CN2389761Y

CN2389761Y - Full-automatic cleaning manipulator

Info

Publication number: CN2389761Y
Application number: CN 99234964
Authority: CN
Inventors: 叶明�
Original assignee: Individual
Current assignee: Individual
Priority date: 1999-09-15
Filing date: 1999-09-15
Publication date: 2000-08-02
Anticipated expiration: 2009-09-15

Abstract

The utility model relates to a full-automatic cleaning robot, comprising a suction cleaner, an electric control part and a running gear which is used for driving the vacuum cleaner to move. The utility model is mainly characterized in that self-timing starting (or infrared remote control) for the full-automatic cleaning robot to complete the work of sweeping, dust absorption, etc. is realized through a supersonic detector head which can detect obstacles in front of the running gear, a driving circuit, a control unit of a microprocessor, and an infrared remote control transmit and receive circuit; the driving circuit and the control unit of a microprocessor are used for processing input and output signals; the infrared remote control transmit and receive circuit is used for controlling the full-automatic cleaning robot to work in the mode of man-machine conversation. The use of the full-automatic cleaning robot can reduce the troublesome household work of people, save precious time and increase the quality of life of the people.

Description

Full-automatic sweeping robot

The utility model relates to the startup of a kind of energy self-timing, walking, cleaning, dust suction and has memorandum reminds the full-automatic sweeping robot of message.

Indoor cleaning in existing unit, the family, dust suction mostly rely on manually and finish, and this not only consumes the many energy of people, but also has wasted many valuable time,

Chinese patent (application number: 93223038) disclose a kind of automatic sweeping machine, it comprises frame chassis, front and back wheel, main brush etc., it is characterized in that prime mover and vacuum cleaner system are contained in the last plane at middle part, chassis side by side, dustbin is positioned at the front end on chassis, and dust filter is contained in above the right-hand member of chassis.Main brush assembly is contained in the lower abdomen on chassis, and the limit brush is positioned at the scavenging machine right side, and overhangs forward, and its gyroaxis and ground are perpendicular.

The purpose of this utility model is to propose a kind ofly by computer intelligence control, can realize self-timing startup, cleaning, dust suction, and has that memorandum is reminded, message, also can adopt the full-automatic sweeping robot of infrared remote controller manual control.

The realization the technical solution of the utility model is as follows: it comprises a dust catcher, and is used to drive running gear and the electric control part that this dust catcher moves and is grouped into,

Described running gear by road wheel, traction drive motor and the support that is used to support dust catcher and automatically controlled part form, it is characterized in that above-mentioned electric control part branch comprises:

The ultrasonic probe that can survey running gear the place ahead barrier, be used to handle the drive circuit and the microprocessor control unit of input/output signal, with the timing starting circuit that is used for regularly starting described full-automatic sweeping robot work, and control artificial do infrared of machine with the man-machine conversation mode and shake control and transmit and receive circuit

Its electrical connection is, by timing starting circuit, infraredly shake control and transmit and receive circuit, enabling signal is delivered to microprocessor control unit, simultaneously, ultrasonic probe is delivered to microprocessor control unit with the obstacle signal in robot the place ahead, by microprocessor control unit signal is handled back output, its output signal connects the signal input part of traction drive motor after drive circuit amplifies.

Good effect of the present utility model is as follows: this full-automatic sweeping robot can start dust catcher by self-timing, make it when walking automatically, energy cleaning, dust suction, and automatic avoiding obstacles, until cleaning, the entire area that can clean in the dust suction chamber, these facility have memorandum function such as remind, leave a message, give the correct time simultaneously.

The use of full-automatic sweeping robot, valuable time is saved in the housework that will alleviate the tired ropes of people, has improved people's quality of life.

The utility model is described in further detail below in conjunction with accompanying drawing

Fig. 1 is an outline drawing of the present utility model

Fig. 2 is the outline drawing of the utility model dust catcher

Fig. 3 is the side view of the utility model Fig. 2

Fig. 4 is the cut-away view of overlooking of the utility model Fig. 2

Fig. 5 is the vertical view of the utility model Fig. 2

Fig. 6 is the universal wheel front view that the utility model band is proofreaied and correct straight line moving,

Fig. 7 is the cut-away view of overlooking of the utility model Fig. 6,

Fig. 8 is the infrared automatic guide charger of a utility model schematic diagram,

Fig. 9 is the crashproof schematic diagram of the utility model ultrasonic listening,

Figure 10 is the block diagram of automatically controlled part of the present utility model,

Figure 11 is the electrical connection schematic diagram of the automatically controlled part of the utility model.

As shown in Figure 1, the utility model is to comprise a dust catcher (among Fig. 1 1) by it, and is used to drive running gear and the electric control part that this dust catcher moves and is grouped into,

Described running gear by road wheel, traction drive motor and the support that is used to support dust catcher and automatically controlled part form,

Above-mentioned dust catcher comprises Fig. 2 respectively, Fig. 3, Fig. 4, loam cake 1 among Fig. 5, housing 2, storage battery door 3, cleaning wheel fan blade 4, dust sucting motor 8, dust suction fan blade 16, dust-absorbing box 17, dust-absorbing box door 18, filter course 13, air door 14, filter window 24, a left side, right cleaning wheel 7,9 form, the above line travelling wheel, the traction drive motor comprises Fig. 2 respectively, Fig. 3, Fig. 4, left side among Fig. 5, right lateral is walked motor 12,19, a left side, right lateral travelling wheel 10,20, decelerator 11, universal wheel 5 is formed, and above-mentioned electric control part branch comprises Fig. 2, Fig. 3, Fig. 4, automatically controlled plate 15 among Fig. 5, ultrasonic probe 22, infrared guiding light head 23, display screen 25, switch 26, indicator lamp 27, conduction brush 21 is formed

Characteristics of the present utility model are to realize the exercises that golden automatic sweeping machine device people is carried out by the microprocessor control unit of forming its automatically controlled part, and finally realize cleaning works.

In order to realize human-computer dialogue, above-mentioned automatically controlled part also comprises an Infrared Remote-Control Sending circuit and receiving circuit, makes full-automatic sweeping robot carry out exercises by people's will.

For can be from the charging of the full-automatic sweeping robot of trend, it also can comprise a charger (among Fig. 1 2),

For make full-automatic sweeping robot when the straight line moving not sounding depart from, above line walking apparatus universal wheel is provided with Hall automatic centering signal output integration block HR1 (among Fig. 73,4).

Operation principle of the present utility model is: timing starting circuit in robot, send an enabling signal, the computer input port of input microprocessor control module, computer sends instruction immediately, simultaneously, ultrasonic probe (among Fig. 32 2) sends detectable signal, survey full-automatic sweeping robot dead ahead barrier arranged? if do not have under computer control, a left side, the right lateral travelling wheel is (among Fig. 4 10,20) and universal wheel (among Fig. 4 5) rotation, robot is walked forward, start dust sucting motor (among Fig. 4 8) rotation simultaneously, drive dust suction fan blade (among Fig. 2 16) rotation, carry out dust suction, filter course 13 is with dust, foreign material retainings is in dust-absorbing box (among Fig. 4 17)

Air after the filtration flows to cleaning wheel fan blade (among Fig. 2 4) through air door (among Fig. 4 14) and makes it rotation, drives left and right clean disk (among Fig. 47,9) rotation and implements cleaning works.

When robot runs into barrier, robot is by ultrasonic probe (among Fig. 3 22), obtain the ultrasonic reflections signal, send into the computer input port, machine moves the back output signal as calculated, drive left and right movable motor (among Fig. 4 12,19) rotation or stall or reversing, by universal wheel (among Fig. 6 2) robot cut-through thing is walked on and implement cleaning, but until having cleaned indoor all sweep-out patterns.

Standby can be got back to by the charger automatically by robot after cleaning finished.

In the utility model, simultaneously can operate IR remote controller gives the correct time, memorandum is reminded, the message action, when in the robot work or after the work, during storage battery in the robot (among Fig. 2 2) brownout, robot (among Fig. 1 1) can seek charger (among Fig. 1 2) automatically, by infrared targeting signal by the computer control output signal, charger is drawn close in driven machine people walking automatically, until connecting charging conducting ring (among Fig. 8 4) conduction brush (among Fig. 8 3), charge to robot by charger, when the charging end, robot can break away from charger automatically, is in holding state, its implementation is seen the description to the circuit diagram of back

Its circuit part sees that its course of work of Figure 10, Figure 11 is as follows:

1, by single-chip microcomputer IC14, crystal oscillator JZ, capacitor C 15, C16, and resistance R 24, R25, C17 form computer center's circuit.

After connecting K switch 1, storage battery E2 delivers to each circuit in the robot with voltage, and by crystal oscillator JZ7, capacitor C 15, C16 clocking are delivered to Computer I C14, form reset circuit by resistance R 24, R26, C17, computer is resetted be in holding state.

2, regularly start, show and the sound circuit course of work, by single-chip microcomputer IC4 clock signal, make LCDs read clock signal through driver IC 2, by single-chip microcomputer IC14 output signal, controlled encoder IC5 sends start timing signal into single-chip microcomputer IC14 input port to monolithic IC4 input instruction by single-chip microcomputer IC4, robot is started clean, dust suction work.

The IC3 speech chip, the voice signal that can to write down ten sections total lengths be 20S, YS1 is a loudspeaker, the HV1 sound pick-up

Its course of work is, send various control instructions by manual IR remote controller signal or memorandum start timing signal control single chip computer IC14, send into encoder IC5, make speech chip IC3 output language signal through single-chip microcomputer IC4 control, through driver IC 6, loudspeaker YS1, pick-up HV1 records, playback, memorandum remind.

3, left and right movable motor drive system

By motor M 2, M3, triode N6-N13 and around the subsection element form the robot ambulation circuit

When computer requires motor M 2, M3 motor while when just changeing, IC14 single-chip microcomputer output signal makes triode N6, N8, N11, N13 conducting, N7, N9, N10, N11 end, and make motor M 2, M3 connection just change voltage, and robot is walked to the dead ahead, if when requiring motor M 2, M3 to reverse simultaneously, the IC4 output signal makes N7, N9, N10, N12 conducting, and N6, N8, N11, N13 end, and makes motor M 2, M3 connect reversal voltage, make motor M 2, M3 counter-rotating, make the robot walking that falls back.

If need motor M 2 just changeing, during motor M 3 stalls, the IC4 output signal makes N8, N6 conducting, N7, N9 end, and motor M is just changeed, and N10, N11, N12, N13 end, and motor M 3 stalls make robot, and walking bends to right

If need motor M 3 just changeing, during motor M 2 stalls, the IC4 output signal is ended N11, N13 conducting N10, N12, makes motor M 3, just changes, and N8, N9, N6, N7 be by making motor M 2 stalls, makes the robot walking of turning left.

4, keep robot straight line moving circuit by hall probe HR1, magnet CT1, CT2, potentiometer WS3 and triode N18, N19 and biasing resistor are formed.

The course of work is: magnet CT1, CT2 are by the diagram pole orientation fixedly on the universal wheel, hall probe HR1 is fixed on the robot base, HR1 Hall integrated circuit non-output signal when the robot straight line moving deflection does not take place, when the robot ambulation deflection, HR1 and CT1, CT2, be subjected to displacement, the different current potential of HR1 Hall integrated circuit output height

This control of Electric potentials N18, N19 conducting or end, make N1, N2 send high and low current potential and be input to single-chip microcomputer IC14 input port, machine operation IC14 exports corresponding signal as calculated, makes robot or the walking of turning right left, and robot is got back on the former direct line run trace automatically

5, robot ambulation track memory

Can remember the robot ambulation track automatically by robot single-chip microcomputer timer internal under Computer I C14 control, when cleaning, dust suction finish, robot can return to initial position by former run trace automatically, makes computer be in holding state.

6, the robot cleaner circuit is made up of triode N16, N17 motor M 1 protection diode D3 and biasing resistor.

After single-chip microcomputer IC14 sends the dust suction signal, to triode N16 input high potential, make N16, N17 conducting by single-chip microcomputer IC14 delivery outlet, make motor M 1 rotation, drive the rotation of dust suction fan blade, produce pull of vacuum and carry out dust suction.

If in the time of need stopping, IC14 sends the dust suction instruction that stops, and N16, N17 end, and make motor M 1 stall, stop dust suction.

7, the IR remote controller course of work

By ic chip 1, triode N5, button K6-K24, infrared transmitting tube LED8, battery E4, crystal oscillator JZ5, and biasing element form the Infrared Remote-Control Sending circuit.

Its course of work is: after a certain button is switched on, by infrared transmitting tube LED8, launch corresponding infrared modulated signal by IC12

Form the infrared interface circuit by IC 13, infrared receiver probe HD1 and each biasing element,

The course of work is: LED8 sends infrared signal and is received by infrared receiver probe HD1, after the IC13 demodulation, with control signal, sends into single-chip microcomputer IC14 input port by diode D5-D13, makes robot carry out exercises by people's instruction.

8, the crashproof circuit of ultrasonic wave is formed radiating circuit by IC 1, triode N4, ultrasound transmitter device JZ1-JZ4, capacitor C 1, C, potentiometer WS1 and biasing element,

Form receiving circuit by ultrasonic wave receiving transducer JZ8, JZ7, triode N18-N23, IC 10, IC11 and biasing element,

Its course of work is that IC 1 and capacitor C 1, C2, potentiometer WS1 and biasing element are formed 555 time base circuits, produce the 40KHZ impulse wave, after triode N4 amplifies, send the ultrasonic listening signal by ultrasonic transmitter JZ1, JZ2, JZ3, JZ4.

If during the clear of robot ambulation the place ahead, ultrasonic wave meets detecting head JZ7, JZ8, does not receive signal, robot walks forward,

When if there is barrier in robot ambulation the place ahead, ultrasonic probe, JZ8, (being installed in robot housing dead ahead) receive the ultrasonic reflections signal that JZ1, JZ2 send, after triode N20 amplification, N21, IC10 shaping, send into instruction by triode N22 to single-chip microcomputer IC14, machine operation is sent instruction and is allowed motor M 2, M3 or counter-rotating or stall as calculated, robot cut-through thing is walked on

If when robot the place ahead was wall, robot turned round 180.After, walk on along descending cleaning track.

Equally, ultrasonic probe JZ7 (being installed in robot housing left side side) also can receive the ultrasonic obstacle thing reflected signal that robot left side side JZ3, JZ4 send, send into single-chip microcomputer IC14, make Computer I C14 send instruction, make the robot cut-through thing that bends to right, walk on

For robot under any circumstance can both be run well, around the robot housing, microswitch K2, K3, K4, K5 have been installed, wherein K2, K4 are placed on the place ahead, and K3 is placed on the left side, and K5 is placed on the right,

When robot the place ahead bumped against barrier, K2, K4 were switched on simultaneously, made triode N1, N2 conducting, and C14 sends into electronegative potential to Computer I, and Computer I C14 sends instruction immediately, made motor M 2, M3 reversing, and robot is retreated, and turned round 180.Continue to walk on the next line run trace in the back, if having only a switch connection among K2, the K4, Computer I C14 just make robot to the left or to the right the cut-through thing walk on.

Same when if barrier is run on a robot left side or the right, K3 or K5 microswitch are connected, and walk on after Computer I C14 input signal, single-chip microcomputer IC14 output order are turned robot left or bent to right.

9, automatic charger is formed the infrared emission circuit by IC 6 triode N3 infraluminescence pipe LED1～LED4, by IC15 and around biasing resistor form electric voltage observation circuit, form infrared receiving circuit by infrared remote receiver LED6, LED7, triode N1, N2 and biasing element, by conducting ring, conduction brush XS1.1\XP1。1，XS2。1\XP2。1, relay J 3, potentiometer WS2 triode N15 and biasing element are formed automatic charger.

Its course of work is: connect switch BK1, civil power 220V 50HZ voltage is sent into transformer B1, step-down is after bridge is piled the ZL2 rectification, three terminal regulator IC7 adjusts output+5V voltage, make 555 time base circuits and vibration produce infrared pulse signal after triode N3 amplifies, send infrared automatic charging guide wave by infrared transmitting tube LED1, LED2, LED3, LED4.Charger is in state to be charged at this moment.When storage battery presses E2 voltage to reduce to 11V, when IC 15 comparator input terminal voltages are reduced to 11V, the IC15 comparator is sent to single-chip microcomputer IC14 need charging instruction, Computer I C14, send instruction immediately, close dust sucting motor, automatically return along former run trace, when robot when the charger, at infrared receiving tube LE6, under the LED7 guiding, robot conduction brush and charger conducting ring automatic butt make conducting ring and conduction brush conducting, civil power 220V 50HZ voltage is sent into transformer B1, step-down is after after the bridge heap ZL2 rectification, make relay J 3 adhesives, and the contact J3-1 of J3 is normally closed, the normal battle exchanged, the charger DC voltage is charged to storage battery E2, after storage battery E2 went up charging voltage and reaches rated value, the low relay J 3 that makes of the last voltage drop of WS2 discharged, and contact J3-1 recovers uncharged preceding state, robot is walked on, break away from charger and proceed cleaning, dust suction work.

Triode N15 electric capacity, C14 diode D3 form the anti-peak pulse damage of holding circuit relay, J3, storage battery E2 in the circuit.

Claims

1, a kind of full-automatic sweeping robot, it comprises a dust catcher, and is used to drive running gear and the electric control part that this dust catcher moves and is grouped into,