CN116763189A - Intelligent dehumidifying and floor sweeping robot - Google Patents

Abstract

The invention discloses an intelligent dehumidifying and sweeping robot, which comprises a bottom plate, a middle plate and an upper cover, wherein the top end of the bottom plate is provided with a boss structure with a threaded structure inside and outside, the middle plate is fixed on the inner side of the boss, the upper cover is arranged on the outer side of the boss, a dust rolling machine, universal wheels, fan blades, a dehumidifier and a storage battery bin are arranged in the bottom plate, the dust rolling machine is arranged at the bottom end of the bottom plate, the universal wheels are arranged at the two ends of the dust rolling machine, three groups of planning algorithms are programmed in a control panel, and matched with a laser radar and a humidity sensor, environmental point cloud data can be acquired from a room space through the laser radar, a foundation is laid for indoor positioning and path navigation, the internal algorithm can preferentially select an area with the highest humidity in the local area for dehumidification, and the autonomous walking module of the sweeping robot is designed for realizing autonomous action of the intelligent sweeping robot, the obstacle is executed to achieve an optimal route, the purposes of automation and intellectualization, the functionality of the sweeping robot is improved, and sales is expanded.

Description

Intelligent dehumidifying and floor sweeping robot

Technical Field

The invention relates to the field of sweeping robots, in particular to an intelligent dehumidifying sweeping robot.

Background

In recent years, the sweeping robot is rapidly developed in China, and under the background of consumption upgrading, the sweeping robot is becoming a new family pet, but in order to meet the requirements of different consumer groups, the product function aspect is still to be improved. This patent designs an intelligent robot of sweeping floor that dehumidifies and sweeps floor combined together, can monitor external humidity height, when maintaining air humidity, keeps the work efficiency of robot of sweeping floor. The intelligent integration of the work such as environmental cleaning, dehumidification and the like is realized.

The existing sweeping robot has single function, cannot dehumidify and detect the indoor space while sweeping, and has low purchasing desire of consumers.

Disclosure of Invention

In order to overcome the defects of the prior art, the intelligent dehumidifying and sweeping robot provided by the invention has the advantages that through the three-layer structure, the bottom structure represented by the bottom plate can perform walking and dehumidifying functions, the middle plate in the middle part is used for storing sucked dust and sundries and storing a carrying water tank, the upper cover structure at the top end is used for facilitating the real-time control of a user and displaying in real time through a display screen, three groups of planning algorithms are programmed in the control panel, and the three groups of planning algorithms are matched with a laser radar and a humidity sensor, so that environmental point cloud data can be acquired for indoor space through the laser radar, an environmental map is drawn, a foundation is laid for indoor positioning and path navigation, the area with the highest local humidity can be preferentially selected by the internal algorithm for dehumidifying, and the autonomous walking module of the sweeping robot is designed for realizing autonomous action of the intelligent sweeping robot and avoiding obstacles. The optimal route is executed, the automatic and intelligent targets are achieved, the functionality of the sweeping robot is improved, and the sales channel is enlarged.

In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides an intelligence dehumidification robot of sweeping floor, includes bottom plate, medium plate and upper cover, the top of bottom plate is provided with the boss structure that screw thread structure was all seted up to inside and outside, the medium plate is fixed in the inboard of boss, the upper cover sets up in the outside of boss, be provided with dust rolling machine, universal wheel, flabellum, dehumidifier and battery compartment in the bottom plate, dust rolling machine sets up in the bottom of bottom plate, the universal wheel sets up in the both ends of dust rolling machine, the flabellum sets up in the front end of universal wheel, the top of dehumidifier keeps the intercommunication with the bottom in pressurization storehouse, the top of dust rolling machine keeps the intercommunication with the bottom of transition box, be provided with rubbish box, water tank, driving motor and control panel in the medium plate, the bottom of water tank communicates with the top in pressurization storehouse, driving motor sets up in the both sides of rubbish box, just control panel sets up in the front end of rubbish box, the top lateral wall of upper cover is provided with display screen, signal receiver and flip, the one end and the control panel of display screen keeps the intercommunication with the bottom of transition box, the flip sets up in the activity groove in the flip in the advance.

As a preferable technical scheme of the invention, the top end of the fan blade is fixedly connected with the output end of the driving motor, an auxiliary wheel is arranged on the inner side of the fan blade, and the top end of the auxiliary wheel is movably connected with the top end of the middle plate.

As a preferable technical scheme of the invention, the storage battery bin is electrically connected with the charging electrode, the charging electrode is arranged at the bottom of the bottom plate, and the transition box is arranged between the storage battery bin and the pressurizing bin at the middle part of the bottom plate.

As a preferable technical scheme of the invention, the middle plate and the upper cover are hollow cavity structures with no bottom surface, the side wall of the middle plate is provided with a flashing lamp panel and a charging port, and the flashing lamp panel is electrically connected with a liquid level sensing assembly in the water tank.

As a preferable technical scheme of the invention, one end of the control panel is electrically connected with a laser radar of which the humidity sensor module is arranged on the side wall of the upper cover, and a charging pile searching algorithm, a selecting and sorting algorithm and a dehumidifying cleaning path planning algorithm are arranged in the control panel.

As a preferable technical scheme of the invention, the top end of the upper cover is provided with a power switch, a storage battery in the storage battery bin is powered by each component through the power switch, the side walls of the middle plate and the upper cover are both provided with charging ports, and one end of the storage battery bin is provided with a wired charging port.

As a preferable technical scheme of the invention, one end of the signal receiver is electrically connected with the humidity sensor module and the laser radar module, and the other end of the signal receiver is electrically connected with the control panel.

As a preferable technical scheme of the invention, the water tank is made of transparent materials.

As a preferable technical scheme of the invention, a plurality of groups of charging electrodes are arranged in parallel and are matched with the preset positions of the charging piles.

As a preferred embodiment of the present invention, the fan blades all exceed the outside of the base plate.

Compared with the prior art, the invention has the following beneficial effects:

in the device, through the three-layer structure who sets up to the bottom plate is represented, can walk, the effect of dehumidification, the medium plate in middle part is used for storing the dust of sucking up, debris and stores and carry the water tank, the upper cover structure on top, be used for the user to carry out the control of real machine, and show in real time through the display screen, and three sets of planning algorithm are gone into in control panel, cooperation laser radar and humidity transducer, can obtain environmental point cloud data through laser radar to indoor space, thereby draw the environment map, lay the basis for indoor location and path navigation, the interior algorithm can the regional dehumidification of the highest region of humidity in the preferential selection local, the autonomous walking module design purpose of robot of sweeping the floor is in order to realize intelligent robot autonomous action of sweeping the obstacle of avoiding. The optimal route is executed, the automatic and intelligent targets are achieved, the functionality of the sweeping robot is improved, and the sales channel is enlarged.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a structural exploded view of the present invention;

FIG. 3 is a schematic top end view of a middle plate according to the present invention;

FIG. 4 is a bottom view of the floor construction of the present invention;

fig. 5 is a schematic view of the structure of the top end of the base plate according to the present invention.

Wherein: 1. a bottom plate; 11. a dust rolling machine; 111. a transition box; 12. a universal wheel; 13. a fan blade; 131. a driving motor; 14. a dehumidifier; 15. a pressurized bin; 16. an auxiliary wheel; 17. a storage battery bin; 18. a charging electrode; 2. a middle plate; 21. flashing lamp panel; 22. a charging port; 23. a garbage box; 24. a water tank; 25. a drive motor; 26. a control panel; 3. an upper cover; 31. a display screen; 32. a flip cover; 33. a signal receiver; 4. and a power switch.

Detailed Description

In order that the manner in which the above recited features, objects and advantages of the present invention are obtained will become readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Based on the examples in the embodiments, those skilled in the art can obtain other examples without making any inventive effort, which fall within the scope of the invention. The experimental methods in the following examples are conventional methods unless otherwise specified, and materials, reagents, etc. used in the following examples are commercially available unless otherwise specified.

Examples:

as shown in fig. 1-5, the invention provides an intelligent dehumidifying and sweeping robot, which comprises a bottom plate 1, a middle plate 2 and an upper cover 3, wherein the top end of the bottom plate 1 is provided with a boss structure with a threaded structure inside and outside, the middle plate 2 is fixed on the inner side of the boss, the upper cover 3 is arranged on the outer side of the boss, a dust winding machine 11, a universal wheel 12, fan blades 13, a dehumidifier 14 and a storage battery bin 17 are arranged in the bottom plate 1, the dust winding machine 11 is arranged at the bottom end of the bottom plate 1, the universal wheel 12 is arranged at two ends of the dust winding machine 11, the fan blades 13 are arranged at the front end of the universal wheel 12, the top end of the dehumidifier 14 is communicated with the bottom end of a pressurizing bin 15, the top end of the dust winding machine 11 is communicated with the bottom of a transition box 111, a garbage box 23, a water tank 24, a driving motor 25 and a control panel 26 are arranged in the middle plate 2, the bottom end of the garbage box 23 is communicated with the top end of the pressurizing bin 15, the driving motor 25 is arranged at two sides of the garbage box 23, the control panel 26 is arranged at the front end of the garbage box 23, the side wall of the top end of the upper cover 3 is provided with a display screen 31, a signal receiver 31 and a signal receiver 33 and a control panel 33 are arranged at two ends of the flip cover 32, and one end of the flip cover 32 is electrically connected with the flip cover 32 in the flip cover 32.

In other embodiments, the top ends of the fan blades 13 are fixedly connected with the output end of the driving motor 131, and the inner sides of the fan blades 13 are provided with auxiliary wheels 16, and the top ends of the auxiliary wheels 16 are movably connected with the top ends of the middle plates 2; the laser radar is used for sensing the eyes of the external environment by the sweeping robot, and the sweeping robot acquires the environment point cloud data through the laser radar, so that an environment map is drawn, and a foundation is laid for indoor positioning and path navigation. The internal algorithm of the sweeping robot can preferentially select the area with highest humidity in the local area to dehumidify. The universal wheels 12 and the driving motor 26 of the sweeping robot are designed to realize autonomous action of the intelligent sweeping robot and avoid obstacles. The optimal route is performed.

In other embodiments, the storage battery compartment 17 is electrically connected with the charging electrode 18, the charging electrode 18 is arranged at the bottom of the bottom plate 1, the transition box 111 is arranged between the storage battery compartment 17 and the pressurizing compartment 15 in the middle of the bottom plate 1, the middle plate 2 and the upper cover 3 are hollow cavity structures with no surface at the bottom, the side wall of the middle plate 2 is provided with a flashing lamp panel 21 and a charging port 22, and the flashing lamp panel 21 is electrically connected with a liquid level sensing assembly in the water tank 24;

according to different environmental humidity requirements, the working flow of the intelligent sweeper is divided into the following three steps:

(1) A cleaning zone is provided. The sensor monitors the humidity level of the environment around the radius of 100 meters where the robot is located and sets different cleaning areas. Before cleaning, the travel route of the sweeping robot is preset.

(2) The cleaning mode is initiated. Firstly, a signal is sent by a transmitting device to enable the intelligent sweeper to move towards a designated position. When the sweeper moves to the front of an obstacle, the sweeper is controlled to turn to perform sweeping work according to feedback signals of the two groups of sensors. When encountering an obstacle, the cleaning work is stopped, and the cleaning work is returned to the starting point to continue the next cleaning work.

(3) And judging the sweeping route. Judging whether the sweeping route is reasonable according to the sweeping result. If a collision or a stuck situation occurs, the robot will automatically return to the starting point to resume cleaning. After completing one cleaning task, the intelligent sweeper returns to the starting point through an infrared sensor (laser radar) to continue to start the next cleaning task. The above process is repeated until all cleaning tasks are completed.

And at the time of path planning:

(1) The highest humidity but barrier spacing:

and (3) re-monitoring the ambient humidity and repositioning, and sequencing the humidity according to the ambient humidity to find out the area which is not blocked by the obstacle and has the next highest humidity, and repeating the operation until the area meeting the condition is found out if the obstacle exists.

(2) Distant but high humidity/distant but low humidity:

the arrangement of the humidity is a priority, namely, the sweeping robot moves to the area with the highest humidity no matter how far or near.

In other embodiments, one end of the control panel 26 is electrically connected with the laser radar of the humidity sensor module disposed on the side wall of the upper cover 3, and the control panel 26 is internally provided with a charging pile searching algorithm, a selecting and sorting algorithm and a dehumidifying cleaning path planning algorithm, which are specifically as follows:

algorithm 1: find charging pile algorithm

1. Acquiring initial position S1 of sweeping robot

2. Obtain the initial position S2 of the charging pile

3. S1 is an origin point, S1 vertical direction and horizontal direction are axes to establish a plane coordinate system X-Y4, and the sweeping robot moves along the coordinate axis

5. Detecting the emission signal of the charging pile to determine S2= (x, y)

6. DO

7. Updating robot position (x 1, y 1)

8. while(x1，y1)＝(x，y)

9.if electricity is less than 15%

10. Start charging

11. else charge = 100%

12. Ending charging

Algorithm 2: selection ordering algorithm

1. Setting ambient humidity R

2. The environment humidity around the robot was monitored for 100 meters, R1, R2

3. Repeating (n-1) times

4. Setting the first unordered element to a maximum value

5. Traversing each unordered element

6. if element > maximum now

7. Setting this element to a new maximum value

8. else exchanges the maximum value with the first unordered position

9. Completion ordering

Algorithm 3: dehumidification cleaning path planning algorithm

1. Acquiring initial position m1 of sweeping robot

2. Setting ambient humidity R

3. The user sets the upper limit beta of the environmental humidity monitored by the sweeping robot, the humidity is reduced to alpha, dehumidification is stopped by 4.m1 as an original point, a plane coordinate system X-Y5. is established by taking the vertical direction and the horizontal direction of m1 as axes, and the movable area of the sweeping robot is set to be 100 meters in the peripheral radius

6.DO

7. Real-time monitoring electric quantity theta of sweeping robot

8. if theta <15%, red light, find charging pile to charge according to algorithm 19. Un til theta = 100%, green light, leave charging pile 10. Monitor ambient humidity R, rank according to algorithm 2, find Max (R)

If R > β, marked with m2 (x 2, y 2)

12. The sweeping robot walks in the direction (x 2, y 2)

If encounters an obstacle

14. Re-monitoring the ambient humidity to find the next highest humidity R1

15. Marker R1 (x 3, y 3)

16. Positioning and updating the position of the robot (x 4, y 4) in real time

17.until(x3,y3)＝(x4,y4)

18. Performing a dehumidifying operation

If R < alpha >, complete dehumidification and start sweeping floor

20. The sweeping is completed, and the current area is marked as the swept area

21. Updating a map

While all have been marked with a radius of 100 meters around

23. And returning to the step 5 to be re-executed.

In other embodiments, the top of upper cover 3 is provided with switch 4, the battery in the battery compartment 17 passes through switch 4 and each subassembly power supply, charging port 22 has all been seted up to the lateral wall of medium plate 2 and upper cover 3, and the one end in battery compartment 17 is provided with wired charge port, the robot of sweeping the floor is through receiving infrared signal and fix a position the charging seat, when the device detects that battery power is less than 15%, the robot of sweeping the floor can search the position of charging socket voluntarily, and send the signal for charging base through the infrared ray, the induction can be made after the charging pile senses the signal, the robot of sweeping the floor is led to get back to the charging pile, or the user can carry out electric connection with battery compartment 17 through wired charging's mode directly.

In other embodiments, one end of the signal receiver 33 is electrically connected to the humidity sensor module and the lidar module, and the other end of the signal receiver 33 is electrically connected to the control panel 26, and the water tank 24 is made of transparent material; the charging electrodes 18 are arranged in parallel with a plurality of groups, and are matched with the preset positions of the charging piles; the fan blades 13 are all beyond the outside of the bottom plate 1, and the humidity sensor module arranged in the device can monitor the humidity change in the current environment in real time, and can realize the current humidity value through the display screen 31. The dehumidification can be performed and the cleaning can be performed when the weather is wet, a sequencing algorithm is arranged in the dehumidification method, the region is sequenced according to the humidity, the robot for sweeping the floor can monitor the ambient humidity of 100 meters around, judge whether the standard ambient humidity S is larger than beta (for example, 75%), and sequence the dehumidification when the humidity is lower than alpha (for example, 20%). And after dehumidification is completed, sweeping the floor. After the robot finishes the dehumidifying and sweeping operation, the positioning system can reposition according to the position of the robot to define the environment of 100 meters around, and the sequencing operation is repeated.

The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. Intelligence dehumidification robot of sweeping floor, its characterized in that: including bottom plate (1), medium plate (2) and upper cover (3), the top of bottom plate (1) is provided with the boss structure that screw thread structure was all offered to inside and outside, medium plate (2) are fixed in the inboard of boss, upper cover (3) set up in the outside of boss, be provided with in bottom plate (1) and roll up dirt machine (11), universal wheel (12), flabellum (13), dehumidifier (14) and battery compartment (17), roll up dirt machine (11) and set up in the bottom of bottom plate (1), universal wheel (12) set up in the both ends of rolling up dirt machine (11), flabellum (13) set up in the front end of universal wheel (12), the top of dehumidifier (14) keeps the intercommunication with the bottom of pressurization storehouse (15), the top of rolling up dirt machine (11) keeps the intercommunication with the bottom of transition box (111), be provided with rubbish box (23), water tank (24), driving motor (25) and control panel (26) in the bottom of rolling up dirt box (23) and the bottom of transition box (111) are provided with the bottom of motor (24) and the control panel (25) in the both sides of pressurization storehouse (23), the top side wall of upper cover (3) is provided with display screen (31), signal receiver (33) and flip (32), the one end and the control panel (26) electric connection of display screen (31), the both ends activity of flip (32) set up in the cell body of upper cover (3) seting up in advance.

2. The intelligent dehumidifying and sweeping robot of claim 1, wherein: the top of flabellum (13) is connected with the output fixed of driving motor (131), just the inboard of flabellum (13) is provided with auxiliary wheel (16), the top of auxiliary wheel (16) and the top swing joint of medium plate (2).

3. The intelligent dehumidifying and sweeping robot of claim 1, wherein: the storage battery bin (17) is electrically connected with the charging electrode (18), the charging electrode (18) is arranged at the bottom of the bottom plate (1), the transition box (111) is arranged between the storage battery bin (17) and the pressurizing bin (15) at the middle part of the bottom plate (1).

4. The intelligent dehumidifying and sweeping robot of claim 1, wherein: the solar energy water heater is characterized in that the middle plate (2) and the upper cover (3) are hollow cavity structures with no surface at the bottom, a flashing lamp panel (21) and a charging port (22) are arranged on the side wall of the middle plate (2), and the flashing lamp panel (21) is electrically connected with a liquid level sensing assembly in the water tank (24).

5. The intelligent dehumidifying and sweeping robot of claim 1, wherein: one end of the control panel (26) is electrically connected with a laser radar arranged on the side wall of the upper cover (3) through a humidity sensor module, and a charging pile searching algorithm, a selecting and sorting algorithm and a dehumidifying cleaning path planning algorithm are arranged in the control panel (26).

6. The intelligent dehumidifying and sweeping robot of claim 1, wherein: the top of upper cover (3) is provided with switch (4), the battery in battery compartment (17) passes through switch (4) and each subassembly power supply, charge mouth (22) have all been seted up to the lateral wall of medium plate (2) and upper cover (3), just the one end in battery compartment (17) is provided with wired charge mouth.

7. The intelligent dehumidifying and sweeping robot of claim 1, wherein: one end of the signal receiver (33) is electrically connected with the humidity sensor module and the laser radar module, and the other end of the signal receiver (33) is electrically connected with the control panel (26).

8. The intelligent dehumidifying and sweeping robot of claim 1, wherein: the water tank (24) is made of transparent materials.

9. The intelligent dehumidifying and sweeping robot as claimed in claim 3, wherein: the charging electrodes (18) are arranged in parallel and are matched with the preset positions of the charging piles.

10. The intelligent dehumidifying and sweeping robot of claim 1, wherein: the fan blades (13) are all beyond the outer part of the bottom plate (1).