CN212089412U - Cleaning robot and cleaning system - Google Patents
Cleaning robot and cleaning system Download PDFInfo
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- CN212089412U CN212089412U CN201922393249.4U CN201922393249U CN212089412U CN 212089412 U CN212089412 U CN 212089412U CN 201922393249 U CN201922393249 U CN 201922393249U CN 212089412 U CN212089412 U CN 212089412U
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Abstract
The utility model provides a cleaning robot and a cleaning system, wherein a driving component of the cleaning robot is connected with a control component; the chassis control module receives an input instruction through the interaction module; the navigation assembly is arranged in the machine body, receives the information of the cleaning area transmitted by the chassis control module, plans a route according to the information, and controls the driving assembly to move and the dust collection assembly to clean the cleaning area according to the route; the negative pressure air box of the dust collection component is connected with the manual dust collection scraper and the automatic dust collection scraper through the three-way interface, the detection switch is connected with the chassis control module, and when the chassis control module detects that the manual dust collection scraper is inserted into the three-way interface through the detection switch, the automatic mode is switched into the manual mode to realize the cleaning of dead angles in a cleaning area. The utility model discloses can switch into the manual mode with the automatic mode according to the insertion condition that manual dust absorption was taken off, need not other burnishers and can realize cleaning the dead angle, satisfied the requirement of cleaning comprehensively.
Description
Technical Field
The utility model relates to a clean field of intelligence especially relates to cleaning machines people and intelligent terminal.
Background
The intelligent robot for the hotel in China is mainly machine equipment for reception, food delivery and patrol, and rarely has a function of cleaning the ground. With the increasing cost of human labor year by year, the cleaning efficiency and cost expenditure of the traditional hotel which relies on manpower for cleaning are more and more prominent problems.
Although robots for automatic floor cleaning are available at present, due to the fact that the robots only support an automatic mode, due to the limitation of size and environment, the robots often cannot clean the cleaning area comprehensively, dead corners easily exist, and cleaning tools need to be additionally used for cleaning. The requirement of cleaning the entire area by the cleaning robot cannot be fulfilled.
SUMMERY OF THE UTILITY MODEL
In order to overcome the not enough of prior art, the utility model provides a cleaning machines people and clean system can be according to cleaning regional planning route, realizes automatically cleaning regional, has reduced the clear work load of manpower, has improved clean efficiency, the cost is reduced to can switch automatic mode into manual mode according to the insertion condition that manual dust absorption was taken off, need not other burnishers and can realize cleaning the dead angle, satisfied the requirement of cleaning comprehensively.
In order to solve the above problem, the utility model discloses a technical scheme do: a cleaning robot, comprising: the device comprises a dust collection assembly, a control assembly, a navigation assembly, a driving assembly and a machine body; the driving assembly is connected with the control assembly and drives the cleaning robot to move according to the instruction of the control assembly; the control assembly comprises an interaction module arranged at the top of the machine body and a chassis control module arranged in the machine body, and the chassis control module receives an input instruction through the interaction module and acquires cleaning area information according to the instruction; the navigation assembly is arranged in the machine body, receives cleaning area information transmitted by the chassis control module, plans a route according to the information, and sends the route to the chassis control module, and the chassis control module controls the driving assembly to move according to the route and controls the dust collection assembly to clean the cleaning area; the dust absorption subassembly includes that negative pressure bellows, tee bend interface, automatic dust absorption are taken off, manual dust absorption is taken off and detection switch, negative pressure bellows passes through the tee bend interface with manual dust absorption is taken off, automatic dust absorption is taken off and is connected, detection switch with chassis control module connects, chassis control module passes through detection switch detects manual dust absorption is taken off and is inserted during the tee bend interface, it is right with the realization to switch into manual mode clean the cleaning at the regional interior dead angle.
Further, the dust collection assembly comprises a fan, a filter and a dust box, the dust box is connected with the negative pressure air box, the fan is accommodated in the filter, air in the negative pressure air box is extracted through the fan, the filter is used for separating dust and air, and the dust is collected in the dust box.
Furthermore, the dust collection assembly further comprises a noise reduction air channel, the noise reduction air channel is arranged on one side, away from the dust box, of the filter, the fan is arranged on the inner side of the noise reduction air channel, the air outlet and the air inlet of the noise reduction air channel are arranged on the same side of the fan at intervals, and air extracted by the fan is discharged through the noise reduction air channel and noise is reduced.
Further, the cleaning robot further comprises a power supply assembly, the power supply assembly comprises a battery, a charging and discharging module and a charging pile control module, the battery is contained in the robot body, the charging and discharging module and the charging pile control module are arranged on one side, far away from the ground, of the battery, and the charging and discharging of the battery are controlled through the charging and discharging module.
Further, the power supply module still includes the connecting contact, the connecting contact sets up in place organism one side, chassis control module passes through the connecting contact with fill electric pile and connect, realize charging and with fill electric pile's communication.
Furthermore, the connecting contact comprises a communication contact and a charging contact, and the chassis control module controls the charging pile to charge the battery through the charging contact after confirming the communication connection with the charging pile through the communication contact.
Further, cleaning machines people still includes laser radar, laser radar with the connecting contact sets up the both sides of organism, cleaning machines people passes through laser radar discernment fill electric pile's trench in order to accomplish the stake.
Furthermore, the driving assembly comprises a motor driver, a motor and a driving wheel, the driving wheel is arranged on one side of the machine body close to the ground, the chassis control module is connected with the motor through the motor driver, and the motor driver drives the motor according to an instruction of the chassis control module so as to control the driving wheel to rotate.
Furthermore, the interaction module is arranged on one side of the machine body, which is far away from the ground, and comprises a touch screen and a control panel, wherein the control panel receives an input instruction through the touch screen, analyzes the instruction, and sends the content acquired by analyzing the instruction to the chassis control module.
Based on the same inventive concept, the application also provides a cleaning system, which comprises a charging pile and a cleaning robot, wherein the charging pile comprises a charging control module used for charging the cleaning robot; the cleaning robot includes the cleaning robot as described above.
Compared with the prior art, the beneficial effects of the utility model reside in that: can be according to cleaning regional planning route, realize automatically cleaning regional, reduced the clear work load of manpower, improve clean efficiency, the cost is reduced to can switch into manual mode with automatic mode according to the insertion condition that manual dust absorption was taken off, need not other burnishers and can realize cleaning the dead angle, satisfied the requirement of cleaning.
Drawings
FIG. 1 is a schematic view of an embodiment of a cleaning robot according to the present invention;
FIG. 2 is an overall structure diagram of an embodiment of the cleaning robot of the present invention;
fig. 3 is an exploded view of an embodiment of the cleaning robot of the present invention;
FIG. 4 is a diagram of a three-way interface of the cleaning robot according to an embodiment of the present invention;
fig. 5 is a top view of an embodiment of a noise reduction duct of the cleaning robot of the present invention;
FIG. 6 is a cross-sectional view of an embodiment of a part of the components of the dust suction assembly of the cleaning robot of the present invention;
FIG. 7 is a schematic view of an embodiment of a dust pushing assembly of the cleaning robot of the present invention;
FIG. 8 is an exploded view of an embodiment of a dust push assembly of the cleaning robot of the present invention;
fig. 9 is a flow chart of the work flow of the cleaning robot for realizing handshaking communication and charging between the chassis control module and the charging pile;
fig. 10 is a flowchart illustrating the operation of the cleaning robot according to an embodiment of the present invention;
fig. 11 is a block diagram of an embodiment of the cleaning system of the present invention.
In the figure: 3. a dust collection assembly; 2. a control component; 4. a navigation component; 5. a drive assembly; 1. a body; 21. an interaction module; 22. a chassis control module; 32. a three-way interface; 31. automatic dust collection rake; 35. manually dust-collecting rakes; 11. a main housing; 12. an upper shell; 13. an arc-shaped handle; 37. a fan; 33. a filter; 34. a dust box; 38. a noise reduction air duct; 381. a first noise reduction duct; 382. a second noise reduction air duct; 383. a flow divider; 324. a main body; 321. a first interface; 322. a second interface; 323. a third interface; 351. a manual dust suction pipe; 92. a battery; 91. connecting the contacts; 82. a laser radar; 52. a motor driver; 51. a drive wheel; 211. a touch screen; 71. an ultrasonic sensor; 81. a depth camera; 6. a dust push component; 61. a main support; 62. a spring clip; 63. a dust push clamping plate; 66. a dust pushing fixture block; 64. a dust push guide block; 65. dust pushing; 611. fixing a bracket; 612. a base plate; 631. a first protrusion.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.
Referring to fig. 1-10, fig. 1 is a structural diagram of an embodiment of the cleaning robot of the present invention; FIG. 2 is an overall structure diagram of an embodiment of the cleaning robot of the present invention; fig. 3 is an exploded view of an embodiment of the cleaning robot of the present invention; FIG. 4 is a diagram of a three-way interface of the cleaning robot according to an embodiment of the present invention; fig. 5 is a top view of an embodiment of a noise reduction duct of the cleaning robot of the present invention; FIG. 6 is a cross-sectional view of an embodiment of a part of the components of the dust suction assembly of the cleaning robot of the present invention; FIG. 7 is a schematic view of an embodiment of a dust pushing assembly of the cleaning robot of the present invention; FIG. 8 is an exploded view of an embodiment of a dust push assembly of the cleaning robot of the present invention; fig. 9 is a flow chart of the work flow of the cleaning robot for realizing handshaking communication and charging between the chassis control module and the charging pile; fig. 10 is a flowchart illustrating an embodiment of the cleaning robot of the present invention. The cleaning robot of the present invention will be described in detail with reference to the accompanying drawings 1-10.
The cleaning robot includes: the device comprises a dust collection assembly 3, a control assembly 2, a navigation assembly 4, a driving assembly 5 and a machine body 1; the driving component 5 is connected with the control component 2 and drives the cleaning robot to move according to the instruction of the control component 2; the control assembly 2 comprises an interaction module 21 arranged at the top of the machine body 1 and a chassis control module 22 arranged in the machine body 1, and the chassis control module 22 receives an input instruction through the interaction module 21 and acquires cleaning area information according to the instruction; the navigation component 4 is arranged in the machine body 1, receives the information of the cleaning area transmitted by the chassis control module 22, plans a route according to the information, and sends the route to the chassis control module 22, and the chassis control module 22 controls the driving component 5 to move according to the route and controls the dust collection component 3 to clean the cleaning area; the dust collection assembly 3 comprises a negative pressure air box, a three-way interface 32, an automatic dust collection rake 31, a manual dust collection rake 35 and a detection switch, the negative pressure air box is connected with the manual dust collection rake 35 and the automatic dust collection rake 31 through the three-way interface 32, the detection switch is connected with the chassis control module 22, and when the chassis control module 22 detects that the manual dust collection rake 35 is inserted into the three-way interface 32 through the detection switch, the automatic mode is switched to the manual mode to clean dead corners in a cleaning area.
In the present embodiment, the machine body 1 includes a main casing 11 and an upper casing 12, wherein the upper casing 12 fixes and covers a side of the main casing 11 away from the ground, and the interactive module 21 is disposed in the upper casing 12.
In this embodiment, in order to facilitate the movement of the mobile cleaning robot, an arc-shaped handle 13 is provided at one end of the main housing 11 near the upper housing 12, and both ends of the arc-shaped handle 13 are fixed to both sides of the main housing 11 and face each other.
In this embodiment, the cleaning robot is further provided with an aromatherapy component and a sterilization component, and the chassis control module 22 opens the aromatherapy component or the sterilization component to realize aromatherapy and sterilization functions according to an instruction input by the user through the interaction module 21.
In a specific embodiment, the sterilization assembly is an ultraviolet lamp, and the ultraviolet lamp is used for realizing an ultraviolet sterilization function.
In this embodiment, the dust suction assembly 3 further includes a fan 37, a filter 33, and a dust box 34 disposed in the main housing 11, the dust box 34 is connected to the negative pressure bellows, the fan 37 is accommodated in the filter 33, air in the negative pressure bellows is drawn by the fan 37, dust and air are separated by the filter 33, and the dust is collected in the dust box 34.
In this embodiment, in order to reduce the noise generated when the fan 37 draws air, the dust collection assembly 3 further includes a noise reduction air duct 38, the noise reduction air duct 38 is disposed on the side of the filter 33 away from the dust box 34, the fan 37 is disposed inside the noise reduction air duct 38, the air outlet and the air inlet of the noise reduction air duct 38 are spaced apart from each other and disposed on the same side of the fan 37, and the air drawn by the fan 37 is discharged through the noise reduction air duct 38 to reduce the noise.
In a specific embodiment, the noise reduction air duct 38 includes a first noise reduction air duct 381, a second noise reduction air duct 382, a flow splitter 383, and soundproof cotton, the first noise reduction air duct 381 and the second noise reduction air duct 382 are respectively disposed at two sides of the fan 37, an air inlet of the first noise reduction air duct 381 is connected to an air inlet of the second noise reduction air duct 382, and an air outlet of the first noise reduction air duct 381 and an air outlet of the second noise reduction air duct 382 are spaced apart from each other at one side of the fan 37. The diverter 383 is fixed at the connection position of the air inlet, and is a triangular prism, one corner of the triangular prism is opposite to the fan 37, and the extracted air is diverted to the first noise reduction air channel 381 and the second noise reduction air channel 382 through the diverter 383. Soundproof cotton is provided inside the first noise reduction duct 381 and the second noise reduction duct 382, and the generated noise is further reduced by the soundproof cotton.
In this embodiment, the three-way connector 32 includes a main body 324, a first connector 321, a second connector 322, and a third connector 323, the main body 324 is a rectangular parallelepiped, the detection switch, the first connector 321, the second connector 322, and the third connector 323 are respectively disposed on different sides of the main body 324, and the first connector 321, the second connector 322, and the third connector 323 are communicated with each other through the main body 324 and are respectively connected to the negative pressure bellows, the automatic vacuum suction rake 31, and the manual vacuum suction rake 35. The opening of the automatic dust-collecting scraper 31 for sucking dust is arranged at the bottom of the main casing 11, and the hose thereof is connected with the second connector 322. The tee joint is arranged in the main shell 11 and is positioned on one side of the noise reduction air duct 38 close to the ground, and an opening of the third port 323 penetrates through the main shell 11.
The manual dust collection scraper 35 includes a manual dust collection pipe 351, a connection end port of the manual dust collection pipe 351 is closed, an opening corresponding to the first connector 321 is formed in a side surface of the manual dust collection pipe, and the connection end is inserted into the third connector 323 and communicated with the first connector 321 through the opening. When the connecting end is inserted into the main body 324 in a screwing manner, the connecting end blocks the second interface 322, and the automatic dust-collecting scraper 31 stops working. The connection end is provided with a magnetic substance, the detection switch generates an interruption trigger signal when detecting the magnetic substance on the connection end, and sends the interruption trigger signal to the chassis control module 22, and after the chassis control module 22 detects the interruption trigger signal, the manual dust collection scratcher 35 is determined to be inserted, and the working mode is switched to the manual mode.
In this embodiment, the cleaning robot further includes a power supply assembly, the power supply assembly includes a battery 92 and a charging and discharging module, the battery 92 is accommodated in the body 1, the charging and discharging module is disposed on a side of the battery 92 away from the ground, and the charging and discharging of the battery 92 is controlled by the charging and discharging module.
In one embodiment, the charge-discharge module is an integrated circuit chip with model number BQ24610, and the battery 92 is a lithium battery with a voltage of 24V.
In this embodiment, the power supply module further includes a connection contact 91, the connection contact 91 is disposed on one side of the body 1, and the chassis control module 22 is connected to the charging pile through the connection contact 91, so as to realize charging and communication with the charging pile.
In this embodiment, the contact 91 includes communication contact and the contact that charges, and cleaning machines people still includes laser radar 82, and laser radar 82 sets up in organism 1 both sides relative each other with contact 91, and cleaning machines people passes through the trench that laser radar 82 discernment was filled electric pile in order to accomplish to the stake. After the pile is successfully aligned, the chassis control module 22 controls the charging post to charge the battery 92 through the charging contacts after confirming a communication connection with the charging post through the communication contacts.
In this embodiment, the charging contacts include a positive contact and a negative contact, and the communication contacts include a transmitting contact and a receiving contact.
In a specific embodiment, the charging pile comprises a single chip microcomputer IC which is used for controlling a power switch of the charging pile. The power supply defaults to not output voltage, so that children can not touch the power supply by mistake. Chassis control module 22 includes an STM32 singlechip chip, and the communication of filling between electric pile and the cleaning robot is realized by communication between this singlechip chip and the singlechip IC who fills on the electric pile.
After receiving the charging command, the cleaning robot positions through the navigation assembly 4, walks to before filling the electric pile, and then completes the paired piles by identifying the electric pile slot position size through the laser radar 82. After the pile is aligned, the four connecting contacts 91 (two are charging contacts which are connected with the positive and negative electrodes of the battery 92, two are communication contacts which are communication receiving and signaling contacts) at the back of the robot can contact with the four metal contacts of the charging pile.
After the connecting contacts 91 are respectively contacted with the corresponding metal contacts, the cleaning robot and the charging pile are subjected to a handshaking flow to realize charging. The handshake flow is as follows: the chassis control module 22 sends a charging request to the single chip IC of the charging pile (sends the charging request through the communication contact); the single chip microcomputer IC of the charging pile feeds back an ACK1 signal to the chassis control module 22 (receives the signal through the communication contact); the chassis control module 22 sends a confirmation request to the single chip microcomputer IC (sent through a communication contact) of the charging pile; after receiving the confirmation request sent by the chassis control module 22, the charging pile proves that the robot is successfully physically put into the pile, and at the moment, the charging pile opens a switch of a charging power supply and outputs 29.4V charging voltage through the positive and negative contacts of the charging contact. The charging voltage is converted into a voltage that can be received by the battery 92 by a charging and discharging module to charge the cleaning robot.
In this embodiment, the navigation component 4 is responsible for map building, route planning, repositioning, and navigation of the cleaning robot by the navigation component 4. Navigation assembly 4 and chassis control module 22 are both disposed on a side of noise reduction duct 38 near the ground, and navigation assembly 4 is remote from the ground relative to chassis control module 22.
In a specific embodiment, the navigation component 4 is a mist positioning navigation component 4, the type of the laser radar 82 is mist a2, and the navigation component 4 realizes pile alignment between the cleaning robot and the charging pile through the laser radar 82.
In a specific embodiment, the chassis control module 22 is connected to the navigation module 4, the interaction module 21 and the single chip microcomputer IC of the charging pile through serial ports to realize communication.
In the present embodiment, the battery 92 is disposed on the side of the chassis control module 22 close to the ground, the three-way interface 32 is disposed on the side of the battery 92 perpendicular to the ground, and the laser radar 82 is disposed at the bottom of the main casing 11 and is located on the same side of the main casing 11 as the three-way interface 32. The three-way connector 32 is connected to a negative pressure bellows provided on the side of the battery 92 away from the ground through a pipe. A charge-discharge module for controlling charging and discharging of the battery 92 is disposed on a side of the battery 92 close to the chassis control module 22.
In this embodiment, the driving assembly 5 includes a motor driver 52, a motor and a driving wheel 51, the driving wheel 51 is disposed on one side of the machine body 1 close to the ground, the chassis control module 22 is connected to the motor through the motor driver 52, and the motor driver 52 drives the motor according to an instruction of the chassis control module 22, so as to control the driving wheel 51 to rotate. The driving wheel 51 is arranged on the side of the battery 92 close to the ground, and the motor driver 52 is arranged on the side of the battery 92 vertical to the ground and is connected with the motor through a serial port.
In a specific embodiment, the number of the driving wheels 51 is two, the driving wheels are symmetrically disposed at two sides of the bottom of the main housing 11, the motor driver 52 is model ZLAC706, the motor is a servo motor, the model of the motor is model ZLLG65ASM250, and the number of the servo motors is two, and the two servo motors respectively drive the different driving wheels 51 to realize turning and advancing actions of the cleaning robot.
In this embodiment, the driving assembly 5 further includes an encoder, the encoder is connected to the motor or the driving wheel 51, and the chassis control module 22 determines the running path of the driving wheel 51 according to the feedback information of the encoder to determine the action track of the cleaning robot.
In this embodiment, the interaction module 21 is disposed on a side of the body 1 away from the ground, and includes a touch screen 211 and a control panel, where the control panel receives an input instruction through the touch screen 211, analyzes the instruction, and sends a content obtained by analyzing the instruction to the chassis control module 22, so that the chassis control module 22 executes a corresponding operation according to the input instruction.
The interaction module 21 is arranged in the upper shell 12, the control panel is an android control panel, and a user completes man-machine interaction through the touch screen 211, such as functions of drawing guidance, map modification, operation setting and the like. The android control panel decomposes the interactive information and passes the results to the navigation component 4 and the chassis control module 22.
In one specific embodiment, the control panel is model No. RK3288 or RK 3299. The control panel is connected with a display screen such as a touch screen 211 and the like, RGB display signals are input into the display screen, the control panel can also be connected with a 3G/4G module and other equipment or modules through USB interfaces, and control instructions sent by a user through other intelligent terminals are received in a wireless transmission or wired transmission mode. The control panel is also connected with the charging and discharging module through an I2C interface, and displays the acquired power information of the battery 92 through the touch screen 211.
In this embodiment, the cleaning robot further includes a sensor, the chassis control module 22 is connected to the sensor, and the navigation module 4 receives information sent by the sensor through the chassis control module 22 and updates the route according to the information.
In the present embodiment, the sensors include a collision sensor, an infrared sensor, an ultrasonic sensor 71, and a fall prevention sensor. The collision sensors are arranged around the bottom of the main shell 11, similar to a tact switch, and when the collision sensors collide with an object, a physical short circuit is generated, an interrupt signal is generated in a circuit and sent to the chassis control module 22, and the chassis control module 22 controls the motor to drive the cleaning robot to withdraw in the opposite direction for a small distance through the motor driver 52 according to the interrupt sent by which collision sensor. The infrared sensors are also arranged around the bottom of the main shell 11 and used for acquiring the distance between peripheral obstacles in real time, when the chassis control module 22 determines that the distance between the obstacles is too close according to the information of the infrared sensors, the chassis control panel feeds the information back to the navigation assembly 4, and the navigation assembly 4 updates the walking route according to the distance information of the obstacles to avoid the obstacles. The ultrasonic sensor 71 is arranged around the main shell 11 and far away from the ground relative to the infrared sensor for obtaining the distance of the peripheral obstacles in real time, when the chassis control module 22 determines that the distance of the obstacles is too close according to the information of the ultrasonic sensor 71, the chassis control panel feeds the information back to the navigation assembly 4, and the navigation assembly 4 updates the walking route according to the distance information of the obstacles to avoid the obstacles. The anti-falling sensor is also an infrared sensor and is arranged at the periphery of the bottom of the main shell 11, and infrared light emitted by the anti-falling sensor is vertical to the ground and is used for detecting the height of the machine above the ground. When a pit or a step appears around the machine, the chassis control module 22 detects that the distance from the ground is suddenly increased or decreased through the infrared sensor, the information is fed back to the navigation assembly 4, and the navigation assembly 4 updates the walking route to avoid the pit or the step.
In this embodiment, the cleaning robot further includes a depth camera 81, and the depth camera 81 is disposed on the main housing 11 and located on the side of the three-way connector 32 away from the ground. The control panel is connected with the depth camera 81 through a WiFi or USB interface, and sends data sent by the depth camera 81 to the navigation module 4 through an RJ45 interface or WiFi, so that the navigation module 4 plans a route according to the data.
In the embodiment, the cleaning robot includes a dust pushing assembly 6, and the dust pushing assembly 6 and the automatic dust-collecting scrabbling 31 are disposed on one side of the machine body 1 close to the ground. The cleaning robot receives the switching instruction through the wireless communication component or the interactive module 21 connected with the control panel, switches the working mode from the dust collection mode to the dust pushing mode, and cleans the ground through the dust pushing component 6 arranged on one side of the battery 92 close to the ground.
In this embodiment, two driving wheels 51 are provided on both sides of the dust pushing assembly 6, the automatic dust-collecting scraper 31 is provided on one of the driving wheels 51, and the laser radar 82 is fixed to the dust pushing assembly 6.
In one particular embodiment, the dust push assembly 6 includes a main bracket 61, a spring catch 62, a dust push plate 63, a dust push block 66, a dust push block 64, and a dust push 65. The main bracket 61 includes 2 fixing brackets 611 and a bottom plate 612, the number of the fixing brackets is 2, the fixing brackets are fixed on the side of the bottom plate 612 far away from the ground, and the dust pushing assembly 6 is fixed in the main shell 11 through the fixing brackets 611. At least one through hole is formed in the bottom plate 612, the dust pushing clamping plate 63 is arranged on one side of the bottom plate 612 close to the ground, a first groove and a second groove are formed in two sides of the dust pushing clamping plate 63, the bottom plate 612 is accommodated in the first groove, and the bottom plate 612 can slide relative to the dust pushing clamping plate 63 in the first groove. Inside the first groove, there are provided first protrusions 631 the number of which is the same as the number of through holes through which the first protrusions 631 pass, and a spring catch 62 provided at the top end of the first protrusions 631 to restrain the base plate 612 within the first groove.
The spring clip 62 abuts against a device on the cleaning robot for pushing the dust pushing assembly 6, and when the cleaning robot is switched to the dust pushing mode, the device pushes the dust pushing assembly 6 to move towards the direction close to the ground, so that the cleaning cloth on the dust pushing 65 of the dust pushing assembly 6 contacts the ground to clean the ground. And the influence of the ground undulation on the cleaning robot is reduced by the elasticity of the spring clip 62.
The dust deriving block 64 is arranged on one side, close to the ground, of the dust pushing clamping plate 63, and a second bulge corresponding to the second groove is arranged on one side, far away from the ground, of the dust deriving block 64, and the second bulge is nested in the second groove. The dust pushing fixture block 66 is fixed on one side of the dust pushing clamping block and the dust deriving block 64, which is vertical to the bottom surface, two ends of the dust pushing fixture block 66 are respectively fixed on the dust deriving block 64 and the dust pushing clamping plate 63, and the dust pushing fixture block 66 is used for fixing the dust pushing guide block 64.
In this embodiment, the dust pusher 65 is fixed to the side of the dust pusher guide 64 away from the dust pusher plate 63, and the dust pusher guide 64 is provided with a through hole through which the dust pusher 65 and the dust pusher guide 64 are fixed together.
The cleaning robot of the present invention will be further explained by the working flow of the cleaning robot.
The control panel receives a cleaning instruction input by a user, and sends the cleaning instruction to the chassis control module 22 through the serial port. The chassis control module 22 turns on the dust collection assembly 3 after receiving the cleaning instruction, and sends the cleaning area to the navigation assembly 4 through a serial port. The navigation module 4 finishes route planning, generates traveling data of the driving wheel 51, and sends route planning information and the traveling data to the chassis control module 22 through the serial port. The chassis control module 22 controls the driving wheel 51 to walk according to the walking data, and feeds back the obstacle information received by the sensor to the navigation assembly 4 in real time through the serial port, so that the navigation assembly 4 updates the walking route in real time according to the obstacle information. After the chassis control module 22 judges that the cleaning area is completely covered, the cleaning is confirmed to be completed, the chassis control module 22 closes the dust collection assembly 3, the cleaning completion feedback is sent to the control panel through the serial port, and after the control panel receives the cleaning completion feedback, the user is informed through the touch screen 211.
Has the advantages that: the utility model discloses a cleaning machines people can be according to cleaning regional planning route, realizes automatically cleaning regional, has reduced the clear work load of manpower, has improved clean efficiency, the cost is reduced to can switch automatic mode into manual mode according to the insertion condition that manual dust absorption was taken off, need not other burnishers and can realize cleaning the dead angle, satisfied the requirement of cleaning.
Based on the same inventive concept, the present invention further provides a cleaning system, please refer to fig. 11, and fig. 11 is a structural diagram of an embodiment of the cleaning system of the present invention. The cleaning system of the present invention will be described in detail with reference to fig. 11.
In the embodiment, the cleaning system comprises a charging pile and a cleaning robot, wherein the charging pile comprises a charging control module for charging the cleaning robot; the cleaning robot includes the cleaning robot as described in the above embodiments.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are all within the protection scope of the present invention.
Claims (10)
1. A cleaning robot, characterized in that the cleaning robot comprises: the device comprises a dust collection assembly, a control assembly, a navigation assembly, a driving assembly and a machine body;
the driving assembly is connected with the control assembly and drives the cleaning robot to move according to the instruction of the control assembly;
the control assembly comprises an interaction module arranged at the top of the machine body and a chassis control module arranged in the machine body, and the chassis control module receives an input instruction through the interaction module and acquires cleaning area information according to the instruction;
the navigation assembly is arranged in the machine body, receives cleaning area information transmitted by the chassis control module, plans a route according to the information, and sends the route to the chassis control module, and the chassis control module controls the driving assembly to move according to the route and controls the dust collection assembly to clean the cleaning area;
the dust absorption subassembly includes that negative pressure bellows, tee bend interface, automatic dust absorption are taken off, manual dust absorption is taken off and detection switch, negative pressure bellows passes through the tee bend interface with manual dust absorption is taken off, automatic dust absorption is taken off and is connected, detection switch with chassis control module connects, chassis control module passes through detection switch detects manual dust absorption is taken off and is inserted during the tee bend interface, it is right with the realization to switch into manual mode clean the cleaning at the regional interior dead angle.
2. The cleaning robot as claimed in claim 1, wherein the dust suction assembly includes a fan, a filter, and a dust box connected to the negative pressure bellows, the fan being received in the filter, drawing air in the negative pressure bellows by the fan, separating dust from the air by the filter, and collecting the dust in the dust box.
3. The cleaning robot as claimed in claim 2, wherein the dust suction assembly further includes a noise reduction duct disposed at a side of the filter away from the dust box, the fan is disposed inside the noise reduction duct, and an air outlet and an air inlet of the noise reduction duct are spaced apart from each other at a same side of the fan, so as to discharge air drawn by the fan through the noise reduction duct and reduce noise.
4. The cleaning robot as claimed in claim 1, further comprising a power supply module, wherein the power supply module comprises a battery and a charging and discharging module, the battery is accommodated in the cleaning robot, the charging and discharging module is disposed on a side of the battery away from the ground, and charging and discharging of the battery are controlled by the charging and discharging module.
5. The cleaning robot as claimed in claim 4, wherein the power supply module further includes a connection contact disposed at a side of the body, and the chassis control module is connected to a charging pile through the connection contact to perform charging and communication with the charging pile.
6. The cleaning robot of claim 5, wherein the connection contacts include a communication contact and a charging contact, and the chassis control module controls the charging post to charge the battery through the charging contact after confirming a communication connection with the charging post through the communication contact.
7. The cleaning robot of claim 5, further comprising a laser radar, wherein the laser radar and the connection contact are disposed at both sides of the body, and the cleaning robot recognizes the slot position of the charging pile through the laser radar to complete pile alignment.
8. The cleaning robot as claimed in claim 1, wherein the driving assembly includes a motor driver, a motor, and a driving wheel, the driving wheel is disposed on a side of the body near the ground, the chassis control module is connected to the motor through the motor driver, and the motor driver drives the motor according to a command from the chassis control module, thereby controlling the driving wheel to rotate.
9. The cleaning robot as claimed in claim 1, wherein the interactive module is disposed on a side of the body away from the ground, and includes a touch screen and a control board, and the control board receives an input command through the touch screen, parses the command, and sends a content obtained by parsing the command to the chassis control module.
10. A cleaning system is characterized by comprising a charging pile and a cleaning robot, wherein the charging pile comprises a charging control module for charging the cleaning robot;
the cleaning robot comprising a cleaning robot according to any one of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922393249.4U CN212089412U (en) | 2019-12-26 | 2019-12-26 | Cleaning robot and cleaning system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922393249.4U CN212089412U (en) | 2019-12-26 | 2019-12-26 | Cleaning robot and cleaning system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114670953A (en) * | 2020-12-24 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114670953A (en) * | 2020-12-24 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Mobile robot |
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