CN114098559A

CN114098559A - Cleaning robot

Info

Publication number: CN114098559A
Application number: CN202111534755.6A
Authority: CN
Inventors: 李旭; 支涛
Original assignee: Beijing Yunji Technology Co Ltd
Current assignee: Beijing Yunji Technology Co Ltd
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2022-03-01

Abstract

The invention relates to the technical field of robots, and provides a cleaning robot, which comprises: the cleaning device is used for identifying the garbage types, storing different types of garbage in a classified mode and cleaning the ground after the garbage is cleaned; and the control device is connected with the cleaning device and used for driving the cleaning device to move and controlling the cleaning device to store different types of garbage in a classified manner according to the garbage classification result identified by the cleaning device. The cleaning device is driven to move by the control device, identifies the type of garbage on the ground and cleans the ground after the garbage is cleaned; the control device controls the cleaning device to store different types of garbage in a classified mode according to the garbage classification result recognized by the cleaning device. The invention reduces the trouble and time of classifying the user garbage and improves the processing efficiency of sanitation work.

Description

Cleaning robot

Technical Field

The invention relates to the technical field of robots, in particular to a cleaning robot.

Background

At present, with the continuous progress of social science and technology, artificial intelligence and unmanned technology are mature day by day, the labor cost is increased continuously, the environmental sanitation cleaning machine is applied more and more widely, and the requirements of different working conditions on the cleaning machine are higher and higher.

The existing market is applied to light ground cleaning machines in public places such as urban large squares, markets/hospitals, airports/stations, factory workshops and the like, one is a pure sweeping machine, the machine can only collect large-particle garbage on the ground, the ideal cleaning effect on the ground with more tiny dust cannot be achieved, sweeping dirty marks can be left in the operation on the road surface with accumulated water, and the operation effect is seriously influenced; the other type is a floor washing machine, a floor washing brush disc and a water spraying device are used for washing the floor, and then sewage is collected by a suction disc through negative pressure, so that the defects that the water consumption is large, more water stains remain on the floor, and the service life of the painted plastic floor is seriously influenced when the floor is washed are overcome; the other type is a hand-push type sweeping, sucking and mopping integrated machine integrating sweeping, dust sucking and mopping into a whole or a manned sweeping and mopping vehicle, and the like.

Disclosure of Invention

The invention aims to provide a cleaning robot, which aims to solve the technical problem that the prior sanitary cleaning machine cannot classify garbage.

In order to achieve the purpose, the invention adopts the technical scheme that: the present invention provides a cleaning robot, comprising:

the cleaning device is used for identifying the type of the garbage, storing the garbage of different types in a classified mode and cleaning the ground after the garbage is cleaned;

the control device is connected with the cleaning device and used for driving the cleaning device to move and controlling the cleaning device to store different types of garbage in a classified mode according to the garbage classification result identified by the cleaning device.

In one embodiment, a garbage bin is arranged on the cleaning device, the garbage bin is connected with the control device, and the garbage bin is used for storing garbage in a classified mode.

In one embodiment, the cleaning device is provided with an acquisition module, and the acquisition module is used for acquiring garbage images in the advancing direction of the cleaning device and inputting the acquired garbage images into the cleaning module so that the cleaning module can classify the garbage.

In one embodiment, the cleaning device comprises:

the first body is connected with the control device;

the garbage collection device is connected with the first body and used for gathering garbage;

the rolling brush device is connected with the first body and is used for collecting the gathered garbage into the garbage bin;

the mopping device is connected with the first body and used for cleaning the ground after garbage is cleaned.

In one embodiment, the roll brush device includes:

the garbage rolling and sweeping module is connected with the first body and used for rolling and sweeping gathered garbage into the garbage bin;

and the dust collection module is connected with the first body and is used for sucking the dust on the ground after rolling and sweeping into the garbage bin.

In one embodiment, the mopping device comprises:

the water circulation system is connected with the first body and is used for flushing the ground after garbage is cleaned;

the water absorption module is connected with the first body and used for absorbing sewage generated after the ground is washed into the garbage bin.

In one embodiment, the cleaning robot further comprises a supporting device, the supporting device is detachably connected with the cleaning device, and the bottom of the supporting device is provided with a moving wheel.

In one embodiment, the control device comprises:

the second body is respectively connected with the cleaning device and the garbage bin;

the driving motor is arranged in the second body;

a drive wheel connected with the drive motor.

In one embodiment, the waste bin comprises a plurality of independent: a recyclable bin, a kitchen waste bin and a toxic waste bin.

In one embodiment, a plurality of image sensors are disposed in the acquisition module.

The cleaning robot provided by the invention has the beneficial effects that: the cleaning device is driven to move by the control device, identifies the type of the garbage on the ground and cleans the ground after the garbage is cleaned; and the control device controls the cleaning device to store different types of garbage in a classified manner according to the garbage classification result identified by the cleaning device. Therefore, the trouble and time for classifying the garbage of the user are reduced, and the processing efficiency of sanitation work is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a first structural block diagram of a cleaning robot according to an embodiment of the present invention;

fig. 2 is a second structural block diagram of a cleaning robot according to an embodiment of the present invention;

fig. 3 is a block diagram of a cleaning device in a cleaning robot according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

100	cleaning device	131	Garbage rolling and sweeping module
				200	Control device	132	Dust collection module
300	Garbage bin	141	Water circulation system
				400	Acquisition module	142	Water absorption module
110	First body	210	Second body
				120	Garbage collection device	220	Driving motor
130	Rolling brush device	230	Driving wheel
				140	Floor mopping device

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

Referring to fig. 1, the present embodiment provides a cleaning robot, including: a cleaning device 100 and a control device 200; the cleaning device 100 is configured to identify garbage types, store different types of garbage in a classified manner, and send information of the identified garbage types to the control device 200, and the cleaning device 100 is further configured to clean the ground after cleaning the garbage, and optionally, the cleaning manner of the ground may be sweeping, dust collection, washing, and the like; the control device 200 is connected to the cleaning device 100, and the control device 200 is configured to drive the cleaning device 100 to move, and control the cleaning device 100 to store different types of garbage according to the garbage classification result identified by the cleaning device 100. Of course, the control device 200 is further configured to receive a control end instruction (such as a human-computer interaction control instruction) and correspondingly store the garbage according to the control end instruction, and optionally, the control end may be an intelligent terminal.

The working principle of the cleaning robot provided by the embodiment is as follows: taking the cleaning robot used in a room as an example, the control device 200 drives the cleaning device 100 to move, when there is garbage on the ground, the cleaning device 100 identifies the type of the garbage on the ground and judges the type of the garbage, then the cleaning device 100 inputs the classification result of the garbage into the control device 200, and the control device 200 controls the cleaning device 100 to place the classified garbage in the corresponding position according to the classification result of the garbage identified by the cleaning device 100; for example, in practical use, the cleaning device 100 can identify recyclables and non-recyclables, specifically, when the cleaning device 100 identifies plastic bottles on the ground, the plastic bottles are determined to be recyclables, then the cleaning device 100 inputs the classification result of the plastic bottles into the control device 200, and the control device 200 controls the cleaning device 100 to place the plastic bottles in the region of the recyclables in the cleaning device 100 according to the classification result of the garbage identified by the cleaning device 100; more specifically, when the cleaning device 100 recognizes that there is food on the floor, it determines that the food is a non-recoverable item, and then the cleaning device 100 inputs the classification result of the food into the control device 200, and the control device 200 controls the cleaning device 100 to place the food in the non-recoverable area in the cleaning device 100 according to the classification result of the garbage recognized by the cleaning device 100; finally, after the garbage is sorted and stored in the cleaning device 100, in order to prevent fine garbage such as dust and the like from remaining on the ground, the cleaning device 100 can also clean the ground after the garbage is cleaned, so that the cleanness of the ground is further ensured.

The cleaning robot provided by the embodiment has the beneficial effects that: the cleaning device 100 is driven to move by the control device 200, the cleaning device 100 identifies the type of the garbage on the ground, and cleans the ground after the garbage is cleaned; the control device 200 controls the cleaning device 100 to store different kinds of garbage according to the garbage classification result recognized by the cleaning device 100. Therefore, the trouble and time for classifying the user garbage are reduced, the difficulty of sanitation work is reduced, and the processing efficiency of the sanitation work is improved.

Referring to fig. 1, a garbage bin 300 is further disposed on the cleaning device 100, the garbage bin 300 is connected to the control device 200, and the garbage bin 300 is used for storing garbage in a classified manner. Optionally, the garbage bin 300 is detachably connected to the control device 200, so that the garbage bin 300 with different capacities can be replaced.

Further, the trash bin 300 includes a plurality of independent: a recyclable bin, a kitchen waste bin and a harmful waste bin. Each bin body is used for placing corresponding types of garbage, and each bin body can be respectively controlled by the control device 200, and it should be understood that the garbage bin 300 can also comprise multiple types of bin bodies, which can be adjusted according to actual requirements; meanwhile, the connection mode of each bin body and the control device 200 and the opening mode of each bin body are not particularly limited in the present invention.

In some embodiments, continuing to take the cleaning robot in a room as an example, the control device 200 drives the cleaning device 100 to move, when there is garbage on the floor, the cleaning device 100 identifies the type of the garbage on the floor and determines the type of the garbage, then the cleaning device 100 inputs the classification result of the garbage into the control device 200, and the control device 200 controls the cleaning device 100 to place the classified garbage into the corresponding bin according to the classification result of the garbage identified by the cleaning device 100; for example, in practical use, the cleaning device 100 can identify recyclable materials, kitchen waste bins and toxic garbage, and in the first aspect, when the cleaning device 100 identifies plastic bottles on the ground, the plastic bottles are determined to be recyclable materials, then the cleaning device 100 inputs the classification result of the plastic bottles into the control device 200, and the control device 200 controls the cleaning device 100 to place the plastic bottles in the recyclable material bins in the garbage bins 300 according to the classification result of the garbage identified by the cleaning device 100; in a second aspect, when the cleaning device 100 recognizes that there is food on the floor, it is determined that the food is kitchen waste, and then the cleaning device 100 inputs the classification result of the food into the control device 200, and the control device 200 controls the cleaning device 100 to place the food in the kitchen waste bin in the waste bin 300 according to the classification result of the food recognized by the cleaning device 100; in a third aspect, when the cleaning device 100 recognizes that there is a battery on the floor, it is determined that the battery is harmful garbage, and then the cleaning device 100 inputs the classification result of the battery into the control device 200, and the control device 200 controls the cleaning device 100 to place the battery in a harmful garbage bin in the garbage bin 300 according to the classification result of the garbage recognized by the cleaning device 100. Therefore, through setting up the storehouse body that different rubbish was deposited, collect the storehouse internal that corresponds with rubbish automatically, reduced the vexation and the time that user's rubbish was classified.

Referring to fig. 2, further, the cleaning device 100 is provided with an acquisition module 400, and the acquisition module 400 is configured to acquire a garbage image in the forward direction of the cleaning device 100 and input the acquired garbage image into the cleaning module, so that the cleaning module classifies the garbage.

In some embodiments, the capturing module 400 is disposed outside the cleaning device 100, and can better capture the image of the floor, and optionally, a plurality of image sensors are disposed in the capturing module 400 for capturing the image of the floor. It should be understood that the present invention is not limited to the model of the image sensor. Continuing to take the cleaning robot used in a room as an example, the control device 200 drives the cleaning device 100 to move, when there is garbage on the ground, the collecting module 400 on the cleaning device 100 identifies the type of the garbage on the ground and judges the type of the garbage, then the cleaning device 100 inputs the classification result of the garbage into the control device 200, and the control device 200 controls the cleaning device 100 to place the classified garbage into the corresponding bin according to the classification result of the garbage identified by the cleaning device 100.

With continuing reference to fig. 2, the cleaning device 100 further includes: a first body 110, a garbage collection device 120, a roll brush device 130 and a floor mopping device 140; the first body 110 is connected to the control device 200, the control device 200 drives the first body 110 to move, the first body 110 controls the core portion of the whole cleaning device 100 to control the actions of other portions, a control chip (not shown in the figure) is arranged in the first body 110, the control chip can receive the garbage image acquired by the acquisition module 400, and identify the type of the garbage according to a set program, for example, a garbage classification model is arranged in the control chip, and the garbage image is input into the garbage classification model, so that a corresponding classification result can be obtained, it should be understood that the detailed steps of a specific garbage classification module are not limited in the present invention;

the garbage collection device 120 is connected with the first body 110, and the garbage collection device 120 is used for gathering garbage; the rolling brush device 130 is connected with the first body 110, and the rolling brush device 130 is used for collecting the gathered garbage into the garbage bin 300; the mopping device 140 is connected to the first body 110, and the mopping device 140 is used for cleaning the ground after cleaning the garbage.

In some embodiments, continuing to take the cleaning robot used in a room as an example, the control device 200 drives the first body 110 to move, when there is garbage on the ground, the collecting module 400 identifies the type of the garbage on the ground and determines the type of the garbage, then the first body 110 inputs the classification result of the garbage into the control device 200, and the control device 200 controls the cleaning device 100 to place the classified garbage in the corresponding bin according to the classification result of the garbage identified by the first body 110;

for example, in practical use, the cleaning device 100 can identify recyclable objects, kitchen waste bins and toxic garbage, in a first aspect, when the collection module 400 identifies plastic bottles on the ground, the first body 110 determines that the plastic bottles are recyclable objects, and then the first body 110 inputs classification results of the plastic bottles into the control device 200, the control device 200 controls the recyclable bins to be opened according to the classification results of the garbage output by the first body 110, the garbage collection device 120 collects the plastic bottles together, and the rolling brush device 130 collects the plastic bottles into the recyclable bins;

in a second aspect, when the collecting module 400 identifies that there is food on the ground, the first body 110 determines that the food is kitchen waste, and then the first body 110 inputs the classification result of the food into the control device 200, and the control device 200 controls the opening of the kitchen waste bin according to the classification result of the food output by the first body 110, so that the food is gathered together by the waste collecting device 120, and the food is collected by the rolling brush device 130 into the kitchen waste bin;

in a third aspect, when the collecting module 400 identifies that there is a battery on the ground, the first body 110 determines that the battery is harmful garbage, and then the first body 110 inputs the classification result of the battery into the control device 200, and the control device 200 controls the opening of the harmful garbage bin according to the classification result of the garbage output by the first body 110, so that the garbage collecting device 120 gathers the batteries together, and the rolling brush device 130 collects the battery into the kitchen garbage bin;

the floor mopping device 140 cleans the floor cleaned by the garbage collecting device 120 and the rolling brush module, and sucks the sewage cleaned by the floor into the garbage bin 300 for storage, so as to ensure the cleanness of the floor.

Referring to fig. 3, in particular, the rolling brush device 130 includes: a garbage rolling and sweeping module 131 and a dust suction module 132; the garbage rolling and sweeping module 131 is connected with the first body 110, and the garbage rolling and sweeping module 131 is used for rolling and sweeping gathered garbage into the garbage bin 300; the dust suction module 132 is connected to the first body 110, and the dust suction module 132 is used for sucking dust on the rolled floor into the garbage bin 300.

Referring to fig. 3, more specifically, the mopping device 140 includes: a water circulation system 141 and a water absorption module 142; the water circulation system 141 is connected with the first body 110, and the water circulation system 141 is used for washing the ground after the garbage is cleaned; the water absorption module 142 is connected to the first body 110, and the water absorption module 142 is used for absorbing sewage generated after the sewage is washed into the garbage bin 300.

In practical use, when the collecting module 400 identifies that there is food on the ground, the first body 110 determines that the food is kitchen waste, then the first body 110 inputs the classification result of the food into the control device 200, the control device 200 controls the opening of the kitchen waste bin according to the classification result of the food output by the first body 110, the garbage collecting device 120 gathers the food together, the garbage rolling and sweeping module 131 rolls and sweeps the gathered food into the kitchen waste bin, the dust collecting module 132 sucks the rolled and swept dust on the ground into the kitchen waste bin, the water circulating system 141 washes the ground after cleaning the garbage, and the water sucking module 142 sucks the sewage after washing the ground into the garbage bin 300.

Further, the cleaning robot further includes a supporting device (not shown), the supporting device is detachably connected to the cleaning device 100, and a moving wheel (not shown) is disposed at the bottom of the supporting device; the supporting device is used for supporting the whole cleaning device 100, and the control device 200 drives the cleaning device 100 to move on the ground through the supporting device.

With continuing reference to fig. 1, the control device 200 further includes: a second body 210, a driving motor 220, and a driving wheel 230; the second body 210 is connected with the first body 110 of the cleaning device 100 and the garbage bin 300 respectively; the driving motor 220 is disposed in the second body 210; the driving wheel 230 is connected with the driving motor 220; when the mobile terminal needs to work, the second body 210 can receive an instruction of an external intelligent terminal, so that the driving motor 220 acts, and the driving wheel 230 drives the second body 210 to move on the ground. Specifically, the second body 210 is detachably connected to the garbage bin 300, so that different types of garbage bins 300 can be conveniently connected to the second body 210; the second body 210 is used for controlling the opening and closing of the garbage bin 300, and in practical use, a control board (not shown) is arranged in the second body 210 and can control the opening of different garbage bins 300 to store different types of garbage.

The working principle of the cleaning robot of the present invention is described in detail below with reference to specific usage scenarios:

taking the cleaning robot capable of identifying recyclable materials, kitchen garbage and toxic garbage as an example; firstly, the second body 210 can receive an instruction of an external intelligent terminal, so that the driving motor 220 operates, the driving wheel 230 drives the second body 210 to move on the ground, and the whole cleaning device 100, the supporting device and the garbage bin 300 are all driven to move on the ground;

in a first aspect, when the collection module 400 identifies that there are plastic bottles on the ground, the first body 110 determines that the plastic bottles are recyclable, then the first body 110 inputs the classification result of the plastic bottles into the second body 210, the second body 210 controls the recyclable bin to open according to the garbage classification result output by the first body 110, then the garbage collection device 120 gathers the plastic bottles together, the garbage rolling and sweeping module 131 rolls and sweeps the gathered plastic bottles into the recyclable bin, and the dust collection module 132 sucks dust on the ground after rolling and sweeping into the recyclable bin;

in a second aspect, when the collecting module 400 identifies that there is food on the ground, the first body 110 determines that the food is kitchen waste, then the first body 110 inputs the classification result of the food into the second body 210, the second body 210 controls the opening of the kitchen waste bin according to the classification result of the food output by the first body 110, the waste collecting device 120 gathers the food together, the waste rolling and sweeping module 131 rolls and sweeps the gathered food into the kitchen waste bin, and the dust collecting module 132 sucks the rolled and swept dust on the ground into the kitchen waste bin;

in a third aspect, when the collecting module 400 identifies that there is a battery on the ground, the first body 110 determines that the battery is harmful garbage, then the first body 110 inputs the classification result of the battery into the second body 210, the second body 210 controls the opening of the harmful garbage bin according to the classification result of the garbage output by the first body 110, the garbage collecting device 120 gathers the batteries together, the garbage rolling and sweeping module 131 rolls and sweeps the gathered batteries into the harmful garbage bin, and the dust collecting module 132 sucks the rolled and swept dust on the ground into the harmful garbage bin;

in the fourth aspect, the water circulation system 141 washes the ground after cleaning the garbage, and the water suction module 142 sucks the sewage after washing the ground into the garbage bin 300 and sucks the sewage after cleaning the ground into the garbage bin 300 for storage, so as to ensure the cleanness of the ground.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A cleaning robot, characterized by comprising:

2. The cleaning robot as claimed in claim 1, wherein a garbage bin is provided on the cleaning device, the garbage bin is connected to the control device, and the garbage bin is used for storing garbage in a classified manner.

3. The cleaning robot as claimed in claim 1, wherein the cleaning device is provided with a collection module for collecting the garbage image in the advancing direction of the cleaning device and inputting the collected garbage image into the cleaning module so that the cleaning module classifies the garbage.

4. The cleaning robot according to claim 2, wherein the cleaning device comprises:

the first body is connected with the control device;

5. The cleaning robot according to claim 4, wherein the roll brush device comprises:

6. The cleaning robot of claim 4, wherein the mopping device comprises:

7. The cleaning robot as claimed in claim 1, further comprising a supporting device detachably connected to the cleaning device, wherein a moving wheel is provided at a bottom of the supporting device.

8. The cleaning robot according to claim 2, wherein the control device comprises:

the driving motor is arranged in the second body;

a drive wheel connected with the drive motor.

9. The cleaning robot of claim 2, wherein the waste bin comprises a plurality of independent: a recyclable bin, a kitchen waste bin and a toxic waste bin.

10. The cleaning robot of claim 3, wherein a plurality of image sensors are provided in the acquisition module.