CN214460023U

CN214460023U - Automatic cleaning robot

Info

Publication number: CN214460023U
Application number: CN202120264715.3U
Authority: CN
Inventors: 李来福; 宋成利; 沈亦纯; 李家燕; 黄馨雨
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2021-01-30
Filing date: 2021-01-30
Publication date: 2021-10-22
Anticipated expiration: 2031-01-30

Abstract

The utility model relates to an automatic cleaning robot, which comprises a frame, wherein a driving module, a cleaning module, a dustbin, a power supply module, a controller, a sensor module, a navigation module and a communication module are arranged on the frame; the driving module is used for moving the automatic cleaning robot; the cleaning module is used for cleaning garbage; the garbage can is used for storing garbage; the power supply module is used for providing a working power supply for the cleaning robot; the sensor module comprises a human body sensor, a camera, a reflection-type photoelectric sensor assembly, an ultrasonic distance measuring device and a displacement sensor. Compared with the prior art, the utility model is additionally provided with the sensor module, the navigation module and the communication module, can detect the working environment of the cleaning robot and transmit the working environment through the communication module, is convenient for the working personnel to carry out remote control, and reduces the burden of the working personnel; the cleaning module comprises a sweeper, a manipulator and a dust collector, can clean different types of garbage, and has wide application range and good cleaning effect.

Description

Automatic cleaning robot

Technical Field

The utility model belongs to the technical field of cleaning machines people technique and specifically relates to an automatic clean robot.

Background

The service robot is an important component of the 21 st century high-tech service industry, the development of the service robot is a major opportunity of the development of the high-tech industry in China, and the service robot has great strategic significance for improving the national competitiveness. A cleaning robot is an indispensable part of a service robot as a special robot for servicing a human being. The cleaning robot relates to key scientific problems of mechanics, kinematics, navigation, path planning and the like, is one of the fields of important research of scholars at home and abroad in recent years, and meanwhile, the cleaning robot technology is taken as a high-tech technology which is newly developed in recent years, and is extensively and deeply researched by all intelligent robot manufacturers at home and abroad.

With the improvement of living standards, healthy and comfortable living environments are receiving more and more attention of people, and cleaning robots are widely used for cleaning roads, communities, parks, campuses and the like. However, in consideration of cost and safety, the existing cleaning robot has a single function, cannot adapt to application in various occasions, and has low reliability, and most of cleaning functions are still manually completed by a sanitation worker, or are completed by cooperation of the sanitation worker and the cleaning robot, for example, the sanitation worker drives a sanitation vehicle to clean street garbage.

SUMMERY OF THE UTILITY MODEL

The purpose of the utility model is to provide an automatic cleaning robot for overcoming the defects of the prior art, which is additionally provided with a sensor module, a navigation module and a communication module, can detect the working environment of the cleaning robot and transmit the working environment through the communication module, is convenient for the working personnel to carry out remote control, and reduces the burden of the working personnel; the cleaning module comprises a sweeper, a manipulator and a dust collector, can clean different types of garbage, and has wide application range and good cleaning effect.

The purpose of the utility model can be realized through the following technical scheme:

an automatic cleaning robot comprises a rack, wherein a driving module, a cleaning module, a dustbin, a power supply module and a controller are arranged on the rack, and a sensor module, a navigation module, a remote control module and a communication module are also arranged on the rack;

the driving module is used for moving the automatic cleaning robot; the cleaning module comprises a cleaning machine arranged at the rear end of the rack, a manipulator arranged at the front end of the rack and a dust collector with a suction head arranged at the front end of the rack, and is used for cleaning garbage; the garbage can is used for storing garbage;

the power supply module is used for providing a working power supply for the driving module, the cleaning module, the dustbin, the sensor module, the communication module and the controller;

the sensor module comprises a human body sensor, a camera, a reflection-type photoelectric sensor assembly, an ultrasonic distance measuring device and a displacement sensor;

the remote control module comprises an NRF chip;

the navigation module is a GPS module; the communication module is a 4G wireless transmission module;

the controller is respectively connected with the driving module, the cleaning module, the sensor module and the communication module, and the sensor module is connected with the communication module.

Furthermore, a chassis is arranged below the rack, a driving module is arranged on the chassis, and the driving module comprises a driving wheel and a driving motor;

the driving wheel comprises 2 traveling wheels which are arranged at the front end of the chassis and are symmetrical to each other, and 2 universal wheels which are arranged at the rear end of the chassis and are symmetrical to each other, wherein the 2 traveling wheels are connected through a crankshaft, the 2 universal wheels are connected through a crankshaft, a coupler is arranged at the center of the chassis and is used for connecting the crankshaft where the traveling wheels are located and the crankshaft where the universal wheels are located;

the number of the driving motors is 4, the driving motors are in communication connection with the controller, and each driving motor is connected with 1 driving wheel respectively.

Further, the scavenging machine includes actuating system, connecting rod and 2 clean discs, clean disc includes circular brush head and the brush yoke of being connected with circular brush head, and the brush yoke and the connecting rod of 2 clean discs rotate to be connected, actuating system is connected with brush yoke and connecting rod respectively for it is rotatory and lift to drive 2 clean discs.

Further, the manipulator includes driving system, arm and tongs, the bottom and the frame of arm rotate to be connected, the tongs rotates with the top of arm to be connected, driving system is connected with arm and tongs respectively for the drive manipulator snatchs rubbish.

Furthermore, the garbage can comprises a first garbage can, the first garbage can is arranged above the rack, is arranged in the rotating range of the manipulator and is used for storing garbage grabbed by the manipulator.

Furthermore, a groove is formed in the rack, the shape and size of the groove are matched with those of the first dustbin, an electric opening and closing buckle is arranged on the side wall of the groove, and the first dustbin is detachably mounted in the groove through the buckle.

Furthermore, a lifting platform is further arranged in the groove and connected to the bottom surface of the groove through a lifting motor, and the lifting platform is driven by the lifting motor to lift relative to the bottom surface of the groove.

Furthermore, a pressure sensing unit is installed on the top surface of the lifting platform and is in communication connection with the controller.

Furthermore, the dustbin still includes the second dustbin, and the dust absorption pipeline of dust catcher is connected to the second dustbin, the second dustbin is used for depositing the dust that the dust catcher absorb.

Further, the human body sensor and the camera are installed right in front of the automatic cleaning robot and are respectively used for sensing human body signals right in front of the automatic cleaning robot and collecting images right in front of the automatic cleaning robot;

the number of the reflection-type photoelectric sensor assemblies is at least 4, and the reflection-type photoelectric sensor assemblies are respectively arranged in front of, behind and at two sides of the automatic cleaning robot;

the number of the ultrasonic ranging devices is at least 4, and the ultrasonic ranging devices are respectively arranged in the front, the rear and two sides of the automatic cleaning robot.

Compared with the prior art, the utility model discloses following beneficial effect has:

(1) the sensor module, the navigation module and the communication module are additionally arranged, the working environment of the cleaning robot can be detected and transmitted through the communication module, the remote control of workers is facilitated, and the burden of the workers is reduced.

(2) The cleaning module comprises a sweeper, a manipulator and a dust collector, can clean different types of garbage, and has wide application range and good cleaning effect.

(3) The first dustbin is placed in the groove in the rack and lifted through the lifting mechanism, so that the first dustbin is convenient to take and place, and the burden of workers is reduced; the weight of the garbage in the first garbage can is sensed through the pressure sensing unit, and an alarm can be given in time so as to avoid damaging the cleaning robot.

Drawings

FIG. 1 is a schematic view of the overall structure of an automatic cleaning robot in an embodiment;

FIG. 2 is a schematic view of the overall structure of the automatic cleaning robot in the embodiment;

FIG. 3 is a side view of an automatic cleaning robot in an embodiment;

fig. 4 is a front view of the automatic cleaning robot in the embodiment;

fig. 5 is a rear view of the automatic cleaning robot in the embodiment;

FIG. 6 is a top view of an automatic cleaning robot in an embodiment;

FIG. 7 is a sectional view of an automatic cleaning robot in an embodiment;

fig. 8 is a bottom view of the automatic cleaning robot in the embodiment;

reference numerals: 1. the cleaning device comprises a controller, 2, a sweeper, 21, a connecting rod, 22, a cleaning disc, 3, a manipulator, 31, an arm, 32, a gripper, 4, a dust collector, 41, a suction head, 42, a dust collection channel, 43, a fan, 5, a driving wheel, 51, a travelling wheel, 52, a universal wheel, 6, a first garbage can, 7 and a second garbage can.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

Example 1:

an automatic cleaning robot, as shown in fig. 1 to 8, comprises a frame, a driving module, a cleaning module, a dustbin, a power supply module and a controller 1 are arranged on the frame, and a sensor module, a navigation module, a remote control module and a communication module are also arranged on the frame;

the driving module is used for moving the automatic cleaning robot; the cleaning module comprises a cleaning machine 2 arranged at the rear end of the frame, a manipulator 3 arranged at the front end of the frame and a dust collector 4 with a suction head 41 arranged at the front end of the frame, and is used for cleaning garbage; the garbage can is used for storing garbage; the power supply module is used for providing a working power supply for the driving module, the cleaning module, the dustbin, the sensor module, the communication module and the controller 1; the sensor module comprises a human body sensor, a camera, a reflection-type photoelectric sensor assembly, an ultrasonic distance measuring device and a displacement sensor; the navigation module is a GPS module; the remote control module comprises an NRF chip; the communication module is a 4G wireless transmission module; the controller 1 is respectively connected with the driving module, the cleaning module, the sensor module and the communication module, and the sensor module is connected with the communication module. In this embodiment, the controller 1 is an STM32F103VET6 single chip microcomputer.

In this embodiment, the chassis is arranged below the frame, the driving module is mounted on the chassis, and the driving module comprises a driving wheel 5 and a driving motor; the driving wheel 5 comprises 2 mutually symmetrical traveling wheels 51 arranged at the front end of the chassis and 2 mutually symmetrical universal wheels 52 arranged at the rear end of the chassis, the 2 traveling wheels 51 are connected through a crankshaft, the 2 universal wheels 52 are connected through a crankshaft, a coupler is arranged at the center of the chassis and is used for connecting the crankshaft where the traveling wheels 51 are located and the crankshaft where the universal wheels 52 are located; the number of the driving motors is 4, the driving motors are in communication connection with the controller 1, and each driving motor is respectively connected with 1 driving wheel 5.

IN this embodiment, the driving motor is a 12V dc speed reduction motor, and since the power of the output level of the I/O port of the single chip microcomputer is limited, the L298n driving board is used to drive the dc motor, IN order to control the rotation speed and direction thereof, the L298n control board is used here, the driving board carrying an L298n chip can drive two paths of dc motors at the same time, wherein the control end of each path has three interfaces, i.e., IN1, IN2 and ENA, wherein the ENA is an enabling end, and the driving board can output current to drive the motor to operate only when the ENA end inputs high level, and the rotation speed of the motor is generally controlled by controlling the time of the high and low levels of the ENA, i.e., the PWM wave is output through the I/O port of the single chip microcomputer, and the proportion of the high and low levels of the ENA end can be adjusted by adjusting the duty ratio thereof, thereby adjusting the operation speed of the motor. The IN1 and IN2 terminals cooperate to control the state of the output terminal.

In consideration of the narrow working environment which may exist during cleaning, the differential driving structure is adopted in the embodiment, and the differential driving structure enables the cleaning robot to have the capability of moving rapidly in a narrow space.

Sweeper 2 includes actuating system, connecting

rod

21 and 2 clean disc 22, and clean disc 22 includes circular brush head and the brush yoke of being connected with circular brush head, and 2 clean disc 22's brush yoke rotates with connecting rod 21 to be connected, and actuating system is connected with brush yoke and connecting rod 21 respectively for it is rotatory and lift to drive 2 clean disc 22. In this embodiment, the driving mechanism comprises a 996 steering engine and a TT motor, and 2 cleaning discs 22 are further respectively provided with a switch for controlling the cleaning discs 22 to be started and closed.

The mechanical arm 3 comprises a power system, an arm 31 and a gripper 32, the bottom end of the arm 31 is rotatably connected with the rack, the gripper 32 is rotatably connected with the top end of the arm 31, and the power system is respectively connected with the arm 31 and the gripper 32 and used for driving the mechanical arm 3 to grab garbage. In this embodiment, the driving system includes a 996 steering engine, and the steering engine is located the frame top front end to be connected with tongs 32 through the screw.

The dustbin includes first dustbin 6, and frame top is located to first dustbin 6, installs in manipulator 3's rotation range for deposit the rubbish that manipulator 3 snatched.

Be equipped with the recess in the frame, the shape and the size of recess cooperate with the shape and the size of first dustbin 6, are equipped with the buckle that electronic opening and shutting on the lateral wall of recess, and first dustbin 6 passes through buckle demountable installation in the recess. The groove is internally provided with a lifting platform, the lifting platform is connected to the bottom surface of the groove through a lifting motor, and the lifting platform is driven by the lifting motor to lift relative to the bottom surface of the groove. And a pressure sensing unit is arranged on the top surface of the lifting platform and is in communication connection with the controller 1.

Get through the elevating platform can be convenient get first dustbin 6 from the recess in and put, alleviateed staff's burden, can learn the weight of the rubbish of placing in the current first dustbin 6 through the pressure sensing unit, if surpass the load of cleaning the robot, then report to the police, or the manipulator is no longer worked.

The dustbin further comprises a second dustbin 7, a dust suction pipeline 42 of the dust collector 4 is connected to the second dustbin 7, the fan 43 works to suck dust from the suction head 41, the dust is stored in the second dustbin 7 after passing through the dust suction channel 42, a filter plate can be arranged between the fan 43 and the second dustbin 7 to prevent the dust from entering the fan 43 to block the fan 43 from working, and an adoptive motor inside the fan 43 controls the fan 43 to rotate at a high speed to form a pressure difference to help the suction head 41 of the dust collector 4 to suck the dust.

The human body sensor and the camera are arranged right in front of the automatic cleaning robot and are respectively used for sensing human body signals right in front of the automatic cleaning robot and acquiring images right in front of the automatic cleaning robot; the number of the reflection-type photoelectric sensor assemblies is at least 4, and the reflection-type photoelectric sensor assemblies are respectively arranged in front of, behind and at two sides of the automatic cleaning robot; the number of the ultrasonic ranging devices is at least 4, and the ultrasonic ranging devices are respectively arranged in front of, behind and on two sides of the automatic cleaning robot.

In a specific use process, the cleaning robot is divided into an automatic mode and a semi-automatic mode.

In an automatic mode, a user inputs a set cleaning route, the controller 1 controls the cleaning robot to move according to the cleaning route through the driving module and the navigation module, the cleaning machine 2 rotates, and the cleaning disc 22 erases stains on the ground; the manipulator 3 picks up the garbage and puts the garbage into the first garbage can 6; the fan 43 of the cleaner 4 is operated to suck dust into the second dust box 7 through the suction head 41 and the dust suction duct 42.

A human body sensor in the sensor module senses a human body signal right ahead, if the human body sensor senses a human body, the cleaning robot stops moving and waits in situ, and when the human body signal is not detected right ahead, the cleaning robot continues moving; the camera continuously collects image information right ahead; the displacement sensor records displacement information of the cleaning robot, and the reflection-type photoelectric sensor assembly and the ultrasonic distance measuring device are used for detecting obstacle information around the cleaning robot. In this embodiment, the camera is a USB camera, and the human body sensor is a microwave sensor.

The communication module can transmit the detection data of the sensor module to an intelligent terminal of a worker, and the worker can check the position, the state, the surrounding conditions and the like of the cleaning robot at any time.

The remote control module comprises an NRF chip, and a worker can remotely control the cleaning robot through a remote controller.

In order to realize automatic garbage cleaning, an image recognition program can be built in the controller 1, and the sizes of the garbage and the obstacles are judged based on the images collected by the camera, so that the garbage and the obstacles can be picked up, cleaned or avoided automatically.

Under the semi-automatic mode, the staff can observe the current environment in real time through the video of camera transmission to remote control cleans the robot and carries out operations such as dust absorption, rubbish pick up, removes, stops to remove, avoids the barrier.

The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the teachings of the present invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.

Claims

1. An automatic cleaning robot comprises a rack, wherein a driving module, a cleaning module, a dustbin, a power supply module and a controller (1) are arranged on the rack, and the automatic cleaning robot is characterized in that a sensor module, a navigation module, a remote control module and a communication module are also arranged on the rack;

the driving module is used for moving the automatic cleaning robot; the cleaning module comprises a cleaning machine (2) arranged at the rear end of the rack, a manipulator (3) arranged at the front end of the rack and a dust collector (4) with a suction head (41) arranged at the front end of the rack, and is used for cleaning garbage; the garbage can is used for storing garbage;

the power supply module is used for providing a working power supply for the driving module, the cleaning module, the dustbin, the sensor module, the communication module and the controller (1);

the remote control module comprises an NRF chip;

the controller (1) is respectively connected with the driving module, the cleaning module, the sensor module, the remote control module and the communication module, and the sensor module is connected with the communication module.

2. An automatic cleaning robot as defined in claim 1, characterized in that said frame comprises a chassis below, on which drive modules are mounted, the drive modules comprising drive wheels (5) and drive motors;

the driving wheel (5) comprises 2 traveling wheels (51) which are arranged at the front end of the chassis and are symmetrical to each other and 2 universal wheels (52) which are arranged at the rear end of the chassis and are symmetrical to each other, the 2 traveling wheels (51) are connected through a crankshaft, the 2 universal wheels (52) are connected through a crankshaft, a coupler is arranged at the center of the chassis and is used for connecting the crankshaft where the traveling wheels (51) are located and the crankshaft where the universal wheels (52) are located;

the number of the driving motors is 4, the driving motors are in communication connection with the controller (1), and each driving motor is connected with 1 driving wheel (5).

3. An automatic cleaning robot as claimed in claim 1, characterized in that the cleaning machine (2) comprises a driving system, a connecting rod (21) and 2 cleaning discs (22), the cleaning discs (22) comprise a circular brush head and a brush holder connected with the circular brush head, the brush holder of the 2 cleaning discs (22) is rotatably connected with the connecting rod (21), and the driving system is respectively connected with the brush holder and the connecting rod (21) and used for driving the 2 cleaning discs (22) to rotate and lift.

4. The automatic cleaning robot as claimed in claim 1, wherein the manipulator (3) comprises a power system, an arm (31) and a gripper (32), the bottom end of the arm (31) is rotatably connected with the frame, the gripper (32) is rotatably connected with the top end of the arm (31), and the power system is respectively connected with the arm (31) and the gripper (32) for driving the manipulator (3) to grip the garbage.

5. An automatic cleaning robot as claimed in claim 4, characterized in that the dustbin comprises a first dustbin (6), the first dustbin (6) is arranged above the frame and is mounted in the rotation range of the manipulator (3) for storing the garbage grabbed by the manipulator (3).

6. The automatic cleaning robot as claimed in claim 5, wherein the frame is provided with a groove, the shape and size of the groove are matched with those of the first dustbin (6), the side wall of the groove is provided with a buckle which can be opened and closed electrically, and the first dustbin (6) is detachably mounted in the groove through the buckle.

7. The automatic cleaning robot as claimed in claim 6, wherein a lifting platform is further disposed in the groove, the lifting platform is connected to the bottom surface of the groove through a lifting motor, and the lifting platform is driven by the lifting motor to lift relative to the bottom surface of the groove.

8. An automatic cleaning robot as defined in claim 7, characterized in that a pressure sensing unit is mounted on the top surface of the lifting platform, said pressure sensing unit being in communication with the controller (1).

9. An automatic cleaning robot as claimed in claim 5, characterized in that the dust container further comprises a second dust container (7), the dust suction pipe (42) of the dust collector (4) being connected to the second dust container (7), the second dust container (7) being used for storing dust sucked by the dust collector (4).

10. The automatic cleaning robot as claimed in claim 1, wherein the human body sensor and the camera are installed right in front of the automatic cleaning robot for sensing human body signals right in front of the automatic cleaning robot and collecting images right in front of the automatic cleaning robot, respectively;