CN112336260A - Novel shared automatic cleaning robot and sharing mode method thereof - Google Patents

Novel shared automatic cleaning robot and sharing mode method thereof Download PDF

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Publication number
CN112336260A
CN112336260A CN202011021004.XA CN202011021004A CN112336260A CN 112336260 A CN112336260 A CN 112336260A CN 202011021004 A CN202011021004 A CN 202011021004A CN 112336260 A CN112336260 A CN 112336260A
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cleaning
robot
module
main control
machine body
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李宁
刘文飞
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Taizhou University
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Taizhou University
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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
    • 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
    • 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
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • 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
    • 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
    • A47L11/4044—Vacuuming or pick-up tools; Squeegees
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00—Commerce
    • G06Q30/06—Buying, selling or leasing transactions
    • G06Q30/0645—Rental transactions; Leasing transactions
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
    • G07F17/0042—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for hiring of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
    • 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
    • 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
    • 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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  • Business, Economics & Management (AREA)
  • Engineering & Computer Science (AREA)
  • Human Resources & Organizations (AREA)
  • Physics & Mathematics (AREA)
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Abstract

The invention discloses a brand-new shared automatic cleaning robot and a sharing mode method thereof, and the technical scheme is characterized by comprising a robot body, a moving device arranged at the lower end of the robot body, a cleaning device arranged at the upper end of the robot body and an execution control system arranged in the robot body, wherein the robot body comprises a first machine body, a second machine body embedded in the first machine body and a lifting execution mechanism matched with the second machine body, and the cleaning device comprises a cleaning head hinged at the upper end of the second machine body and a dust collection execution mechanism matched with the cleaning head; the execution control system comprises a main control module, a communication module, a driving module, an image processing module, an obstacle avoidance module and a power supply module. The invention aims to improve the working efficiency of a domestic cleaning company, improve the working quality in a relatively simple mode and reduce the labor intensity.

Description

Novel shared automatic cleaning robot and sharing mode method thereof
Technical Field
The invention relates to the field of cleaning robots, in particular to a novel shared automatic cleaning robot and a sharing mode method thereof.
Background
The traditional cleaning robot has very high popularity in europe, the united states and korea, and is also popularized in China continental at an annual multiplication rate in recent years, but the traditional cleaning robot only belongs to the category of household appliances, and the real intellectualization is silent. Compared with a traditional cleaning robot, the intelligent cleaning robot comprises a dual-mode collision-free induction system, a self-rescue anti-blocking function, an automatic charging function, an autonomous navigation path planning function, a wide-angle camera (120 degrees), 15 groups of induction infrared devices, a route adding WIFI function, a mobile phone app direct remote control robot, and a photographing video sharing function.
However, most of the cleaning robots in the prior art are floor sweeping robots, which only clean dust on the ground, and clean the wall surface basically by manpower, and the cleaning of the wall surface is not frequent, so that it is not necessary for a family to buy a robot for cleaning the wall surface. Therefore, the present invention provides a shared robot capable of cleaning a wall surface, which is a problem to be solved by the present invention.
Disclosure of Invention
Aiming at the problems of the pipe crane assembly in practical application, the invention aims to improve the working efficiency of a household cleaning company, improve the working quality in a relatively simple mode and reduce the labor intensity.
In order to achieve the purpose, the invention provides the following technical scheme: a novel shared automatic cleaning robot comprises a robot body, a moving device arranged at the lower end of the robot body, a cleaning device arranged at the upper end of the robot body and an execution control system arranged in the robot body, wherein the robot body comprises a first machine body, a first machine body embedded in the first machine body and a lifting execution mechanism matched with the first machine body, and the cleaning device comprises a cleaning head hinged at the upper end of the first machine body and a dust collection execution mechanism matched with the cleaning head; the execution control system comprises a main control module, a communication module, a driving module, an image processing module, an infrared obstacle avoidance module and a power supply module; the main control module is used for information integration, analysis, regulation and control and transmission of each module; the communication module realizes remote wireless information interaction between the main control module and a remote terminal based on an internet system, and is used for communicating messages with the intelligent service terminal and the intelligent management terminal and feeding back data; the driving module is respectively connected with the lifting executing mechanism and the dust collection executing mechanism and is used for receiving information instructions sent by the main control module and controlling each mechanism; the image processing module is connected with the main control module through a camera and used for receiving a camera image, calculating, making a preset cleaning route and transmitting data of the cleaning route to the main control module; the infrared obstacle avoidance modules are used for detecting obstacles encountered in the direction on a preset cleaning route and transmitting the information of the detected obstacles to the main control module; the battery module is used for providing stable voltage.
Preferably, the dust collection executing mechanism comprises a dust collection port arranged in the cleaning head, a dust collector, a dust collection pipeline and a dust collection bag which are sequentially arranged in the first main body, a dust outlet of the dust collection port is connected with a dust inlet of the dust collector, a dust outlet of the dust collector is connected with a dust inlet of the dust collection bag, and the dust collector is electrically connected with the driving module.
Preferably, a cleaning agent and an injection actuating mechanism matched with the cleaning agent are arranged in the cleaning head, and the injection actuating mechanism is electrically connected to the driving module.
Preferably, the lifting actuating mechanism is an inflatable air bag, an electric push-pull rod or a pneumatic lifter.
Preferably, the moving device includes a plurality of universal wheels disposed on the lower surface of the first body and a moving actuator cooperating with any of the universal wheels, and the moving actuator is electrically connected to the driving module.
Preferably, the battery module includes a battery unit, a charge/discharge amount unit connected to the battery unit, and an electric quantity detection unit connected to the main control module.
Preferably, the cleaning head is hinged to the upper end of the second machine body, and a rotary actuating mechanism electrically connected to the driving module is arranged in cooperation with the cleaning head and rotates in cooperation with the rotary actuating mechanism.
As preferred, cooperation communication module is equipped with intelligent service terminal equipment and intelligent management terminal equipment, intelligent service terminal equipment is used for remote lease, payment, supervision and the control of cleaning machines people, intelligent management terminal equipment is used for distributing the control connection of cleaning machines people and intelligent service terminal equipment to obtain the profit and interact, cooperation intelligent management terminal equipment is equipped with cloud computing system, cloud computing system is used for overall management a plurality of cleaning machines people.
A sharing mode method of a cleaning robot comprises a leasing mode, a working mode and a returning mode; the intelligent management terminal device distributes the cleaning robot and transmits the information of the cleaning robot to the intelligent service terminal device; after the cleaning robot is transported to a use scene, the cleaning robot is identified and matched by using intelligent service terminal equipment, if the identification is successful, the cleaning robot is connected with the intelligent service terminal equipment and starts to enter a working state, otherwise, the prompts are not matched;
the cleaning robot comprises a working mode and a main control module, wherein after the cleaning robot enters a working state, a camera is used for recognizing and scanning a use scene, the camera transmits a recognized image to the image processing module, the image processing module transmits a preset cleaning route and transmits data of the cleaning route to the main control module, the main control module transmits a moving signal to the driving module, and the moving device moves according to the preset route and stops before driving to a wall surface needing to be cleaned. The main control module sends a cleaning signal to the driving module, and the driving module drives the lifting actuating mechanism to start, so that the cleaning head can vertically and repeatedly clean the wall surface;
and in the return mode, after the cleaning work of the cleaning robot is finished, the returned signal is transmitted to the intelligent management terminal equipment through the intelligent service terminal equipment, the intelligent management terminal equipment receives the signal and then remotely connects with the cleaning robot, meanwhile, the connection with the intelligent service terminal equipment is closed, and the cleaning robot remotely transmits the profit information to the intelligent management terminal equipment.
Preferably, the intelligent service terminal device at least comprises a mobile phone APP, a tablet and a computer.
The invention has the following advantages: the wall surface cleaning or the ceiling cleaning is integrated on one device, and the unmanned cleaning of the room is realized through leasing and sharing. The working efficiency of the housekeeping cleaning company is improved, the working quality is improved in a relatively simple mode, and the labor intensity is reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the working state of the present invention;
FIG. 3 is a control block diagram of the present invention;
in the figure: 1. a robot body; 2. a first body; 3. a second body; 4. a cleaning head; 5. a dust suction port; 6. a universal wheel.
Detailed Description
The technical solution of the present invention is further specifically described below by way of specific examples in conjunction with the accompanying drawings.
A novel shared automatic cleaning robot comprises a robot body 1, a moving device arranged at the lower end of the robot body 1, a cleaning device arranged at the upper end of the robot body 1 and an execution control system arranged in the robot body 1, wherein the robot body 1 comprises a first machine body 2, a first machine body 3 embedded in the first machine body 2 and a lifting execution mechanism matched with the first machine body 3, and the cleaning device comprises a cleaning head 4 hinged at the upper end of the first machine body 3 and a dust collection execution mechanism matched with the cleaning head 4; the execution control system comprises a main control module, a communication module, a driving module, an image processing module, an infrared obstacle avoidance module and a power supply module;
the main control module is used for information integration, analysis, regulation and control and transmission of each module;
the communication module realizes remote wireless information interaction between the main control module and a remote terminal based on an internet system, and is used for communicating messages with the intelligent service terminal and the intelligent management terminal and feeding back data;
the driving module is respectively connected with the lifting executing mechanism and the dust collection executing mechanism and is used for receiving information instructions sent by the main control module and controlling each mechanism;
the image processing module is connected with the main control module through a camera and used for receiving a camera image, calculating, making a preset cleaning route and transmitting data of the cleaning route to the main control module;
the infrared obstacle avoidance modules are used for detecting obstacles encountered in the direction on a preset cleaning route and transmitting the information of the detected obstacles to the main control module;
the battery module is used for providing stable voltage.
In the invention, the cleaning robot is a device used for business, the intelligent service terminal device is an operation device for renting a user, and the intelligent management terminal device is an operation device for renting the cleaning robot to the user. The first machine body 32 and the second machine body are cylindrical machine bodies, the first machine body 32 is a main machine body and can play a role in stabilizing the whole robot body 1, a lifting execution mechanism is arranged in the first machine body 32, the output end of the lifting execution mechanism is connected with the second machine body, a lifting signal is sent to a driving module through a controller, the driving module controls the lifting execution mechanism to lift and fall, and therefore the cleaning head 4 at the upper end of the second machine body is driven to clean the wall body up and down.
In the invention, a sharing mode is achieved through data feedback and remote control among the communication module, the intelligent service terminal equipment and the intelligent management terminal equipment.
The dust collection executing mechanism comprises a dust collection opening 5 arranged in the cleaning head 4, a dust collector, a dust collection pipeline and a dust collection bag which are sequentially arranged in the first main body, wherein a dust outlet of the dust collection opening 5 is connected with a dust inlet of the dust collector, a dust outlet of the dust collector is connected with a dust inlet of the dust collection bag, and the dust collector is electrically connected with the driving module.
The cleaning head 4 is provided with a rotary actuating mechanism which is electrically connected with the driving module, and the cleaning head 4 is hinged to the upper end of the first machine body 3 and rotates in cooperation with the rotary actuating mechanism.
In the invention, the cleaning head 4 is a brush body with an opening on one side, bristles are arranged at the opening and can be used for scraping against a wall surface, the other end of the cleaning head 4 is hinged with the upper end of the second body and can rotate 360 degrees to achieve dead-angle-free cleaning, a dust inlet is arranged in the cleaning head 4, a dust collector and a dust bag are arranged in the first body, the structure of the conventional household dust collector is similar, and a stretchable hose is arranged between the dust inlet and the dust collector, so that when the second body is lifted, the hose can be correspondingly stretched. When the cleaning head 4 is cleaned up and down, dust can be generated, the main control module opens the dust collector, the dust inlet can absorb the dust, and finally, a dust collection bag is collected. The dust bag is detachably connected to the first body 32, and dust is removed by detaching the dust bag.
And a cleaning agent and an injection actuating mechanism matched with the cleaning agent are arranged in the cleaning head 4, and the injection actuating mechanism is electrically connected with the driving module.
In the invention, in order to clean some stains or mildewed places on the wall surface, the wall surface is scraped, and meanwhile, the cleaning agent is sprayed and scraped at the spots; or spraying mildew removing agent on some moldy wall surfaces. The injection actuating mechanism can be arranged in the inner cavity of the cleaning head 4 and is positioned at the side part of the dust inlet; or may be provided on the upper side of the cleaning head 4. In order to improve the intelligence of the cleaning head 4 and reduce the using amount of a cleaning agent or a mildew remover, a micro camera is arranged near the spray execution mechanism, the micro camera can scan the wall surface in the process of cleaning the cleaning head 4 up and down, the scanned wall surface condition is transmitted to the main control module, an identification database is connected in the main control module, the data of the wall surface with mildew or stains are stored in the identification database, and when the data received by the main control module just correspond to the data in the identification database, the main control module starts the spray execution mechanism to spray the cleaning agent.
The lifting executing mechanism is an inflatable air bag, an electric push-pull rod or an air pressure lifter.
In the present invention, the lifting executing mechanism inside the robot body 1 may be an inflatable airbag in the prior art, and when the airbag is not inflated, the airbag may be disposed inside the robot body 1, and when the airbag is inflated, the airbag expands to drive the second body to move upward, which is not very stable. Set up the driving pump in robot body 1, connect telescopic link or flexible platform at the output of driving pump, the driving pump can be electric drive pump, also can be the air pressure drive pump, can drive the telescopic link and go up and down along vertical direction.
The moving device comprises a plurality of universal wheels 6 arranged on the lower surface of the first body 32 and a moving execution mechanism matched with any universal wheel 6, and the moving execution mechanism is electrically connected to the driving module.
In the invention, the motion track of the universal wheel 6 is identified and stored in advance, a camera is used for collecting scenes to be processed, the camera transmits collected pictures to the image processing module, the image processing module performs data calculation on the images, the distance from the camera to a wall surface to be processed and the route distance for cleaning the wall surface are calculated, a preset cleaning route is presented, the cleaning route is transmitted to the main control module, the main control module controls the universal wheel 6 to move correspondingly after obtaining the data of the cleaning route, and in the driving process, the obstacle avoidance module can sense obstacles around the robot body 1, so that an accurate obstacle avoidance effect can be realized, and automatic cleaning work can be performed.
The battery module comprises a battery unit, a charge and discharge amount unit connected with the battery unit and an electric quantity detection unit connected with the main control module.
Cooperation communication module is equipped with intelligent service terminal equipment and intelligent management terminal equipment, intelligent service terminal is used for remote lease, payment, supervision and the control of cleaning machines people, intelligent management terminal equipment is used for distributing cleaning machines people and user terminal's control connection to obtain the profit and interact, cooperation intelligent management terminal equipment is equipped with cloud computing system, cloud computing system is used for managing a plurality of cleaning machines people overall.
A sharing mode method of a cleaning robot comprises a leasing mode, a working mode and a returning mode; the intelligent management terminal distributes the cleaning robots and transmits the information of the cleaning robots to the intelligent service terminal; after the cleaning robot is transported to a use scene, the cleaning robot is identified and matched by the intelligent service terminal, if the cleaning robot is successfully identified, the cleaning robot is connected with the intelligent service terminal and starts to enter a working state, otherwise, the prompts are not matched;
the cleaning robot comprises a working mode and a main control module, wherein after the cleaning robot enters a working state, a camera is used for recognizing and scanning a use scene, the camera transmits a recognized image to the image processing module, the image processing module transmits a preset cleaning route and transmits data of the cleaning route to the main control module, the main control module transmits a moving signal to the driving module, and the moving device moves according to the preset route and stops before driving to a wall surface needing to be cleaned. The main control module sends a cleaning signal to the driving module, and the driving module drives the lifting actuating mechanism to start so that the cleaning head 4 can vertically and repeatedly clean the wall surface;
and in the return mode, after the cleaning work of the cleaning robot is finished, the returned signal is transmitted to the intelligent management terminal device through the intelligent service terminal device, the intelligent management terminal device is remotely connected with the cleaning robot after receiving the signal and is closed to be connected with the intelligent service terminal, and the cleaning robot remotely transmits the profit information to the intelligent management terminal device.
The user terminal equipment at least comprises a mobile phone APP, a tablet and a computer.
In the present invention, rental mode: since the cleaning robots are in a shared mode, the cleaning company needs to first set an intelligent management terminal device for controlling all the cleaning robots, the intelligent management terminal device having a self-proposed serial number for each cleaning robot and information monitoring for each cleaning robot. The method comprises the steps that related intelligent service terminal equipment, such as APP or small programs, needs to be downloaded in a mobile phone, and the intelligent service terminal equipment is used for being in information connection with intelligent management terminal equipment of a cleaning company. The renter carries out long-range ordering through intelligent control terminal, after intelligent management terminal receives the information that intelligent control terminal transmitted, intelligent management terminal selects the cleaning machines people of standby, and transmit the sequence number information and the service information after selecting for intelligent service terminal, so can not only match system and intelligent service terminal to cleaning machines people, and intelligent service terminal shows received information for the renter, can let the renter know cleaning machines people's operation mode in advance, read in the time of waiting for receiving, thereby service efficiency has been improved.
The responsible person of clean company still needs the responsible person to confirm leaseholder's use scene earlier after going to the door with the robot transportation, if confirm to use, the leaseholder need discern the two-dimensional code on one's body cleaning machines through intelligent service terminal equipment, just carries out the matching of sequence number after the discernment, if the discernment is successful then open and get into the work timing state, otherwise then the suggestion is unmatched, the management of the system of being convenient for like this. Of course, if the leaseholder cannot use the intelligent service terminal device, the leaseholder only needs to cancel the intelligent service terminal device.
After the intelligent service terminal device is connected with the cleaning robot, the cleaning robot is directly placed in a use scene, the cleaning robot can automatically start to operate, the camera of the cleaning robot firstly identifies and scans the use scene, and the identified scene is input into the information processing module, so that the cleaning robot can identify the wall surface and automatically move to the front end of the wall surface to be cleaned. Initial state of the cleaning robot: the lifting device is in an initial state, the second machine body is retracted in the first machine body 32, and the cleaning head 4 arranged at the upper end of the second machine body is horizontally arranged and is in a vertical state with the second machine body.
Working state of the cleaning robot: after the cleaning robot has processed the pattern of discernment, cleaning robot processes out clear route through the calculation, then controller control universal wheel 6 removes along with preset route, when removing the wall, behind the wall was touched in the clean end of the cleaning head 4 on the second organism, because be equipped with pressure sensor on the cleaning head 4, when pressure sensor received the pressure of default, the controller passed the information that stops to universal wheel 6, and the universal wheel 6 stops to clear up the wall after removing. The controller firstly controls the cleaning head 4 to vertically and repeatedly clean the wall surface, then controls the moving device to horizontally move, and then controls the cleaning head 4 to vertically and repeatedly clean the wall surface. When the cleaning robot needs to clean the wall surface at the top of the head, the controller drives the rotating device to rotate the cleaning head 4 by 90 degrees, so that the cleaning end of the cleaning head 4 is aligned to the wall surface at the top of the head, and then the moving device is controlled to move to the position needing cleaning, and the wall surface is cleaned repeatedly. Of course, the cleaning head 4 can rotate 180 degrees, so that no dead angle is formed for cleaning.
The cleaning robot has two working modes: one is to clean only the wall with dust, and the other is to clean the wall with a cleaning agent. When only dust is cleaned on the wall, the controller only starts the lifting device and the dust collection device, the lifting device enables the second machine body to stretch, the cleaning end of the cleaning head 4 is attached to the wall to move up and down, and the dust collection device can suck and collect the generated dust; when needs use the sanitizer, when elevating gear was opened to the controller, also opened spray device and the dust extraction who sets up on cleaning head 4, the spray device can spout the sanitizer or remove the mould to the wall, scrapes through the brush head of cleaning head 4, and dust extraction at this time can not only inhale the dust and also can retrieve the spun sanitizer.
In order to more effectively achieve the effect of avoiding obstacles, a radar can be arranged on the cleaning robot.
The remote control system comprises: if the cleaning robot is in the cleaning process, and a renter is not beside the cleaning robot, the cleaning robot can be remotely monitored and controlled through a mobile phone, a wireless communication module capable of being matched with the intelligent service terminal device is arranged in the cleaning robot, and after the cleaning robot is started, related information of the cleaning robot is firstly transmitted to the intelligent service terminal device, such as the battery capacity of the cleaning robot, a simple picture after the use scene is processed by a camera of the cleaning robot, and control on some functions.
A return mode: after the work of cleaning machines people, can clear away the formation of image route in the storage module in the cleaning machines people earlier through intelligent service end, give back information transmission for cleaning company's intelligent management end again, just open the remote connection with cleaning machines people after the intelligent management end received the signal for cleaning machines people is automatic shutdown after giving intelligent management end with remaining data transmission, the leaser waits for cleaning company to assign the person in charge to go to the home and retrieve cleaning machines people, the person in charge carries out the transaction of payment again after checking cleaning machines people.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims (10)

1. A novel shared automatic cleaning robot is characterized in that: the robot comprises a robot body (1), a moving device arranged at the lower end of the robot body (1), a cleaning device arranged at the upper end of the robot body (1) and an execution control system arranged in the robot body (1), wherein the robot body (1) comprises a first machine body (2), a first machine body (3) embedded in the first machine body (2) and a lifting execution mechanism matched with the first machine body (3), and the cleaning device comprises a cleaning head (4) hinged at the upper end of the first machine body (3) and a dust collection execution mechanism matched with the cleaning head (4); the execution control system comprises a main control module, a communication module, a driving module, an image processing module, an infrared obstacle avoidance module and a power supply module;
the main control module is used for information integration, analysis, regulation and control and transmission of each module;
the communication module realizes remote wireless information interaction between the main control module and a remote terminal based on an internet system, and is used for communicating messages with the intelligent service terminal and the intelligent management terminal and feeding back data;
the driving module is respectively connected with the lifting executing mechanism and the dust collection executing mechanism and is used for receiving information instructions sent by the main control module and controlling each mechanism;
the image processing module is connected with the main control module through a camera and used for receiving a camera image, calculating, making a preset cleaning route and transmitting data of the cleaning route to the main control module;
the infrared obstacle avoidance modules are used for detecting obstacles encountered in the direction on a preset cleaning route and transmitting the information of the detected obstacles to the main control module;
the battery module is used for providing stable voltage.
2. A novel shared robot cleaner according to claim 1, wherein: the dust collection executing mechanism comprises a dust collection opening (5) arranged in the cleaning head (4), a dust collector, a dust collection pipeline and a dust collection bag which are sequentially arranged in the first main body, wherein a dust outlet of the dust collection opening (5) is connected with a dust inlet of the dust collector, a dust outlet of the dust collector is connected with a dust inlet of the dust collection bag, and the dust collector is electrically connected with the driving module.
3. A novel shared robot cleaner according to claim 2, wherein: and a cleaning agent and an injection actuating mechanism matched with the cleaning agent are arranged in the cleaning head (4), and the injection actuating mechanism is electrically connected with the driving module.
4. A novel shared robot cleaner according to claim 1, wherein: the lifting executing mechanism is an inflatable air bag, an electric push-pull rod or an air pressure lifter.
5. A novel shared robot cleaner according to claim 1, wherein: the moving device comprises a plurality of universal wheels (6) arranged on the lower surface of the first machine body (2) and a moving execution mechanism matched with any universal wheel (6), and the moving execution mechanism is electrically connected with the driving module.
6. A novel shared robot cleaner according to claim 1, wherein: the battery module comprises a battery unit, a charge and discharge amount unit connected with the battery unit and an electric quantity detection unit connected with the main control module.
7. A novel shared robot cleaner according to claim 1, wherein: the cleaning head (4) is matched with a rotary actuating mechanism, the rotary actuating mechanism is electrically connected to the driving module, and the cleaning head (4) is hinged to the upper end of the first machine body (3) and is matched with the rotary actuating mechanism to rotate.
8. A novel shared automatic cleaning robot as claimed in any one of claims 1 to 7, characterized in that: cooperation communication module is equipped with intelligent service terminal equipment and intelligent management terminal equipment, intelligent service terminal is used for remote lease, payment, supervision and the control of cleaning machines people, intelligent management terminal equipment is used for distributing cleaning machines people and user terminal's control connection to obtain the profit and interact, cooperation intelligent management terminal equipment is equipped with cloud computing system, cloud computing system is used for managing a plurality of cleaning machines people overall.
9. The cleaning robot share mode method of claim 8, wherein: the system comprises a leasing mode, a working mode and a returning mode; the intelligent management terminal distributes the cleaning robots and transmits the information of the cleaning robots to the intelligent service terminal; after the cleaning robot is transported to a use scene, the cleaning robot is identified and matched by the intelligent service terminal, if the cleaning robot is successfully identified, the cleaning robot is connected with the intelligent service terminal and starts to enter a working state, otherwise, the prompts are not matched;
in the working mode, after the cleaning robot enters a working state, a camera is used for identifying and scanning a use scene, the camera transmits an identified image to the image processing module, the image processing module transmits data of a cleaning route to the main control module after making a preset cleaning route, the main control module sends a moving signal to the driving module, and the moving device moves according to the preset route and stops before driving to a wall surface to be cleaned;
the main control module sends a cleaning signal to the driving module, and the driving module drives the lifting actuating mechanism to start so that the cleaning head (4) can vertically and repeatedly clean the wall;
and in the return mode, after the cleaning work of the cleaning robot is finished, the returned signal is transmitted to the intelligent management terminal device through the intelligent service terminal device, the intelligent management terminal device is remotely connected with the cleaning robot after receiving the signal and is closed to be connected with the intelligent service terminal, and the cleaning robot remotely transmits the profit information to the intelligent management terminal device.
10. The cleaning robot share mode method of claim 9, wherein: the user terminal equipment at least comprises a mobile phone APP, a tablet and a computer.
CN202011021004.XA 2020-09-25 2020-09-25 Novel shared automatic cleaning robot and sharing mode method thereof Pending CN112336260A (en)

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CN202011021004.XA CN112336260A (en) 2020-09-25 2020-09-25 Novel shared automatic cleaning robot and sharing mode method thereof

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CN202011021004.XA CN112336260A (en) 2020-09-25 2020-09-25 Novel shared automatic cleaning robot and sharing mode method thereof

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CN112336260A true CN112336260A (en) 2021-02-09

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107846843A (en) * 2015-05-12 2018-03-27 格内蒂克有限公司 Blocking system robot
CN108687741A (en) * 2018-08-20 2018-10-23 深圳市玖品空气净化科技有限公司 A kind of automatic security robot with cleaning and height adjusting function
CN109343365A (en) * 2018-07-25 2019-02-15 智慧式控股有限公司 Nobody shared home-services robot of wisdom formula and shared system and business model
CN109965792A (en) * 2017-12-28 2019-07-05 沈阳新松机器人自动化股份有限公司 A kind of wall cleaning device and wall cleaning systems
DE102018222657A1 (en) * 2018-12-20 2020-06-25 Volkswagen Aktiengesellschaft Method for cleaning an interior of a vehicle, mobile cleaning robot, mobile lifting device and system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107846843A (en) * 2015-05-12 2018-03-27 格内蒂克有限公司 Blocking system robot
CN109965792A (en) * 2017-12-28 2019-07-05 沈阳新松机器人自动化股份有限公司 A kind of wall cleaning device and wall cleaning systems
CN109343365A (en) * 2018-07-25 2019-02-15 智慧式控股有限公司 Nobody shared home-services robot of wisdom formula and shared system and business model
CN108687741A (en) * 2018-08-20 2018-10-23 深圳市玖品空气净化科技有限公司 A kind of automatic security robot with cleaning and height adjusting function
DE102018222657A1 (en) * 2018-12-20 2020-06-25 Volkswagen Aktiengesellschaft Method for cleaning an interior of a vehicle, mobile cleaning robot, mobile lifting device and system

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Application publication date: 20210209