CN210871329U

CN210871329U - Intelligent toilet cleaning robot

Info

Publication number: CN210871329U
Application number: CN201920279688.XU
Authority: CN
Inventors: 徐彬; 谈至存; 颜丰; 朱伟; 钱俊
Original assignee: Nanjing Institute of Technology
Current assignee: Nanjing Institute of Technology
Priority date: 2019-03-06
Filing date: 2019-03-06
Publication date: 2020-06-30
Anticipated expiration: 2029-03-06

Abstract

The utility model discloses an intelligence bathroom cleaning machines people, including arm motion module, lift platform, power and electric quantity detection module, OpenMV visual identification camera, laser radar, first layer bottom plate, real-time supervision camera, microprocessor module, main track motion module, upper and lower step track motion module, its characterized in that: arm motion module installs at lift platform's top, arm motion module's end install direct current motor, shower nozzle and mop, the beneficial effects of the utility model are that: the cleaning is cleaner, the disinfection and sterilization are more thorough, the labor force of cleaning workers in the toilet is further liberated, and the workload of the workers is reduced.

Description

Intelligent toilet cleaning robot

Technical Field

The utility model relates to a robot field specifically is an intelligence bathroom cleaning machines people.

Background

In recent years, with the improvement of science and technology, the development of economy, the construction of large public places (shopping malls, hospitals, schools, waiting stations and the like), people can enjoy the pleasure and convenience brought by life and simultaneously put higher requirements on the environment of the large public places. In a recent survey, it is widely recognized that the environment of a large public toilet is very untidy. According to a study in the united states, the number of bacteria on the inner wall of a freshly flushed urinal is still as high as 10 ten thousand, and the cyclone in the urinal can bring germs and microorganisms into the air with a height of 6 m and suspend in the air for several hours, so that if the urinal is in a public place, the risk of cross infection is high, and various diseases are more easily caused. It is seen that the sterilization and disinfection of urinals is a very important matter for large public places and every household. However, the cleaning, sterilization and disinfection of the toilet bowl are work with great workload and long time consumption, and people are not willing to clean the toilet bowl regularly in the modern fast pace of life. The utility model discloses an intelligence bathroom cleaning machines people is just studying and making to this important social problem, solves the puzzlement that people cleared up the urinal and bring from the root to alleviateed the work load of people on the clearance bathroom.

Modern people are also constantly searching for methods for automatically cleaning, sterilizing and disinfecting a sitting urinal and a squatting urinal, and the appearance of an intelligent toilet cover and an intelligent toilet is the best verification. Although the intelligent toilet lid and the intelligent toilet have certain help for people in the aspects of cleaning, sterilizing and disinfecting the toilet, the modern intelligent toilet lid and the intelligent toilet have a plurality of defects: the closestool is difficult to clean; the danger of electric leakage and dry burning exist in the using process of the electric heating furnace; the cover plate of the intelligent closestool cover is not suitable for all toilets and has certain limitation; modern intelligent toilet lid is expensive, and the maintenance cost in later stage is high, and general family can't hold. The utility model discloses an intelligent bathroom cleaning machines people is just to these problems, designs an intelligent cleaning machines people outside that a section is independent of general closestool, has all greatly liberated the manpower in whole link, has improved work efficiency, has practiced thrift the cost, has good market prospect and diversified development direction.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an intelligence bathroom cleaning machines people to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: an intelligent toilet cleaning robot comprises a mechanical arm movement module, a lifting platform, a power supply and electric quantity detection module, an OpenMV visual identification camera, a laser radar, a first layer bottom plate, a real-time monitoring camera, a microprocessor module, a main crawler movement module and an upper and lower step crawler movement module, wherein the mechanical arm movement module is arranged at the top of the lifting platform, the tail end of the mechanical arm movement module is provided with a direct current motor, a spray head and a mop cloth, the power output end of the direct current motor is fixedly provided with a brush, the first layer bottom plate is fixedly provided with a stepping motor, the power output end part of the stepping motor is provided with a quincuncial joint bearing, a lead screw is fixedly arranged on the quincuncial joint bearing, the top of the lead screw penetrates through the lifting platform and is fixedly connected with the fixing platform through a fixing bearing, and the lead screw is in threaded, the number of the spray heads is two, the number of the screw rods is three and is arranged in a triangular shape, the top of the first layer of the bottom plate is also fixedly provided with a laser radar and a microprocessor module, the bottom of the fixed platform is fixedly provided with a real-time monitoring camera, the top of the fixed platform is fixedly provided with an adjusting motor, the power output end part of the adjusting motor is fixedly connected with an OpenMV visual recognition camera, a liquid storage tank is fixedly arranged below the rear end of the first floor, the power supply and electric quantity detection module is fixedly arranged below the front end of the first floor, the main crawler movement module and the upper and lower step crawler movement modules are fixedly arranged on the fixed plates at the two sides of the first layer bottom plate, and a lifting motor is fixedly arranged below the rear end of the first layer of bottom plate, and a rotating rod of the lifting motor is in threaded connection with a charger.

Preferably, the mechanical arm motion module specifically comprises five steering engines, the steering engines are connected through steering engine connecting pieces, the first steering engine is placed in the vertical direction, and the second steering engine, the second steering engine and the fifth steering engine are arranged in the extending mode in the horizontal direction.

Preferably, the microprocessor module is loaded with two processors of STM32 and Cortex-A53, STM32 and Cortex-A53 microprocessor electric connection main track motion module and step up and down track motion module, Cortex-A53 microprocessor signal input connects lidar and signal output connects STM32 microprocessing, with Cortex-A53 microprocessor signal input connect real-time monitoring camera, microprocessor module signal input connects OpenMV visual identification camera.

Preferably, each track of the main track motion module and the upper and lower step track motion module comprises a driving wheel and is controlled and adjusted through PWM (pulse width modulation), anti-skid lines are arranged on the surfaces of the tracks of the main track motion module and the upper and lower step track motion module, and driving motors of the main track motion module and the upper and lower step track motion module are 24V motors.

Preferably, the power supply and electric quantity detection module comprises a 6S, 22.2V rechargeable battery, a DC-DC power supply module, an AC-DC module, a charging switch power supply adapter and a power switch, and the power supply and electric quantity detection module is further provided with a buzzer.

Preferably, the liquid storage box comprises two independent water tanks and corresponding suction pumps, the left side the individual water tanks are cleaning solution storage boxes, the right side is a clean water storage box, and the suction pumps are connected with the mechanical arm movement module through pipes.

Compared with the prior art, the beneficial effects of the utility model are that: the intelligent toilet cleaning robot has the advantages that innovation and improvement are made on the mechanical structure and software algorithm of the robot, the toilet bowl can be cleaned by using the overall motion control process of the robot, the robot can clean a toilet and the toilet bowl completely without human intervention, manpower is completely released, cost investment is reduced, the robot can also play a role in mutual promotion by designing a working mode of mutual fusion of a lifting platform and a mechanical arm, the intelligent toilet cleaning robot has the characteristics of complex information processing capacity, optimized capacity and low error rate by using the large data processing capacity of a Cortex-A53 embedded processor, the cleaning efficiency of the toilet floor and the toilet bowl can be improved, the problems of cleaning errors and the like can be prevented, the robot is provided with a laser radar for realizing the obstacle avoidance function of the robot, and the optimized algorithm can realize more humanized cleaning, The capability of diversified problem treatment realizes cleaner cleaning and more thorough disinfection and sterilization, further liberates the labor force of sanitation workers in a toilet and reduces the workload of the workers.

Drawings

FIG. 1 is a front view of the structure of the present invention;

FIG. 2 is a schematic diagram illustrating the operation of the present invention;

FIG. 3 is a schematic view of the back structure of the present invention;

fig. 4 is an enlarged view of the structure of the present invention.

In the figure: the system comprises a mechanical arm movement module 1, a lifting platform 2, a power supply and electric quantity detection module 3, an OpenMV visual recognition camera 4, a laser radar 5, a first-layer bottom plate 6, a real-time monitoring camera 7, a microprocessor module 8, a main crawler movement module 9, a crawler movement module 10 for ascending and descending steps, a direct current motor 11, a spray head 12, a mop 13, a brush 14, a stepping motor 15, a quincuncial joint bearing 16, a lead screw 17, a fixed bearing 18, a fixed platform 19, an adjusting motor 20, a liquid storage box 21, a lifting motor 22 and a charger 23.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: the utility model provides an intelligent toilet cleaning robot, includes arm motion module 1, lift platform 2, power and electric quantity detection module 3, OpenMV visual identification camera 4, laser radar 5, first floor 6, real-time monitoring camera 7, microprocessor module 8, main track motion module 9, upper and lower step track motion module 10, arm motion module 1 installs the top at lift platform 2, arm motion module 1's end install direct current motor 11, shower nozzle 12 and mop 13, direct current motor 11's power take off end is fixed with brush 14, fixed mounting step motor 15 on the first floor 6, step motor 15's power take off end portion is provided with plum blossom antithetical couplet bearing 16, fixed mounting has lead screw 17 on the plum blossom antithetical couplet bearing 16, lift platform 2 is run through and through fixed bearing 18 fixed connection fixed platform 19 at the top of lead screw 17, the automatic feeding device is characterized in that the lead screw 17 is in threaded connection with the lifting platform 2, the number of the spray heads 12 is two, the number of the lead screws 17 is three, the lead screws are arranged in a triangular shape, the top of the first layer bottom plate 6 is fixedly provided with a laser radar 5 and a microprocessor module 8, the bottom of the fixed platform 19 is fixedly provided with a real-time monitoring camera 7, the top of the fixed platform 19 is fixedly provided with an adjusting motor 20, the power output end part of the adjusting motor 20 is fixedly connected with an OpenMV visual identification camera 4, the lower part of the rear end of the first layer bottom plate 6 is fixedly provided with a liquid storage tank 21, the power supply and electric quantity detection module 3 is fixedly arranged below the front end of the first layer bottom plate 6, the main crawler movement module 9 and the upper and lower crawler step movement module 10 are fixedly arranged on fixing plates on two sides of the first layer bottom plate 6, the lower part of the rear end of the first layer, threaded connection charger 23 on elevator motor 22 'S the rotary rod, it is worth noting, power and electric quantity detection module 3 includes 6S, 22.2V' S rechargeable battery, DC-DC power module, AC-DC module, charge switch power adapter, switch, power and electric quantity detection module 3 still is provided with bee calling organ, liquid storage box 21 comprises two independent water tanks and corresponding suction pump, and the left side the water tank is the cleaning solution storage box, and the right side is clean water storage box, the suction pump passes through the pipe and is connected with arm motion module 1.

It is worth noting that arm motion module 1 specifically constitutes through five steering engines, connect through the steering engine connecting piece between the steering engine, wherein first steering engine is placed for vertical direction, and second to fifth steering engine are the horizontal direction and set up with extending.

It is worth noting that microprocessor module 8 is equipped with two kinds of treater of STM32 and Cortex-A53, STM32 and Cortex-A53 microprocessor electric connection owner's track motion module 9 and upper and lower step track motion module 10, Cortex-A53 microprocessor signal input connects lidar 5 and signal output connects STM32 microprocessing, with Cortex-A53 microprocessor signal input connection real-time monitoring camera 7, microprocessor module 8 signal input connects OpenMV visual identification camera 4.

It should be noted that each track of the main track movement module 9 and the upper and lower step track movement module 10 includes a driving wheel and is controlled and adjusted by PWM, the track surfaces of the main track movement module 9 and the upper and lower step track movement module 10 are provided with anti-skid stripes, and the driving motors of the main track movement module 9 and the upper and lower step track movement module 10 are 24V motors.

Laser radar 5 scans the surrounding environment, discerns the barrier to with handling information transmission to Cortex-A53 treater processing, Cortex-A53 treater is handled the data of laser radar 5 output, analyzes the surrounding environment, and gives STM32 micro-processing with the information transmission who handles and carry out the analysis, microprocessor module 8 sends the information after handling the completion to OpenMV vision identification camera 4 through the form of instruction, OpenMV vision identification camera 4 carries out accurate collection and discernment and with data transmission to microprocessor module 8 to the surrounding environment image according to the instruction, microprocessor module 8 handles whole information and calculates the optimal path and then controls main track motion module 9 and upper and lower step track motion module 10 and goes to required work place.

Finally, after the cleaning robot reaches the corresponding working place, the microprocessor 7 controls the mechanical arm motion module 1 to carry out corresponding cleaning work;

secondly, when the power and electric quantity detection module 3 detects that the electric quantity is insufficient, the buzzer gives an alarm, and when the power and electric quantity detection module detects that the electric quantity is close to zero, the robot repeats the whole process, and then completes charging of the robot.

It should be noted that when the whole robot needs to be charged, the microprocessor module 8 controls the main track movement module 9 and the up-down step track movement module 10 to drive the robot to the socket position, the lifting motor 22 adjusts the charger 23 to be in the position flush with the socket, and then the microprocessor module 8 controls the robot to continue to drive and insert the charger 23 into the socket.

The utility model discloses in, utilize the microprocessor module to handle laser radar scanned information, and carry out the analysis, found the map and accomplished and keep away barrier and locate function, the microprocessor module still will handle OpenMV visual identification camera data information, accomplish the accurate discernment to each urinal and each position, the signalling of handling carries out corresponding motion for arm and corresponding DC motor, the regulation and control under the different environmental conditions are implemented to the steering wheel on the arm, so that accomplish the operation of cleaning toilet urinal and ground, microprocessor module handles real-time supervision camera information simultaneously, carry out real-time supervision and control with information transfer to the user end host computer. And processing image information fed back by the laser radar and the OpenMV in the aspect of motion trail control, and finishing planning a path of the robot by using a corresponding algorithm.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an intelligence bathroom cleaning machines people, includes arm motion module (1), lift platform (2), power and electric quantity detection module (3), OpenMV visual identification camera (4), laser radar (5), first layer bottom plate (6), real-time supervision camera (7), microprocessor module (8), main track motion module (9), upper and lower step track motion module (10), its characterized in that: the top at lift platform (2) is installed in arm motion module (1), the end of arm motion module (1) install DC motor (11), shower nozzle (12) and mop (13), the power take off end of DC motor (11) is fixed with brush (14), fixed mounting step motor (15) are gone up to first floor bottom plate (6), the power take off end portion of step motor (15) is provided with plum blossom antithetical couplet bearing (16), fixed mounting has lead screw (17) on plum blossom antithetical couplet bearing (16), lift platform (2) is run through and through fixing bearing (18) fixed connection fixed platform (19) in the top of lead screw (17), be threaded connection between lead screw (17) and lift platform (2), the quantity of shower nozzle (12) is two, the quantity of lead screw (17) is three and is the triangle-shaped range, the top of the first layer bottom plate (6) is fixedly provided with a laser radar (5) and a microprocessor module (8), the bottom of the fixed platform (19) is fixedly provided with a real-time monitoring camera (7), the top of the fixed platform (19) is fixedly provided with an adjusting motor (20), the power output end part of the adjusting motor (20) is fixedly connected with an OpenMV visual recognition camera (4), a liquid storage tank (21) is fixedly arranged below the rear end of the first layer bottom plate (6), the power supply and electric quantity detection module (3) is fixedly arranged below the front end of the first layer bottom plate (6), the main crawler movement module (9) and the upper and lower step crawler movement module (10) are fixedly arranged on fixing plates at two sides of the first layer bottom plate (6), and the rear end below of the first layer bottom plate (6) is also fixedly provided with a lifting motor (22), a rotating rod of the lifting motor (22) is in threaded connection with a charger (23).

2. The intelligent toilet cleaning robot according to claim 1, wherein: the mechanical arm motion module (1) is specifically composed of five steering gears, the steering gears are connected through steering gear connecting pieces, the first steering gear is placed in the vertical direction, and the second steering gear to the fifth steering gear are arranged in an extending mode in the horizontal direction.

3. The intelligent toilet cleaning robot according to claim 1, wherein: microprocessor module (8) is equipped with two kinds of treater of STM32 and Cortex-A53, STM32 and Cortex-A53 microprocessor electric connection main track motion module (9) and upper and lower step track motion module (10), Cortex-A53 microprocessor signal input connects laser radar (5) and signal output connects STM32 microprocessing, Cortex-A53 microprocessor signal input connects real-time surveillance camera head (7), microprocessor module (8) signal input connects OpenMV visual identification camera head (4).

4. The intelligent toilet cleaning robot according to claim 1, wherein: every track of main track motion module (9) and upper and lower step track motion module (10) all contains the drive wheel and controls and adjusts through PWM, the track surface of main track motion module (9) and upper and lower step track motion module (10) all sets up by anti-skidding line, the driving motor of main track motion module (9) and upper and lower step track motion module (10) is 24V's motor.

5. The intelligent toilet cleaning robot according to claim 1, wherein: the power supply and electric quantity detection module (3) comprises a 6S, 22.2V rechargeable battery, a DC-DC power supply module, an AC-DC module, a charging switch power supply adapter and a power switch, and the power supply and electric quantity detection module (3) is further provided with a buzzer.

6. The intelligent toilet cleaning robot according to claim 1, wherein: the liquid storage box (21) comprises two independent water tanks and corresponding suction pumps, the left side is the water tank is a cleaning solution storage box, the right side is a clean water storage box, and the suction pumps are connected with the mechanical arm movement module (1) through pipes.