CN114831541A - Visual navigation household floor mopping robot based on mobile phone control - Google Patents

Visual navigation household floor mopping robot based on mobile phone control Download PDF

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Publication number
CN114831541A
CN114831541A CN202210419936.2A CN202210419936A CN114831541A CN 114831541 A CN114831541 A CN 114831541A CN 202210419936 A CN202210419936 A CN 202210419936A CN 114831541 A CN114831541 A CN 114831541A
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CN
China
Prior art keywords
mopping robot
mobile phone
cleaning
mopping
robot body
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Pending
Application number
CN202210419936.2A
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Chinese (zh)
Inventor
朱明�
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Shanghai Weirui Intelligent Technology Co ltd
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Individual
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Priority to CN202210419936.2A priority Critical patent/CN114831541A/en
Publication of CN114831541A publication Critical patent/CN114831541A/en
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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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • 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
    • 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
    • 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
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • 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
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
    • H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
    • H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to a visual navigation household mopping robot based on mobile phone control, which comprises a mopping robot body and a base station, wherein a smart phone is detachably installed on the mopping robot body, a smart phone APP is installed in the smart phone, and the smart phone APP is in communication connection with a camera module of the smart phone and a control panel of the mopping robot body; the intelligent mobile phone APP is used for controlling the camera module to collect surrounding images, generating a motion control instruction based on the surrounding images, and sending the motion control instruction to the control panel through the mobile phone Bluetooth module, so that intelligent mopping of the mopping robot is achieved. The invention can complete the visual navigation work of the floor mopping robot by means of the camera and the processing chip capability of the second-hand smart phone, thereby reducing the hardware cost of the floor mopping robot, ensuring that most families can purchase the floor mopping robot, and being economical and practical.

Description

Visual navigation household floor mopping robot based on mobile phone control
Technical Field
The invention belongs to the field of cleaning equipment, and particularly relates to a visual navigation household floor mopping robot based on mobile phone control.
Background
With the increasing quality of life, floor mopping robots capable of automatically performing floor mopping operations have become increasingly popular. The existing floor-mopping robot generally adopts three route navigation modes of laser navigation, wireless carrier navigation or video navigation, and the three modes have certain defects:
laser navigation: an LDS laser positioning system is generally adopted, and the laser transmitter and the laser receiver which are arranged above the sweeping robot measure the change of the distance between the equipment and the environment so as to realize positioning, and the positioning is relatively accurate. The disadvantages are as follows: high-reflectivity objects such as a French window, a floor mirror, a vase and the like cannot be detected;
and (3) wireless carrier navigation: generally, a wireless carrier indoor positioning system is adopted, wireless carrier probes are arranged in a sweeper body and a charging base, and the robot determines the position of the robot by measuring and calculating the offset angle between the robot and the charging base. The disadvantages are as follows: the accurate positioning of large-area house types is difficult to achieve;
visual navigation: generally, a vSLAM image displacement positioning system is adopted, a camera is arranged at the top of the sweeping robot, and the robot can be positioned by sensing an optical image formed by light spots with different brightness through a complex algorithm. The disadvantages are as follows: large calculation amount and high cost.
Therefore, a single navigation system cannot be achieved, a sweeping robot carrying multiple positioning systems is emerging at present, for example, the sweeping robot has both laser navigation and a camera, and the sweeping robot is generally higher in positioning and planning capability and higher in price.
In order to reduce cost, a single navigation system is feasible to be improved, the second-hand smart phone is used for completing the visual navigation work of the floor mopping robot through a visual navigation APP and by utilizing the capabilities of a camera and a processing chip of the second-hand smart phone, the requirement of an additional camera and image processing hardware in the prior art in video navigation is replaced, and the improvement can reduce the hardware cost of the whole floor mopping robot, so that the floor mopping robot is more economical and practical.
Disclosure of Invention
The invention aims to solve the problems and provide a visual navigation household floor mopping robot based on mobile phone control.
The invention realizes the purpose through the following technical scheme:
a visual navigation household floor mopping robot based on mobile phone control comprises a floor mopping robot body and a base station, wherein a smart phone is detachably mounted on the floor mopping robot body, a smart phone APP is mounted in the smart phone, and the smart phone APP is in communication connection with a camera module of the smart phone and a control panel of the floor mopping robot body;
the intelligent mobile phone APP is used for controlling the camera module to collect surrounding images, generating a motion control instruction based on the surrounding images, and sending the motion control instruction to the control panel through the mobile phone Bluetooth module, so that intelligent mopping of the mopping robot is achieved.
As a further optimization scheme of the invention, a mobile phone card holder is clamped at the bottom of the smart phone, the mobile phone card holder is rotationally arranged on the upper surface of the mopping robot body under the driving of a first speed reduction motor, the first speed reduction motor is connected with a control board, the control board receives a mobile phone angle adjusting instruction sent by a smart phone APP, and the first speed reduction motor is controlled based on the mobile phone angle adjusting instruction so as to intelligently adjust the angle of the smart phone.
As a further optimization scheme of the invention, the LED lamp arranged on the smart phone is in communication connection with the smart phone APP, and the LED lamp is used for providing illumination for the camera module so as to clearly acquire image data.
As a further optimized scheme of the invention, the mopping robot body comprises a machine body, walking wheels arranged on two sides of the machine body, a mopping head arranged at the bottom of the machine body through a telescopic component and a rotating component for driving the mopping head to rotate, wherein the walking wheels are driven by a second speed reducing motor, the telescopic component adopts an electric telescopic rod, the rotating component adopts a brushless motor and is arranged between the electric telescopic rod and the mopping head, and the electric telescopic rod, the brushless motor and the second speed reducing motor are all in communication connection with a control panel.
As a further optimized scheme of the invention, the base station comprises a lifting assembly and a cleaning and charging assembly, the lifting assembly and the cleaning and charging assembly are both in communication connection with a control board through a mobile phone bluetooth module, the lifting assembly is used for lifting the mopping robot body above the cleaning and charging assembly, and the cleaning and charging assembly is used for cleaning the mopping robot body and charging the mopping robot body.
As a further optimized scheme of the invention, the lifting assembly comprises a screw rod, a moving double rail connected with the screw rod through a sliding seat, and fixed double rails arranged on two sides of the top of the cleaning and charging assembly, the moving double rail corresponds to the traveling wheels of the mopping robot body, the screw rod lifts the mopping robot body to the front end of the fixed double rail through the moving double rail, and the mopping robot body moves above the cleaning and charging assembly through the fixed double rail.
As a further optimization scheme of the invention, the cleaning and charging assembly comprises a cleaning structure and a charging structure;
the cleaning structure comprises a cleaning barrel body, a cleaning tank is arranged at the top of an inner cavity of the cleaning barrel body, a clear water barrel and a sewage barrel are arranged at the bottom of the inner cavity, the clear water barrel is connected with the cleaning tank through a water pumping structure, and a drain hole communicated with the sewage barrel is formed in the bottom of the cleaning tank;
the charging structure comprises a charging seat arranged at the rear side of the top of the cleaning barrel body and a charging terminal arranged on the mopping robot body, and the mopping robot body is connected with the charging seat through the charging terminal.
As a further optimization scheme of the invention, the water pumping structure comprises a water pumping pump, a water pumping pipe and a plurality of spray heads, wherein one end of the water pumping pipe is connected with the clear water barrel through the water pumping pump, and the other end of the water pumping pipe extends into the cleaning tank and is connected with the plurality of spray heads in the cleaning tank.
As a further optimization scheme of the invention, a scraper is arranged in the cleaning tank and is attached to the lower surface of the mopping head.
The invention has the beneficial effects that:
1) according to the floor-mopping robot, the camera module of the old smart phone is used for replacing the camera and other structures of the existing floor-mopping robot body, so that the cost of the floor-mopping robot is reduced, most families can purchase the floor-mopping robot, the floor-mopping robot is economical and practical, and the problem of high cost of a floor-sweeping robot carrying various positioning systems is solved;
2) according to the invention, the LED lamp on the old smart phone is utilized to provide illumination and light supplement for the camera module, so that the floor mopping robot can still work with high efficiency and high quality in a dark environment, and the problem that a vSLAM image displacement positioning system is difficult to accurately position in a dark or no-light environment is solved;
3) according to the invention, the floor mopping robot can be lifted and moved to the upper part of the cleaning barrel body for cleaning and charging by utilizing the simple lifting assembly matched with the double-track structure and the road wheels of the floor mopping robot, and the floor mopping robot is simple in structure and convenient to operate.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic cross-sectional view of a cleaning and charging assembly according to the present invention.
Fig. 3 is a side view of the cleaning and charging assembly of the present invention.
Fig. 4 is a system block diagram of the present invention.
In the figure: 1. a mopping robot body; 11. a body; 12. a traveling wheel; 13. a telescopic assembly; 14. mopping the floor; 15. a rotating assembly; 16. a second reduction motor; 2. a base station; 21. a lifting assembly; 211. a screw rod; 212. moving the double tracks; 213. fixing the double tracks; 22. cleaning the charging assembly; 221. cleaning the barrel body; 222. a cleaning tank; 223. a clear water barrel; 224. a sewage bucket; 225. a water pumping structure; 226. a charging terminal; 227. a charging seat; 228. a squeegee; 229. a drain hole; 3. a smart phone; 31. a camera module; 32. an LED lamp; 4. a smartphone APP; 5. a control panel; 6. a mobile phone card seat; 7. a first reduction motor.
Detailed Description
The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention; in the description of the present invention, the meaning of "plurality" or "a plurality" is two or more unless otherwise specified.
Example 1
As shown in fig. 1-4, a domestic robot that drags ground of vision navigation based on cell-phone control, including dragging ground robot body 1 and basic station 2, demountable installation has smart mobile phone 3 on dragging ground robot body 1, install smart mobile phone APP4 in the smart mobile phone 3, smart mobile phone APP4 with camera module 31 of smart mobile phone 3 and control panel 5 communication connection of dragging ground robot body 1.
The camera module 31 comprises a front camera and a rear camera arranged on the front side and the back side of the smart phone 3, and a digital signal processing chip arranged inside the smart phone 3, the digital signal processing chip is connected with the smart phone APP4, when mopping, the smart phone APP4 controls the camera to collect the surrounding environment image and converts the surrounding environment image into a digital image signal, the digital signal processing chip is used for optimizing the digital image signal, and sends the digital image signal to the smart phone APP4, the smart phone APP4 controls the image recognition module in the smart phone 3 to analyze and process the digital image signal, recognizing a blank area in the digital image signal, generating a motion control instruction based on the blank area as an operation route, and finally sending the motion control instruction to the control panel 5 through a mobile phone Bluetooth module; in the whole process, the smart phone APP is equivalent to a central processing unit which controls the cooperative use of all elements in the mobile phone.
The control panel 5 is used for receiving the motion control instruction, and driving the floor mopping robot body 1 to walk, drag in and out the base station 2 based on the motion control instruction, and the control panel 5 is also used for intelligently controlling the floor mopping, the base station entering and exiting of the floor mopping robot body 1 and controlling the base station to start a cleaning and charging mode.
The camera module 31 of the second-hand smart phone 3 can replace the camera and other structures of the existing floor mopping robot body 1, so that waste utilization of an old mobile phone is realized, the cost of the floor mopping robot is reduced, and two purposes are achieved;
the camera module 31 of the smart phone 3 has high shooting pixels, good picture quality and strong shooting function, and is more beneficial to collecting, analyzing and processing the indoor environment image, so that the mopping quality of the mopping robot body 1 is better;
and the front camera and the rear camera can collect indoor environment images from the front surface and the rear surface respectively, so that the obstacle avoidance effect is better, and the operation route planning is more facilitated.
To the darker condition of light, can also with LED lamp 8 and the smart mobile phone APP4 communication connection that set up on the smart mobile phone 3, LED lamp 8 is used for providing the illumination for camera module 31 to clear acquisition image data.
Because the smart phone 3 is installed on the upper surface of the mopping robot body 1 through the phone card seat 6, for the situation of narrow height space, in order to facilitate the mopping robot body 1 to get in and out of the mopping floor, the smart phone 3 needs to be laid down, so as to ensure that the height of the whole mopping robot body 1 is reduced;
in contrast, as shown in fig. 1, a mobile phone card holder 6 is clamped at the bottom of the smart phone 3, the mobile phone card holder 6 is rotationally arranged on the upper surface of the mopping robot body 1 under the driving of a first speed reduction motor 7, the first speed reduction motor 7 is connected with a control board 5, the control board 5 receives a mobile phone angle adjusting instruction sent by a smart phone APP4, and the first speed reduction motor 7 is controlled based on the mobile phone angle adjusting instruction to intelligently adjust the angle of the smart phone 3;
first gear motor 7 not only can drive 3 rotatory extremely with drag 1 upper surface levels of ground robot body of smart mobile phone to guarantee that whole height of dragging ground robot body 1 falls to minimumly, and the convenient narrow and small space in business turn over drags the ground, also conveniently adjusts camera module 31's shooting angle.
As shown in fig. 1-3, the mopping robot body 1 includes a body 11, traveling wheels 12 installed on two sides of the body 11, a mopping head 14 installed at the bottom of the body 11 through a telescopic assembly 13, and a rotating assembly 15 for driving the mopping head 14 to rotate, the traveling wheels 12 are driven by a second gear motor 16, the telescopic assembly 13 is an electric telescopic rod, the rotating assembly 15 is a brushless motor and is installed between the electric telescopic rod and the mopping head 14, and the electric telescopic rod, the brushless motor and the second gear motor 16 are all in communication connection with a control board 5.
When mopping robot body 1 during operation, control panel 5 drive electric telescopic handle, brushless motor and the 16 work of second gear motor, second gear motor 16 drives walking wheel 12 and rotates, in order to drive whole mopping robot body 1 and remove clean ground, brushless motor drives and drags the rotatory cleanness of ground head 14, electric telescopic handle drives and drags ground head 14 to reciprocate, drag ground head 14 to move up when unclean and leave ground, drag ground head 14 to move down contact ground during the cleanness, thereby the realization is to the cleanness on ground.
As shown in fig. 1 to 3, the base station 2 includes a lifting assembly 21 and a cleaning and charging assembly 22, the lifting assembly 21 and the cleaning and charging assembly 22 are both in communication connection with the control board 5 through a mobile phone bluetooth module, the lifting assembly 21 is used for lifting the mopping robot body 1 above the cleaning and charging assembly 22, and the cleaning and charging assembly 22 is used for cleaning the mopping robot body 1 and charging the mopping robot body 1; in addition, the base station 2 may also adopt a base station structure that does not need to provide the lifting assembly 21 in the prior art.
The lifting assembly 21 comprises a screw rod 211, a moving double rail 212 connected with the screw rod 211 through a sliding seat, and fixed double rails 213 arranged at two sides of the top of the cleaning and charging assembly 22, the moving double rail 212 corresponds to the traveling wheels 12 of the mopping robot body 1, the screw rod 211 lifts the mopping robot body 1 to the front ends of the fixed double rails 213 through the moving double rail 212, and the mopping robot body 1 moves to the position above the cleaning and charging assembly 22 through the fixed double rails 213;
the cleaning and charging assembly 22 includes a cleaning structure and a charging structure;
the cleaning structure comprises a cleaning barrel body 221, a cleaning tank 222 is arranged at the top of an inner cavity of the cleaning barrel body 221, a cleaning water barrel 223 and a sewage barrel 224 are arranged at the bottom of the inner cavity, the cleaning water barrel 223 is connected with the cleaning tank 222 through a water pumping structure 225, and a water drainage hole 229 communicated with the sewage barrel 224 is formed in the bottom of the cleaning tank 222; the water pumping structure 225 comprises a water pumping pump, a water pumping pipe and a plurality of nozzles, wherein one end of the water pumping pipe is connected with the clear water barrel 223 through the water pumping pump and a hose, and the other end of the water pumping pipe extends into the cleaning tank 222 and is connected with the nozzles in the cleaning tank 222; a scraper 228 is arranged in the cleaning groove 222, and the scraper 228 is attached to the lower surface of the mopping head 14;
the charging structure comprises a charging seat 227 arranged at the rear side of the top of the cleaning barrel body 221 and a charging terminal 226 arranged on the mopping robot body 1, wherein the mopping robot body 1 is connected with the charging seat 227 through the charging terminal 226.
It should be noted that, when the mopping robot body 1 returns to the base station for cleaning, the mopping robot body 1 moves to the moving double rail 212, the control panel 5 controls the motor at one end of the screw rod 211 to start through the mobile phone bluetooth module, the screw rod 211 drives the moving double rail 212 and the mopping robot body 1 to move up through the sliding seat until the moving double rail 212 is overlapped with the fixed double rail 213, at this time, the control panel 5 controls the mopping robot to move to the fixed double rail 213 until the mopping robot moves to the upper side of the cleaning and charging assembly 22, at this time, the mopping head 14 corresponds to the cleaning tank 222 on the cleaning tank body 221, the charging terminal 226 corresponds to the charging seat 227, then the electric telescopic rod is controlled to drive the mopping head 14 to insert into the cleaning tank 222 and contact with the scraper 228, the control panel 5 controls the water pump to work, the clean water in the clean water tank 223 is sprayed onto the mopping head 14, the brushless motor drives the mopping head 14 to rotate, so that the mopping head 14 is cleaned under the washing of the clean water and the scraping of the scraping plate 228;
the sewage generated by cleaning can be discharged into the sewage bucket 224 from the water discharge hole 229, and the front side wall of the cleaning bucket body 221 corresponding to the clean water bucket 223 and the sewage bucket 224 can be provided with openings for taking out the two bucket bodies, so that the two bucket bodies can be conveniently taken out, added with clean water and discharged with sewage;
after the cleaning is finished, the mopping robot can return in the original way;
when charging is required, the control board 5 controls the charging base 227 to be turned on, and the charging base 227 charges the storage battery in the mopping robot body 1 through the charging terminal 226.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims (9)

1. The utility model provides a domestic robot that drags ground of vision navigation based on cell-phone control, includes mopping robot body (1) and basic station (2), its characterized in that: the mopping robot comprises a mopping robot body (1), wherein a smart phone (3) is detachably mounted on the mopping robot body (1), and a smart phone APP (4) mounted in the smart phone (3) is in communication connection with a camera module (31) of the smart phone (3) and a control board (5) of the mopping robot body (1);
the intelligent mopping robot is characterized in that the intelligent mobile phone APP (4) is used for controlling the camera module (31) to collect surrounding environment images, generating a motion control instruction based on the surrounding environment images, and sending the motion control instruction to the control panel (5) through the mobile phone Bluetooth module, so that intelligent mopping of the mopping robot is realized.
2. The visual navigation household mopping robot based on mobile phone control as claimed in claim 1, wherein: the intelligent floor mopping robot is characterized in that a mobile phone clamping seat (6) is clamped at the bottom of the intelligent mobile phone (3), the mobile phone clamping seat (6) is rotationally arranged on the upper surface of the floor mopping robot body (1) under the driving of a first speed reducing motor (7), and the first speed reducing motor (7) is connected with a control panel (5) to intelligently adjust the angle of the intelligent mobile phone (3).
3. The visual navigation household mopping robot based on mobile phone control as claimed in claim 1, wherein: LED lamp (32) and smart mobile phone APP (4) communication connection that set up on smart mobile phone (3), LED lamp (32) are used for providing the illumination for camera module (31) to clear acquisition image data.
4. The visual navigation household mopping robot based on mobile phone control as claimed in claim 1, wherein: mopping robot body (1) include organism (11), install in walking wheel (12) of organism (11) both sides, install in dragging ground head (14) and the drive of organism (11) bottom through flexible subassembly (13) drag rotatory rotating assembly (15) of ground head (14), walking wheel (12) are driven by second gear motor (16), flexible subassembly (13) adopt electric telescopic handle, rotating assembly (15) adopt brushless motor to install in electric telescopic handle and drag between ground head (14), electric telescopic handle, brushless motor and second gear motor (16) all with control panel (5) communication connection.
5. The visual navigation household mopping robot based on mobile phone control as claimed in claim 4, wherein: the base station (2) comprises a lifting assembly (21) and a cleaning charging assembly (22), wherein the lifting assembly (21) and the cleaning charging assembly (22) are in communication connection with a control panel (5) through a mobile phone Bluetooth module, the lifting assembly (21) is used for lifting the mopping robot body (1) to the upper portion of the cleaning charging assembly (22), and the cleaning charging assembly (22) is used for cleaning the mopping robot body (1) and charging the mopping robot body (1).
6. The visual navigation household mopping robot based on mobile phone control as claimed in claim 5, wherein: lifting subassembly (21) include lead screw (211), through the slide with removal double track way (212) that lead screw (211) are connected and set up in fixed double track way (213) of clean subassembly (22) top both sides that charge, remove double track way (212) with walking wheel (12) of mopping robot body (1) correspond, lead screw (211) are through removing double track way (212) lifting mopping robot body (1) to fixed double track way (213) front end, mopping robot body (1) is through fixed double track way (213) removal to clean subassembly (22) top that charges.
7. The visual navigation household mopping robot based on mobile phone control as claimed in claim 6, wherein: the cleaning and charging assembly (22) comprises a cleaning structure and a charging structure;
the cleaning structure comprises a cleaning barrel body (221), a cleaning tank (222) is arranged at the top of an inner cavity of the cleaning barrel body (221), a clear water barrel (223) and a sewage barrel (224) are arranged at the bottom of the inner cavity, the clear water barrel (223) is connected with the cleaning tank (222) through a water pumping structure (225), and a drain hole (229) communicated with the sewage barrel (224) is formed in the bottom of the cleaning tank (222);
the charging structure comprises a charging seat (227) arranged at the rear side of the top of the cleaning barrel body (221) and a charging terminal (226) arranged on the mopping robot body (1), and the mopping robot body (1) is connected with the charging seat (227) through the charging terminal (226).
8. The visual navigation household mopping robot based on mobile phone control as claimed in claim 7, wherein: draw water structure (225) include suction pump, drinking-water pipe and a plurality of shower nozzle, clear water bucket (223) are connected through the suction pump to drinking-water pipe one end, and the other end extends to and is connected with a plurality of shower nozzles in washing tank (222).
9. The visual navigation household mopping robot based on mobile phone control as claimed in claim 8, wherein: a scraper (228) is arranged in the cleaning groove (222), and the scraper (228) is attached to the lower surface of the mopping head (14).
CN202210419936.2A 2022-04-21 2022-04-21 Visual navigation household floor mopping robot based on mobile phone control Pending CN114831541A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210419936.2A CN114831541A (en) 2022-04-21 2022-04-21 Visual navigation household floor mopping robot based on mobile phone control

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210419936.2A CN114831541A (en) 2022-04-21 2022-04-21 Visual navigation household floor mopping robot based on mobile phone control

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CN114831541A true CN114831541A (en) 2022-08-02

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210419936.2A Pending CN114831541A (en) 2022-04-21 2022-04-21 Visual navigation household floor mopping robot based on mobile phone control

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117731206A (en) * 2024-02-20 2024-03-22 沈阳清云科技有限公司 Robot positioning calibration device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117731206A (en) * 2024-02-20 2024-03-22 沈阳清云科技有限公司 Robot positioning calibration device
CN117731206B (en) * 2024-02-20 2024-04-16 沈阳清云科技有限公司 Robot positioning calibration device

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