanism 2 to move and automatically avoids an obstacle 9 in the movement process.
Six reflective photoelectric sensors 5 are distributed on the periphery of the movable shell 1, and when the automatic movement mode is carried out, the main control chip 701 determines the specific movement mode of the machine body by capturing the distribution of signal sources of the reflective photoelectric sensors 5. When no feedback signal is sent by the six reflective photoelectric sensors 5, the main control chip 701 controls the two crawler movement mechanisms 2 to continuously perform differential speed movement, so that the central brushless motor 301 is used as a central machine body to perform rotary movement, and the motor on the right side of the main control chip 701 is a motor with a higher speed in the default movement mode. After 360-degree rotary motion, the two crawler motion mechanisms 2 move forwards along the direction of the machine body at the same speed for one machine body length, and at this time, a group of rotary motion and a group of linear motion are called as a group of rotary cleaning motion. The linear movement distance of the machine body is acquired by a photoelectric encoder 204 in the crawler belt 203, and then the rotating cleaning movement is repeated. When the cleaning movement is carried out, the intelligent obstacle avoidance function is realized through the following algorithm. In the working process, when a certain reflective photoelectric sensor 5 on one side has a feedback signal, assuming that an obstacle exists on one side of the machine body, the machine body is controlled to turn to the other side of the reflective photoelectric sensor 5 until the feedback signal disappears completely, and the machine body moves forwards along the direction of the machine body for a length of the machine body and then continues the previous rotary cleaning movement; when the feedback signals of the reflective photoelectric sensors 5 are provided on both sides, the machine body is controlled to move along a straight line under the assumption that obstacles exist on both sides of the machine body until the feedback signals disappear completely, and the previous rotary cleaning movement is continued; when the fuselage continues to carry out rotary motion and can not carry out linear motion along the fuselage direction, the fuselage continues to carry out 180 degrees rotary motion or can not continue to carry out linear motion along the fuselage direction, defaults that the fuselage continues three times linear motion and does not exceed a fuselage position and is forced to return, then assumes that there is the barrier around, finishes the automatic motion mode, and main control chip 701 reminds the user through the bluetooth and solves manually.
In this embodiment, an example in which a cleaning robot is used for cleaning a wall or a glass surface in a home will be described. In other environment indoor and outdoor environments, the intelligent cleaning robot can clean and realize autonomous obstacle avoidance, for example: glass, walls and inner walls of elevators of restaurants, supermarkets, markets and the like.
Referring to fig. 7, the multifunctional intelligent cleaning robot moves vertically upward along a plane. The multifunctional intelligent cleaning robot cleans along a vertical wall surface and is in an automatic mode, and the central centrifugal motor 1 rotates to provide adsorption force for the robot body. The obstacle 9 is a corner type with an angle larger than 90 degrees, when the center of the multifunctional intelligent cleaning robot is located at a point A on a vertical plane, at the moment, the six reflective photoelectric sensors 5 uniformly keep a certain distance from the obstacle 9, and the main control chip 701 does not receive a feedback signal of the reflective photoelectric sensors 5, the motor driving chip 702 controls the track moving mechanism 2 to perform rotary cleaning movement, wherein the speed of the track moving mechanism 2 far away from the obstacle 9 is larger than that of the track moving mechanism 2 close to the obstacle 9. When the linear motion in the rotary cleaning motion is finished, the center of the multifunctional intelligent cleaning robot is located at the position B, and the two reflective photoelectric sensors 5 at the top of the robot, which are close to the obstacle 9, generate feedback signals because of being close to the obstacle 9. The main control chip 701 controls the track moving mechanism 2 to rotate a certain angle towards the direction far away from the obstacle 9 through the motor driving chip 702 (the speed of the track moving mechanism 2 close to the obstacle 9 is higher than that of the track moving mechanism 2 far away from the obstacle 9), and the machine body is made to perform linear motion along the previous track (the two track moving mechanisms 2 perform equal-speed motion) after the feedback signal completely disappears. In the whole movement process, the cleaning sponge 4 cleans the area covered by the movement track of the multifunctional intelligent cleaning robot on the vertical plane.
Referring to fig. 8, the multifunctional intelligent cleaning robot moves vertically upward. The multifunctional intelligent cleaning robot cleans along a vertical plane and is in an automatic mode, and the central brushless motor 301 rotates to provide an adsorption force. The obstacles 9 are positioned on two sides of the machine body, the reflective photoelectric sensors 5 positioned on two sides of the machine body generate feedback signals due to the fact that the reflective photoelectric sensors are respectively close to the obstacles 9 on two sides, the main control chip 701 controls the two crawler movement mechanisms 2 to move at the same speed through the motor driving chip 702 after receiving the feedback signals, and therefore the multifunctional intelligent cleaning robot moves forwards in the linear direction.
Claims (10)
1. A multifunctional intelligent cleaning robot, comprising:
a mobile housing (1), said mobile housing (1) comprising a bottom chassis (101);
a caterpillar movement mechanism (2) installed in the moving housing (1) and passing through the bottom cabinet (101);
a central centrifugal suction motor (3) mounted within said mobile casing (1) and passing through said bottom cabinet (101);
a cleaning sponge (4) detachably mounted on the outer surface of the bottom case (101);
a plurality of reflective photoelectric sensors (5) mounted on the outer surface of the mobile housing (1);
and the power supply (6) and the main control circuit board (7) are installed inside the movable shell (1), the power supply (6) supplies power to the track moving mechanism (2) and the central centrifugal suction motor (3), and the main control circuit board (7) is communicated with the track moving mechanism (2), the central centrifugal suction motor (3) and the reflection type photoelectric sensor (5) through a control bus.
2. A multi-functional intelligent cleaning robot according to claim 1, characterized in that, the cleaning robot further comprises a wireless transmission module (8), the wireless transmission module (8) is bluetooth; the master control circuit board (7) is connected with an external mobile terminal through the Bluetooth.
3. A multi-functional intelligent cleaning robot according to claim 1 or 2, characterized in that the mobile housing (1) further comprises a ring-shaped peripheral housing (102), the bottom housing (101) being mounted on the bottom end face of the peripheral housing (102).
4. A multifunctional intelligent cleaning robot as claimed in claim 1, characterized in that the outer surface of the bottom housing (101) and the central centrifugal suction motor (3) are connected by elastic material.
5. A multi-functional intelligent cleaning robot according to claim 1 or 2, characterized in that the crawler-moving mechanisms (2) comprise two groups, two groups are arranged in diagonal symmetry, each group of the crawler-moving mechanisms (2) comprises:
a motion motor (201) installed inside the moving case (1);
the transmission mechanism (202) comprises two transmission belt wheels with axes arranged in parallel, and the motion motor (201) is coaxially and fixedly connected with any one of the transmission belt wheels;
a track (203) connected between the two drive pulleys;
and a photoelectric encoder (204) arranged on the motor output shaft of the motion motor (201), wherein the photoelectric encoder (204) is connected with the main control circuit board (7).
And the main control circuit board (7) is used for respectively controlling the two motion motors (201) of the two groups of track motion mechanisms (2) to move.
6. A multifunctional intelligent cleaning robot according to claim 1 or 2, characterized in that said central centrifugal suction motor (3) comprises:
the central brushless motor (301) is installed inside the movable shell (1), and the central brushless motor (301) is controlled to move through the main control circuit board (7);
and the centrifugal blade (302) is connected with an output shaft of the central brushless motor (301), and the centrifugal blade (302) is arranged right above a central through hole (103) of the bottom machine shell (101).
7. A multifunctional intelligent cleaning robot as claimed in claim 6, characterized in that said central centrifugal suction motor (3) further comprises a filter screen (303), said filter screen (303) being mounted at a through hole (103) in the center of said bottom housing (101).
8. A multi-functional intelligent cleaning robot as claimed in claim 1 or 2, characterized in that said cleaning sponge (4) is detachably mounted on the outer surface of said bottom chassis (101), specifically: two grooves (104) which are arranged diagonally are formed in the outer surface of the bottom shell (101), and the two cleaning sponges are detachably nested and fixed in the grooves (104).
9. A multifunctional intelligent cleaning robot as claimed in claim 1 or 2, characterized in that the number of said reflective photoelectric sensors (5) is six, and six said photoelectric sensors are symmetrically installed at two ends of the length direction of said movable housing (1).
10. The multifunctional intelligent cleaning robot as claimed in claim 1 or 2, wherein the main control circuit board (7) is provided with a main control chip (701) and an electrode driving chip; the main control chip (701) receives external signals through the wireless transmission module (8) and controls the movement motor (201) and the central centrifugal suction motor (301) of the crawler movement mechanism (2) to move through the motor driving chip (702).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011048890.5A CN112155467B (en) | 2020-09-29 | 2020-09-29 | Multifunctional intelligent cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011048890.5A CN112155467B (en) | 2020-09-29 | 2020-09-29 | Multifunctional intelligent cleaning robot |
Publications (2)
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