CN212281225U

CN212281225U - Multi-dimensional space sweeping robot

Info

Publication number: CN212281225U
Application number: CN202021069660.2U
Authority: CN
Inventors: 李星; 黄力; 张文博; 张国强; 尹滕博
Original assignee: Xian Technological University
Current assignee: Xian Technological University
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2021-01-05
Anticipated expiration: 2030-06-11

Abstract

The utility model relates to a multi-dimensional space sweeping robot, which comprises a robot main body and a control system, wherein the robot main body comprises a vehicle body, a stair climbing device, a sensing device and a dust collection cleaning device which are arranged on the vehicle body, and the control system is connected with the stair climbing device, the sensing device and the dust collection cleaning device; the stair climbing device comprises a front crawler system, a Mecanum wheel system and a rear rod system; the front crawler system comprises two front crawlers arranged on two sides of the front end of the vehicle body; the Mecanum wheel system comprises two Mecanum wheels arranged on two sides of the middle part of the vehicle body; the rear rod system comprises two rear rods arranged at two sides of the rear end of the vehicle body, and the rear rods are connected with the vehicle body through rear rod wheels; the utility model discloses the device passes through ultrasonic wave and infrared sensor, lets the transform of full topography robot automatic judgement calculation topography, and its distinguishable is like different topography such as stair, step, sofa bottom, treats the place of cleaning and cleans.

Description

Multi-dimensional space sweeping robot

Technical Field

The utility model belongs to the technical field of intelligent house, a multidimensional space robot of sweeping floor is related to.

Background

The floor cleaning is household labor which can not be avoided by each household, and because the area is small, the floor of most households cannot be dirty, and the floor is particularly and completely cleaned once, and is redundant and tedious. Therefore, the sweeping robot is small in size and flexible in action, most of the existing sweeping robots on the market are in a round cake shape, garbage is swept through the bottom side brush, and then the garbage is treated by a host.

They are directed to flat floor cleaning and, although the technology is well established, they are somewhat encumbered in situations of somewhat complex terrain, such as stairs or very low furniture bottoms. Particularly, when the sweeping robot is used for sweeping stairs, the sweeping robot cannot safely and conveniently go up and down the stairs due to structural compromise, so that the existing sweeping robot is still blank on the one hand.

A small number of sweeping robots on the market can automatically place garbage into a garbage can after automatic sweeping is finished, but the garbage can is self-made, so that the cost is high, and the garbage can is not easy to popularize. The common sweeping robot still needs to pour out the garbage manually, is not completely automatic, and is regrettable.

Disclosure of Invention

The utility model provides a robot of sweeping floor in multidimension space solves the robot of sweeping floor among the prior art and can't cross the step in being, go up and down stairs and clean rubbish, can't independently fall rubbish scheduling problem.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

the multi-dimensional space floor sweeping robot comprises a robot main body and a control system, wherein the robot main body comprises a vehicle body, a stair climbing device, a sensing device and a dust collection cleaning device, which are arranged on the vehicle body, and the control system is connected with the stair climbing device, the sensing device and the dust collection cleaning device; the stair climbing device comprises a front crawler system, a Mecanum wheel system and a rear rod system; the front crawler system comprises two front crawlers arranged on two sides of the front end of the vehicle body, and the two front crawlers are driven by a front crawler steering engine; the Mecanum wheel system comprises two Mecanum wheels arranged on two sides of the middle part of the vehicle body, and the two Mecanum wheels are driven by a Mecanum wheel motor; the rear rod system comprises two rear rods arranged on two sides of the rear end of the vehicle body, the rear rods are connected with the vehicle body through rear rod wheels, and the two rear rods are driven by a rear rod steering engine;

the dust collection and cleaning device comprises a garbage can arranged below the middle part of the vehicle body, an air suction opening is formed downwards in the garbage can, the garbage can is connected with a fan driven by a motor, and an edge brush is arranged at the air suction opening of the garbage can and driven by a gear set;

the sensing device comprises a plurality of groups of infrared sensors arranged at the front, the rear, the left, the right and the lower ends of the vehicle body and a plurality of groups of ultrasonic sensors arranged at the two sides of the vehicle body.

Furthermore, two the back pole inboard all sets up a dust absorption pipe, dust absorption pipe and dustbin intercommunication.

Furthermore, two rear rods are provided with rear rod dampers.

Further, the control system is a single chip microcomputer.

The utility model has the advantages as follows:

the device of the utility model can automatically judge and calculate the change of the terrain by the all-terrain robot through the ultrasonic wave and the infrared sensor, can identify different terrains such as stairs, steps, the bottom of a sofa and the like, and cleans the place to be cleaned; the device sucks the garbage into the garbage can through the air suction opening at the lower end of the garbage can, and meanwhile, the leaked garbage is swept to the dust suction pipe connected with the rear rod through the side brush to be sucked into the garbage can; after dustbin rubbish was filled with, the utility model discloses the robot will walk to the place of falling rubbish, blows off rubbish from the dustbin.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, drawings of other embodiments can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic side view of the present invention;

fig. 3 is a schematic top view of the present invention;

fig. 4 is a schematic bottom view of the present invention;

FIG. 5 is a schematic view of the front side structure of the present invention;

FIG. 6 is a schematic view of the connection structure of the side brush and the gear set according to the present invention;

fig. 7-10 are schematic views of the cleaning process for going upstairs according to the present invention;

fig. 11-14 are schematic views of the downstairs cleaning process of the present invention;

fig. 15-17 are schematic views of the garbage dumping process of the present invention.

In the figure, 1-vehicle body, 2-front track system, 3-Mecanum wheel system, 4-rear rod system, 5-front track, 6-front track steering engine, 7-Mecanum wheel, 8-rear rod, 9-rear rod wheel, 10-rear rod steering engine, 11-garbage can, 12-air suction inlet, 13-fan, 14-side brush, 15-gear set, 16-infrared sensor, 17-ultrasonic sensor, 18-dust suction pipe, 19-rear rod damper, 20-universal wheel and 21-Mecanum wheel motor.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

The embodiment of the utility model provides a multi-dimensional space robot of sweeping floor can face all kinds of complicated topography leisurely. The utility model discloses robot of sweeping floor can make the building device of climbing under the control of control system singlechip, sensing device and dust absorption cleaning device three collaborative work.

Referring to fig. 1 to 5, the robot comprises a robot main body and a control system, wherein the robot main body comprises a vehicle body 1, a stair climbing device, a sensing device and a dust collection and cleaning device which are arranged on the vehicle body 1, and the control system is connected with the stair climbing device, the sensing device and the dust collection and cleaning device; the stair climbing device comprises a front crawler system 2, a Mecanum wheel system 3 and a rear rod system 4; the front crawler system 2 comprises two front crawlers 5 arranged on two sides of the front end of the vehicle body 1, and the two front crawlers 5 are driven by a front crawler steering engine 6; the Mecanum wheel system 3 comprises two Mecanum wheels 7 arranged at two sides of the middle part of the vehicle body 1, and the two Mecanum wheels 7 are driven by a Mecanum wheel motor 21; the rear rod system 4 comprises two rear rods 8 arranged at two sides of the rear end of the vehicle body 1, the rear rods 8 are connected with the vehicle body 1 through rear rod wheels 9, and the two rear rods 8 are driven through a rear rod steering engine 10;

the dust collection and cleaning device comprises a garbage can 11 arranged below the middle part of the vehicle body 1, an air suction opening 12 is formed in the downward direction of the garbage can 11, the garbage can 11 is connected with a fan 13 driven by a motor, an edge brush 14 is arranged at the air suction opening 12 of the garbage can 11, and the edge brush 14 is driven by a gear set 15;

the sensing device comprises a plurality of groups of infrared sensors 16 arranged at the front, the rear, the left, the right and the lower ends of the vehicle body 1 and a plurality of groups of ultrasonic sensors 17 arranged at the two sides of the vehicle body 1. The inner sides of the two rear rods 8 are respectively provided with a dust suction pipe 18, and the dust suction pipes 18 are communicated with the dustbin 11. Rear rod dampers 19 are provided on both rear rods 8. The control system is a singlechip. The lower part of the front end of the vehicle body 1 is connected with a universal wheel 20.

The working principle of the utility model is described as follows:

the utility model discloses the total 4 operating condition of robot is respectively: cleaning common ground, cleaning sofa or bed bottom, cleaning stairs and automatically dumping garbage; the four working states can be completed accurately and efficiently.

The following are introduced one by one:

the first working state: and (4) cleaning the common ground.

Similar to a common sweeping robot, the garbage on the flat ground is sucked and swept into the garbage can 11 through the side brush 14 and the air suction opening 12.

In the second case: cleaning stairs; stair cleaning is divided into two situations of going upstairs and downstairs.

1. When going upstairs:

referring to fig. 7, when the infrared sensor 16 recognizes a staircase and the robot body is facing the staircase, a command to go upstairs is started, the front caterpillar 5 rotates counterclockwise, rides on the edge of the staircase and continues to rotate counterclockwise, a lifting force is given to the robot, and the chain ring of the front caterpillar 5 also starts to rotate counterclockwise, so that the robot moves forward;

referring to fig. 8, the front track 5 continues the forward motion while the rear bar 8 rotates clockwise, so that both the front track 5 and the rear bar 8 give the robot an upward lifting force until the gimbals 20 contact the step edge;

referring to fig. 9, when the casters 20 have contacted the step edges, the front track 5 continues forward motion, and the rear bar 8 remains grounded and is only supported until the mecanum wheels 7 contact the step edges;

referring to fig. 10, at this time, the mecanum wheels 7 have contacted the step edges, the action of the front crawler 5 is finished, preparation is made for the next step, the front crawler 5 rotates counterclockwise to move the robot forward, the rear rod 8 rotates counterclockwise to provide thrust for the robot, and the mecanum wheels 7 completely stop on the previous step;

the action of the rear rod 8 is finished, the next step is prepared, and the robot starts to clean the current step.

Note: when going upstairs, it is possible to encounter the situation that the robot is not aligned with the stairs, i.e. facing the stairs obliquely, at this time:

two infrared sensors 16 with different heights are arranged right in front of the robot, and the two levels of the stairs have different heights, so that the distance measured by the two infrared sensors 16 has a difference value;

when the vehicle body is gradually adjusted, the distance difference is reduced, and a command is edited to enable the vehicle body to rotate towards the direction in which the distance difference is reduced; when the distance difference is smaller and larger, the vehicle body is slightly adjusted, and when the distance difference is smallest, the vehicle body faces the stairs, and the command of going up the stairs is executed.

2. When going downstairs:

referring to fig. 11, the robot walks to the edge of the stairs, the front caterpillar, 5, rotates counterclockwise to be vertical and contacts with the next step, and the rear bar 8 rotates to be horizontal;

referring to fig. 12, mecanum wheel 7, rear rod wheel 9, and front track 5 link rotate counterclockwise at the same time, advancing the robot a small distance until mecanum wheel 7 is suspended, at which time front track 5 touches ground, and rear rod damper 19 contacts the step edge to generate resistance, thereby supporting the robot;

referring to fig. 13, the front track 5 rotates clockwise and the rear bar 8 rotates counterclockwise, slowly lowering the robot until the mecanum wheels 7 touch the ground;

referring to fig. 14, after the mecanum wheels 7 touch the ground, the robot has reached the next step, at which time the front tracks 5 and the rear bar 8 are repositioned to prepare the next step.

In the third case: cleaning a sofa or a bed bottom;

when the sweeping robot normally runs, when the distance measurement of the infrared sensor 16 below the head of the robot is far larger than that of the infrared sensor 16 above the head of the robot, the robot is identified as a sofa when the distance measurement is just opposite to the distance measurement for identifying stairs;

the sweeping robot rotates 180 degrees to enable the tail part to face the sofa, the rear rods 8 are rotated to be in a horizontal state at the moment, the vehicle body slowly falls backwards, at the moment, the two rear rods 8 are arranged in a gap between the sofa and the ground, and the bottom of the sofa is cleaned through the dust suction pipes 18 connected to the rear rods 8;

the robot can carry out slow horizontal movement through mecanum wheel 7 when cleaning, slowly moves to the right first until locomotive infrared sensor 16 measures distance and judges that it is not a sofa, then carries out faster horizontal movement to the left, moves to the initial position, and slowly moves horizontally to the left until the front is judged that it is not a sofa, at this moment, the vehicle body moves forward, back pole 8 should leave the clearance between the sofa and the ground completely, and the back pole withdraws and continues other cleanings.

In a fourth case: automatically dumping the garbage;

referring to fig. 15, when there is an obstacle in front of the robot, since the upper infrared sensor 16 does not sense the obstacle, and the lower infrared sensor 16 has a distance reaction, it can be determined that the robot is a trash can or a staircase, and the robot moves to the left, if the lower reaction disappears, the robot is a trash can, and then the robot moves to the right by the lower infrared sensor, and the change of the distance should be from small to large, but when the distance changes again, the robot moves to the left until the distance is shortest, that is, the robot aligns with the trash can;

referring to fig. 16, after the robot is aligned with the garbage can, the robot moves backwards in sequence, the robot rotates 180 degrees in situ, the rear part of the robot is aligned with the garbage can, then the front crawler 5 at the rear part rotates backwards, and the two rear rods 8 at the front part rotate forwards until the robot stands up;

referring to fig. 17, the bottom of the vehicle body is moved to the center of the trash can by means of the crawler 5, and then the side brush 14 is turned on and the fan 13 blows out the trash in the trash can 11.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides a robot is swept floor in multidimension space, includes robot main part and control system, its characterized in that: the robot main body comprises a vehicle body (1), a stair climbing device, a sensing device and a dust collection cleaning device which are arranged on the vehicle body (1), and the control system is connected with the stair climbing device, the sensing device and the dust collection cleaning device; the stair climbing device comprises a front crawler system (2), a Mecanum wheel system (3) and a rear rod system (4); the front crawler system (2) comprises two front crawlers (5) arranged on two sides of the front end of the vehicle body (1), and the two front crawlers (5) are driven by a front crawler steering engine (6); the Mecanum wheel system (3) comprises two Mecanum wheels (7) arranged on two sides of the middle part of the vehicle body (1), and the two Mecanum wheels (7) are driven by a Mecanum wheel motor (21); the rear rod system (4) comprises two rear rods (8) arranged on two sides of the rear end of the vehicle body (1), the rear rods (8) are connected with the vehicle body (1) through rear rod wheels (9), and the two rear rods (8) are driven through a rear rod steering engine (10);

the dust collection and cleaning device comprises a garbage can (11) arranged below the middle part of the vehicle body (1), an air suction opening (12) is formed in the garbage can (11) downwards, the garbage can (11) is connected with a fan (13) driven by a motor, an edge brush (14) is arranged at the air suction opening (12) of the garbage can (11), and the edge brush (14) is driven by a gear set (15);

the sensing device comprises a plurality of groups of infrared sensors (16) arranged at the front, the rear, the left, the right and the lower ends of the vehicle body (1) and a plurality of groups of ultrasonic sensors (17) arranged at the two sides of the vehicle body (1).

2. The robot for sweeping the floor in the multi-dimensional space according to claim 1, wherein one dust suction pipe (18) is arranged at the inner side of each of the two rear rods (8), and the dust suction pipe (18) is communicated with the dustbin (11).

3. A multi-dimensional space sweeping robot according to claim 1 or 2, characterized in that rear bar dampers (19) are arranged on both rear bars (8).

4. The multi-dimensional space sweeping robot of claim 3, wherein the control system is a single-chip microcomputer.

5. The multi-dimensional space sweeping robot according to claim 4, wherein the lower part of the front end of the vehicle body (1) is connected with universal wheels (20).