CN202607669U

CN202607669U - Intelligent cleaning robot

Info

Publication number: CN202607669U
Application number: CN 201220238200
Authority: CN
Inventors: 应佳伟; 徐肇松; 傅丹
Original assignee: HANGZHOU GAOYUE TECHNOLOGY Co Ltd
Current assignee: HANGZHOU GAOYUE TECHNOLOGY Co Ltd
Priority date: 2012-05-25
Filing date: 2012-05-25
Publication date: 2012-12-19
Anticipated expiration: 2022-05-25

Abstract

The utility model discloses an intelligent cleaning robot, which comprises a robot main body, a detection device, a control system and a handle turnover device, wherein the robot main body has a handle; the detection device detects the change of a gravity center; the control system receives the signal of the detection device and controls the handle turnover device; the detection device, the control system and the handle turnover device are all arranged in the robot main body; and the other end of the handle turnover device is connected with the handle. By using the intelligent cleaning robot, the technical problem of how to enable a robot to be capable of adjusting the walking state of the robot according to the change of the self gravity center can be solved.

Description

The intelligent cleaning robot

Technical field

The present invention relates to a kind of underwater intelligent clean robot, relate in particular to the robot that a kind of variation according to the robot center of gravity changes the walking states of intelligent cleaning robot, the variation of its center of gravity mainly detects through checkout gear.

Background technology

The intelligent cleaning robot of selling in the market is of a great variety, and it is not turning mostly the handle of traditional intelligence clean robot is, is to be fixed in above the main body of intelligent cleaning robot.Robot is climbing wall or is changing in the process of walking path because handle can not overturn automatically and just can not regulate center of gravity automatically like this, causes the intelligent cleaning robot in climbing the process of wall, to fall down owing to crank or does not climb; In addition; The round brush wheel of the traditional intelligent cleaning robot rubber structures that adopt are promptly installed to be on road wheel and are dispersed foliated rubber wheel, though this structure has increased the frictional force in the robot ambulation process more; The stability and the cleaning performance of robot ambulation have been improved; But the round brush of this rubber structure wheel only is fit to clean at the bottom of the pond of swimming pool, but when needs cleaning wall, when climbing wall, because the rubber wheel is little with the frictional force of between the walls; Make that underwater robot is easy to fall down from wall, cause machine to break down.

The utility model content

The purpose of the utility model provides a kind of intelligent cleaning robot, thereby solves the technical problem that how to make robot can adjust its walking states according to the change of self center of gravity.

The intelligent cleaning robot comprises the robot body with handle, control system, the handle turning device that detects checkout gear, receiving detection device signal and the control handle turning device of center of gravity variation; Checkout gear, control system, handle turning device all are arranged in the robot body, and the handle turning device other end is connected with handle.

Said motion state checkout gear is gyroscope or accelerometer.

Said control system comprises sensor signal adjustment and control algolithm module, wireless control module, motor control module, system interface and energy supply control module.

Said handle turning device is a motor.

Said motor always has 2, is arranged in the two ends of handle.

Said handle inner hollow.

The outside face of the round brush wheel on the said robot body is provided with collodion.

The beneficial effect of the utility model is:

1, owing to is provided with checkout gear, control system, the handle turning device that detects the center of gravity variation; When being in, robot climbs wall, upset or during inactive state like this; Checkout gear automatic detecting machine device people's center of gravity; Send signal then and give the control system, the control system is according to the walking states of programme-control handle turning device that configures in advance and then change robot.

2, because the handle inner hollow can directly produce buoyancy like this, do not need the material of inwards filled and process and other auxiliary generation buoyancy.

3, because the outside face of round brush wheel is provided with collodion, and its water absorbing capacity is good, cleaning function is high, the metope of robot body and ceramic tile can be combined closely prevent to fall, and can better clear up at the bottom of the pond of swimming pool and sidewall.

Description of drawings

Fig. 1 is the sketch map of intelligent cleaning robot;

Fig. 2 is the opposite side sketch map of the intelligent cleaning robot among Fig. 1;

Fig. 3 is the connection sketch map of checkout gear, control system, handle turning device;

Fig. 4 is the sketch map of control system;

1. intelligent cleaning robots among the figure, 2. robot body, 3. control system, 4. checkout gear, 5. servomotor, 6. handle, 7. round brush wheel.

The specific embodiment

Please refer to Fig. 1 to Fig. 4, this intelligent cleaning robot 1 comprise robot body 2, receiving detection device signal and control handle turning device control system 3, detect checkout gear 4 that center of gravity changes like gyroscope, accelerometer etc., as the servomotor 5 of handle turning device.

Robot body 2 outsides have the handle 6 of ground-engaging element, inner hollow, and inside has running commonly used and cleaning member; Bottom and top like robot body 1 offer water inlet and delivery port respectively, are used for Chi Shui is sucked body interior from water inlet, and after filtering in delivery port sprays into the pond, thereby realize the purpose of clarifier-tank water.These all are prior aries, no longer too much describe at this.Handle 6 inner hollow can directly produce buoyancy like this, do not need the material of inwards filled and process and other auxiliary generation buoyancy.

Control system 3 comprises that the control system comprises sensor signal adjustment and control algolithm module, wireless control module, motor control module, system interface and energy supply control module.Adopt the normal control system that adopts of present intelligent cleaning robot; But the detection signal of receiving detection device 4 and then the control program that handle turning device such as servomotor 5 are controlled have just been set above that; This is easy to also accomplish that it is installed in robot body 2 inside.Above-mentioned control system also can receive the signal of the checkout gear that detects mass centre changing and the control system that handles certainly from use other field, like the control system of autobalance car.

Servomotor 5 volume requirements are a little bit smaller, to be fixed together with the two ends of handle 6, when motor rotation, drive handle 6 runnings.Handle 6 can be climbed initiatively upset in the wall or the process of in water, rotating robot body 2 like this; And robot body 2 can regulate center of gravity automatically in the process of upset, has avoided robot body 2 in the process of climbing the wall cleaning, to occur falling down from wall.

Columniform round brush wheel 6 is fixed on robot body 2 bottoms; It is good that its outer surface is enclosed with water absorbing capacity, the collodion that cleaning function is high, and the frictional force when robot body 2 clears up walking in swimming pool between this collodion and the ceramic tile is big; Make robot body 2 and ceramic tile to combine closely; Prevent that robot body 2 from falling down from wall in climbing the process of wall cleaning, and the cleaning capacity of collodion is stronger, can better clears up at the bottom of the pond of swimming pool and sidewall.

Claims

1. intelligent cleaning robot comprises robot body with handle, it is characterized in that: also comprise the control system, the handle turning device that detect checkout gear, receiving detection device signal and control handle turning device that center of gravity changes; Checkout gear, control system, handle turning device all are arranged in the robot body, and the handle turning device other end is connected with handle.

2. according to the described said intelligent cleaning of claim 1 robot, it is characterized in that: said motion state checkout gear is gyroscope or accelerometer.

3. according to the described said intelligent cleaning of claim 1 robot, it is characterized in that: the control system comprises sensor signal adjustment and control algolithm module, wireless control module, motor control module, system interface and energy supply control module.

4. according to the described said intelligent cleaning of claim 1 robot, it is characterized in that: said handle turning device is a servomotor.

5. according to the described said intelligent cleaning of claim 4 robot, it is characterized in that: said motor always has 2, is arranged in the two ends of handle.

6. according to the described said intelligent cleaning of claim 1 robot, it is characterized in that: said handle inner hollow.

7. according to the described said intelligent cleaning of claim 1 robot, it is characterized in that: the outside face of the round brush wheel on the said robot body is provided with collodion.