TWI603700B - Automatic cleaning machine - Google Patents

Automatic cleaning machine Download PDF

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Publication number
TWI603700B
TWI603700B TW105123054A TW105123054A TWI603700B TW I603700 B TWI603700 B TW I603700B TW 105123054 A TW105123054 A TW 105123054A TW 105123054 A TW105123054 A TW 105123054A TW I603700 B TWI603700 B TW I603700B
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Taiwan
Prior art keywords
cleaning
reciprocating
casing
cleaning machine
automatic cleaning
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TW105123054A
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Chinese (zh)
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TW201808204A (en
Inventor
趙志謀
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好樣科技有限公司
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Priority to TW105118692 priority
Application filed by 好樣科技有限公司 filed Critical 好樣科技有限公司
Priority claimed from US15/297,427 external-priority patent/US9968234B2/en
Application granted granted Critical
Publication of TWI603700B publication Critical patent/TWI603700B/en
Publication of TW201808204A publication Critical patent/TW201808204A/en

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    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24Floor-sweeping machines, motor-driven
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28Floor-scrubbing machines, motor-driven
    • A47L11/284Floor-scrubbing machines, motor-driven having reciprocating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036Parts or details of the surface treating tools
    • A47L11/4038Disk shaped surface treating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036Parts or details of the surface treating tools
    • A47L11/4041Roll shaped surface treating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4066Propulsion of the whole machine
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4069Driving or transmission means for the cleaning tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072Arrangement of castors or wheels
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4075Handles; levers
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408Means for supplying cleaning or surface treating agents
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094Accessories to be used in combination with conventional vacuum-cleaning devices
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00Structural features of suction cleaners
    • A47L5/12Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection

Description

自動清潔機 Automatic cleaning machine
本發明係關於一種自動清潔機,尤其關於一種具有往復式的清潔機構的自動清潔機。 The present invention relates to an automatic cleaning machine, and more particularly to an automatic cleaning machine having a reciprocating cleaning mechanism.
目前市售的掃地清潔機器人(sweeping robot),以掃除垃圾為主,關掃地機器人通常具有一側刷、一真空吸口,或者兼具有一中刷,或者兼有一拖地清潔布,但是此清潔布是被機器人拖著走的,對於水漬痕、腳印、微細灰粒清潔效果有限。 Currently, the sweeping robot is mainly used for sweeping garbage. The sweeping robot usually has a side brush, a vacuum suction port, or a middle brush, or a mopping cloth, but the cleaning cloth. It was dragged by the robot, and it has limited effect on water stains, footprints, and fine ash.
目前市售的洗地機器人(irobot的scooba)是使機器人噴水於地面,經中刷刷過後,再由橡膠刮刀吸回水過濾,他的缺點是地面不平時,會殘留水在地面上,且於有縫的地板材質無法使用。 The currently commercially available washing robot (the scooba of irobot) is to make the robot spray water on the ground. After brushing through the brush, the rubber scraper sucks back the water to filter. His disadvantage is that when the ground is uneven, the water will remain on the ground. The floor material with seams cannot be used.
目前市售的擦地機器人(mint:mint),是推著濕布機器來回走動擦拭地面,其缺點在於:清潔布前方累積的垃圾無法蒐集,擦拭頻率太低清潔效果有限。 At present, the commercially available mopping robot (mint:mint) pushes the wet cloth machine to walk back and forth to wipe the ground. The disadvantage is that the garbage accumulated in front of the cleaning cloth cannot be collected, and the wiping frequency is too low, and the cleaning effect is limited.
因此,需要一種能夠改善前述機器人之缺點至少其一的家庭清結用機器人。 Therefore, there is a need for a home cleaning robot capable of improving at least one of the disadvantages of the aforementioned robot.
本發明一實施例之一目的在於,提供一種自動清潔機,具有往復式的清潔機構使清潔布往復擦拭地面,具有一對行走輪可讓機器行進,具有微電腦控制系統及多種感測器偵測障礙物,偵測周圍環境距離,規劃清潔路徑。於一實施例中,前述自動清潔機更具有吸塵裝置可吸除清潔布前方的垃圾,於一實施例中,前述自動清潔機更具具有噴水裝置可濕擦地面。 An object of an embodiment of the present invention is to provide an automatic cleaning machine having a reciprocating cleaning mechanism for reciprocating the cleaning cloth to the ground, having a pair of walking wheels for the machine to travel, having a microcomputer control system and various sensor detections. Obstacle, detect the distance of the surrounding environment, and plan a clean path. In an embodiment, the automatic cleaning machine further has a dust suction device for sucking the garbage in front of the cleaning cloth. In an embodiment, the automatic cleaning machine has a water spray device to wet the ground.
一種自動清潔機包含一往復式擦拭機構、一行走裝置及一控制系統。往復式擦拭機構包含至少一清潔裝置及至少一往復式裝置。至少一清潔裝置用以接觸一平面。至少一往復式裝置,連接於該至少一清潔裝置,並使該至少一清潔裝置產生一往復運動,藉以往復地擦拭平面。行走裝置用以使自動清潔機行走於平面。控制系統耦接於往復式擦拭機構及行走裝置,用以控制往復式擦拭機構及行走裝置。 An automatic cleaning machine includes a reciprocating wiping mechanism, a walking device, and a control system. The reciprocating wiping mechanism includes at least one cleaning device and at least one reciprocating device. At least one cleaning device is used to contact a plane. At least one reciprocating device is coupled to the at least one cleaning device and causes the at least one cleaning device to produce a reciprocating motion for reciprocatingly wiping the plane. The walking device is used to make the automatic cleaning machine travel on a plane. The control system is coupled to the reciprocating wiping mechanism and the traveling device for controlling the reciprocating wiping mechanism and the traveling device.
於一實施例中,至少一清潔裝置包含一第一清潔裝置及一第二清潔裝置。該至少一往復式裝置,使第一清潔裝置在一第一方向進行往復運動,並使第二清潔裝置在一第二方向進行往復運動,且第一方向相反於第二方 向。 In one embodiment, the at least one cleaning device comprises a first cleaning device and a second cleaning device. The at least one reciprocating device causes the first cleaning device to reciprocate in a first direction and the second cleaning device to reciprocate in a second direction, and the first direction is opposite to the second side to.
於一實施例中,自動清潔機更包含一機殼。機殼容置往復式擦拭機構的該至少一往復式裝置、控制系統及行走裝置。該至少一清潔裝置包含:一刷盤、一滾輪及一清潔布。刷盤置於機殼之一底座的下方。滾輪位於刷盤及機殼之間,並在刷盤或底座滾動,藉以減少刷盤與底座間的摩擦力。清潔布設於刷盤,用以接觸平面。 In an embodiment, the automatic cleaning machine further comprises a casing. The casing houses the at least one reciprocating device, the control system and the traveling device of the reciprocating wiping mechanism. The at least one cleaning device comprises: a brush tray, a roller and a cleaning cloth. The brush tray is placed under the base of one of the cabinets. The roller is located between the brush plate and the casing and rolls on the brush plate or the base to reduce the friction between the brush plate and the base. The cleaning cloth is placed on the brush plate to contact the plane.
於一實施例中,自動清潔機更包含一機殼及一彈性元件。機殼容置往復式擦拭機構的該至少一往復式裝置、控制系統及行走裝置。彈性元件設於行走裝置及機殼之間,藉以透過彈性元件將行走裝置往遠離自動清潔機的方向施力。 In an embodiment, the automatic cleaning machine further comprises a casing and an elastic component. The casing houses the at least one reciprocating device, the control system and the traveling device of the reciprocating wiping mechanism. The elastic member is disposed between the traveling device and the casing, thereby biasing the traveling device away from the automatic cleaning device through the elastic member.
於一實施例中,自動清潔機更包含一吸塵裝置。吸塵裝置包含一吸入口用以使平面上的一粒子,隨著一空氣流從吸入口被吸入於吸塵裝置中。至少一清潔裝置包含一第一清潔裝置。吸入口位於第一清潔裝置的前方,吸入口位於第一清潔裝置的一預定距離內,並且在預定距離內第一清潔裝置不累積粒子。 In an embodiment, the automatic cleaning machine further comprises a dust suction device. The dust suction device includes a suction port for causing a particle on the plane to be sucked into the dust suction device from the suction port as a flow of air. At least one cleaning device includes a first cleaning device. The suction port is located in front of the first cleaning device, the suction port is located within a predetermined distance of the first cleaning device, and the first cleaning device does not accumulate particles within a predetermined distance.
於一實施例中,自動清潔機更包含一噴水裝置,用以噴水於平面。 In an embodiment, the automatic cleaning machine further comprises a water spray device for spraying water on the plane.
於一實施例中,行走裝置包含一移動輪組以及一外殼體,外殼體用以 容置移動輪組且包含一套筒。機殼包含一底座、一固定柱、一擋片及一固定螺絲。固定柱設於底座並自底座突出,且套筒套設於固定柱的外周面。擋片設於固定柱的頂側。固定螺絲螺入於固定柱中,用以將擋片固定於固定柱的頂側。彈性元件的一端抵靠於擋片,而彈性元件的另一端抵靠於行走裝置的外殼體的套筒。 In one embodiment, the traveling device includes a moving wheel set and an outer casing, and the outer casing is used for The moving wheel set is accommodated and includes a sleeve. The casing comprises a base, a fixing post, a blocking piece and a fixing screw. The fixing column is disposed on the base and protrudes from the base, and the sleeve is sleeved on the outer circumferential surface of the fixing column. The flap is placed on the top side of the fixed column. A fixing screw is screwed into the fixing post to fix the baffle to the top side of the fixing post. One end of the resilient member abuts against the flap and the other end of the resilient member abuts against the sleeve of the outer casing of the travel device.
於一實施例中,該至少一往復式裝置包含一擦拭用馬達、一曲柄軸、至少一曲柄及至少一滑軌。曲柄軸用以被擦拭用馬達驅動而進行轉動。至少一曲柄,其一端連接於曲柄軸,且其另一端用以連接該至少一清潔裝置的一刷盤;並且隨著曲柄軸的轉動而進行往復運動。至少一滑軌,限制刷盤的一部分,藉以使至少一清潔裝置進行往復運動。 In one embodiment, the at least one reciprocating device includes a wiping motor, a crankshaft, at least one crank, and at least one rail. The crankshaft is driven to be rotated by a wiping motor. At least one crank having one end connected to the crank shaft and the other end connected to a brush disc of the at least one cleaning device; and reciprocating as the crank shaft rotates. At least one slide rail restricting a portion of the brush disc for at least one cleaning device to reciprocate.
於一實施例中,吸塵裝置的吸入口設置在第一清潔裝置的一刷盤上。 In one embodiment, the suction port of the dust suction device is disposed on a brush tray of the first cleaning device.
於一實施例中,自動清潔機更包含一電動清潔刷。吸塵裝置的吸入口設置在自動清潔機的一機殼的一底座上。電動清潔刷固定於底座,並且將粒子掃入吸入口。 In an embodiment, the automatic cleaning machine further comprises an electric cleaning brush. The suction port of the dust suction device is disposed on a base of a casing of the automatic cleaning machine. An electric cleaning brush is attached to the base and sweeps the particles into the suction port.
於一實施例中,自動清潔機更包含至少一感測器其設於機殼前側或下側,用以非接觸式偵側一障礙物或一斷崖。 In an embodiment, the automatic cleaning machine further comprises at least one sensor disposed on the front side or the lower side of the casing for non-contact detection of an obstacle or a cliff.
於一實施例中,自動清潔機更包含一保險桿及至少一極限開關。保險 桿設於自動清潔機外側。至少一極限開關用以被保險桿觸碰後而偵測到一障礙物。 In an embodiment, the automatic cleaning machine further includes a bumper and at least one limit switch. Insurance The rod is placed outside the automatic cleaner. At least one limit switch is used to detect an obstacle after being touched by the bumper.
於一實施例中,自動清潔機更包含至少一的雷射測距裝置,用以偵測一障礙物的距離並量測周圍環境距離,用以建立一地圖並規劃一清潔路徑。 In one embodiment, the automatic cleaning machine further includes at least one laser ranging device for detecting the distance of an obstacle and measuring the distance of the surrounding environment for establishing a map and planning a cleaning path.
本發明各個實施例的技術改進包含以下其中之一。設計往復式清潔機構,提高單位時間清潔布擦拭頻率,能夠較高效率地清潔。吸塵裝置吸除累積在清潔布前方的垃圾。智慧型控制噴水保持清潔布最佳溼度,達到最佳清潔效果。系統整合所有裝置,加入人工智慧,機器人可清潔完整個房間。 Technical improvements of various embodiments of the present invention include one of the following. Design a reciprocating cleaning mechanism to increase the cleaning frequency of the cleaning cloth per unit time and to clean it more efficiently. The dust suction device absorbs the garbage accumulated in front of the cleaning cloth. The intelligent control spray keeps the optimum humidity of the cleaning cloth for the best cleaning effect. The system integrates all the devices, adding artificial intelligence, and the robot can clean the entire room.
100‧‧‧自動清潔機 100‧‧‧Automatic cleaning machine
110‧‧‧擦拭用馬達 110‧‧‧wiping motor
120‧‧‧皮帶輪裝置 120‧‧‧ Pulley device
130‧‧‧曲柄軸 130‧‧‧ crankshaft
131‧‧‧旋轉輪 131‧‧‧Rotary wheel
140‧‧‧曲柄 140‧‧‧ crank
141‧‧‧直桿 141‧‧‧ Straight rod
150‧‧‧曲柄 150‧‧‧ crank
20a‧‧‧空氣流 20a‧‧ Air flow
20b‧‧‧空氣流 20b‧‧ Air flow
20c‧‧‧空氣流 20c‧‧ Air flow
20d‧‧‧空氣流 20d‧‧‧air flow
20e‧‧‧空氣流 20e‧‧ Air flow
20f‧‧‧空氣流 20f‧‧ Air flow
210‧‧‧三腳架 210‧‧‧ Tripod
220‧‧‧前刷盤 220‧‧‧Pre-brushing plate
230‧‧‧清潔布 230‧‧‧ Cleaning cloth
441‧‧‧彈簧擋片 441‧‧‧Spring flaps
442‧‧‧固定螺絲 442‧‧‧ fixing screws
443‧‧‧固定柱 443‧‧‧Fixed column
500‧‧‧控制系統 500‧‧‧Control system
510‧‧‧處理器 510‧‧‧ processor
511‧‧‧記憶體 511‧‧‧ memory
512‧‧‧快閃記憶體 512‧‧‧Flash memory
520‧‧‧脈衝寬度調變裝置 520‧‧‧ pulse width modulation device
521‧‧‧功率驅動器 521‧‧‧Power Driver
600‧‧‧垃圾蒐集桶 600‧‧‧Garbage collection bin
610‧‧‧初級濾網 610‧‧‧Primary filter
611‧‧‧活動吸入口 611‧‧‧ activity inlet
612‧‧‧喉管 612‧‧‧pipes
613‧‧‧排出口 613‧‧‧Export
619‧‧‧固定吸入口 619‧‧‧ fixed suction inlet
620‧‧‧高效率濾網 620‧‧‧High efficiency filter
630‧‧‧真空泵葉輪 630‧‧‧vacuum pump impeller
231‧‧‧清潔裝置 231‧‧‧ cleaning device
240‧‧‧三腳架 240‧‧‧ Tripod
250‧‧‧後刷盤 250‧‧‧Back brush
260‧‧‧清潔布 260‧‧‧ Cleaning cloth
270‧‧‧滾輪 270‧‧‧Roller
271‧‧‧滑槽 271‧‧‧ chute
280‧‧‧滾輪 280‧‧‧Roller
281‧‧‧滑槽 281‧‧ ‧ chute
310‧‧‧底座 310‧‧‧Base
320‧‧‧機殼 320‧‧‧Chassis
330‧‧‧保險桿 330‧‧‧ bumper
400‧‧‧移動輪組 400‧‧‧Mobile wheel set
401‧‧‧套筒 401‧‧‧ sleeve
402‧‧‧外殼體 402‧‧‧Outer casing
410‧‧‧履帶驅動輪 410‧‧‧ Track Drive Wheel
420‧‧‧履帶 420‧‧‧ Tracks
430‧‧‧馬達 430‧‧ ‧motor
440‧‧‧彈簧 440‧‧ ‧ spring
640‧‧‧泵馬達 640‧‧‧ pump motor
690‧‧‧圓桶刷 690‧‧‧Drum brush
700‧‧‧儲水箱 700‧‧‧Water tank
710‧‧‧水管 710‧‧‧ water pipes
720‧‧‧水泵 720‧‧‧Water pump
730‧‧‧水管 730‧‧‧ water pipes
740‧‧‧左噴嘴 740‧‧‧left nozzle
741‧‧‧噴出範圍 741‧‧‧Spray range
750‧‧‧右噴嘴 750‧‧‧right nozzle
751‧‧‧噴出範圍 751‧‧‧Spray range
810‧‧‧前方近接感測器 810‧‧‧ front proximity sensor
820‧‧‧下方近接感測器 820‧‧‧near proximity sensor
830‧‧‧極限開關 830‧‧‧limit switch
840‧‧‧測距感測器 840‧‧‧Ranging sensor
900‧‧‧遙控發射器 900‧‧‧Remote transmitter
910‧‧‧遙控接收器 910‧‧‧Remote Receiver
910‧‧‧刷毛 910‧‧‧ bristles
從以下之詳細說明及附圖,其僅是用以說明而非本發明所限定,能夠更全面地理解本發明。 The invention will be more fully understood from the following detailed description and appended claims.
圖1顯示本發明一實施例之自動清潔機的俯視圖。 BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a plan view showing an automatic cleaning machine in accordance with an embodiment of the present invention.
圖2顯示本發明一實施例之自動清潔機的仰視圖。 Fig. 2 is a bottom plan view showing the automatic cleaning machine in accordance with an embodiment of the present invention.
圖3顯示圖2中剖面線A-A的剖面圖。 Figure 3 is a cross-sectional view taken along line A-A of Figure 2.
圖4顯示圖2中剖面線B-B的剖面圖。 Figure 4 is a cross-sectional view taken along line B-B of Figure 2.
圖5顯示圖2中剖面線C-C的剖面圖。 Figure 5 is a cross-sectional view taken along line C-C of Figure 2.
圖6顯示圖2中剖面線K-K的剖面圖。 Figure 6 is a cross-sectional view showing the section line K-K of Figure 2.
圖7顯示本發明另一實施例之自動清潔機其對應圖2中剖面線A-A的剖面圖。 Figure 7 is a cross-sectional view showing the automatic cleaning machine of another embodiment of the present invention corresponding to the section line A-A of Figure 2 .
圖8顯示本發明另一實施例之往復式擦拭機構的示意圖。 Figure 8 is a schematic view showing a reciprocating wiping mechanism according to another embodiment of the present invention.
圖9顯示本發明一實施例之控制系統的功能方塊圖。 Figure 9 is a block diagram showing the function of a control system in accordance with an embodiment of the present invention.
圖10顯示本發明另一實施例之自動清潔機的俯視圖。 Figure 10 is a plan view showing an automatic cleaning machine in accordance with another embodiment of the present invention.
將參照附圖,詳細地說明本發明,其中相同的標號將用於識別多個視點的相同或近似的元件。應注意的是,圖式應以標號的取向方向觀看。 The invention will be described in detail with reference to the drawings in which the same reference numerals will be used to identify the same or similar elements of the plurality of views. It should be noted that the drawings should be viewed in the orientation direction of the labels.
依據習知的掃地機器人,清潔布僅能夠透過掃地機器人的行走來擦拭地面,亦即行走次數為擦拭次數,另一習知的掃地機器人只有乾掃的功能,因此依據習知技術,無法清潔水漬痕、腳印、微細灰粒等。依據本發明一實施例,提出一種自動清潔機100,具有高速往復式的清潔機構使清潔布高速往復擦拭地面,具有一對行走輪可讓機器行進。於一實施例中亦可以具有真空吸塵裝置可吸除清潔布前方的垃圾。於一實施例中亦可以具有噴水裝置可濕擦地面。於一實施例中亦可以具有微電腦控制系統及多種感測器偵測障礙物,偵測周圍環境距離,規劃清潔路徑。更具體之結構,詳細說明如下。 According to the conventional cleaning robot, the cleaning cloth can only wipe the ground through the walking of the cleaning robot, that is, the number of times of walking is the number of wiping, and another conventional cleaning robot has only the function of dry cleaning, so the water cannot be cleaned according to the conventional technology. Water stains, footprints, fine ash, etc. According to an embodiment of the present invention, an automatic cleaning machine 100 is proposed having a high-speed reciprocating cleaning mechanism for wiping the cleaning cloth at high speed to wipe the ground, and having a pair of walking wheels for the machine to travel. In an embodiment, a vacuum cleaner may also be provided to suck the garbage in front of the cleaning cloth. In an embodiment, it is also possible to have a water spray device to wet the ground. In an embodiment, the microcomputer control system and the plurality of sensors can be used to detect obstacles, detect the surrounding environment distance, and plan a cleaning path. A more specific structure will be described in detail below.
圖1顯示本發明一實施例之自動清潔機的俯視圖。圖2顯示本發明一實施例之自動清潔機的仰視圖。圖3顯示圖2中剖面線A-A的剖面圖。圖4顯示圖2中剖面線B-B的剖面圖。圖5顯示圖2中剖面線C-C的剖面圖。圖6顯示圖2中剖面線K-K的剖面圖。 BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a plan view showing an automatic cleaning machine in accordance with an embodiment of the present invention. Fig. 2 is a bottom plan view showing the automatic cleaning machine in accordance with an embodiment of the present invention. Figure 3 is a cross-sectional view taken along line A-A of Figure 2. Figure 4 is a cross-sectional view taken along line B-B of Figure 2. Figure 5 is a cross-sectional view taken along line C-C of Figure 2. Figure 6 is a cross-sectional view showing the section line K-K of Figure 2.
關於往復式擦拭機構 About reciprocating wiping mechanism
如圖2-6所示,本發明一實施例之往復式擦拭機構包含一擦拭用馬達110、皮帶輪裝置120、曲柄軸130及至少一曲柄及至少一清潔裝置。於本實施例中至少一曲柄包含兩個曲柄140及150,且曲柄140及150的自由端裝置有清潔裝置。如圖4所示,擦拭用馬達110轉動,經過皮帶輪裝置120降速後,帶動曲柄軸130轉動。如圖3所示,曲柄軸130旋轉帶動至少一曲柄進行直線的往復運動,於本實施例中曲柄軸130更帶動兩個曲柄140及150進行直線的往復運動。較佳的情況是該些曲柄140及150的相差為180°,因此曲柄140及150的兩端的清潔裝置呈現相反方向往復式線性運動。 As shown in FIG. 2-6, a reciprocating wiping mechanism according to an embodiment of the present invention includes a wiping motor 110, a pulley device 120, a crank shaft 130, and at least one crank and at least one cleaning device. In the present embodiment, at least one of the cranks includes two cranks 140 and 150, and the free ends of the cranks 140 and 150 are provided with cleaning means. As shown in FIG. 4, the wiping motor 110 rotates, and after the pulley device 120 is decelerated, the crank shaft 130 is rotated. As shown in FIG. 3, the crankshaft 130 rotates to drive at least one crank to perform a linear reciprocating motion. In the present embodiment, the crankshaft 130 further drives the two cranks 140 and 150 to perform a linear reciprocating motion. Preferably, the cranks 140 and 150 are 180° out of phase, so that the cleaning devices at both ends of the cranks 140 and 150 exhibit reciprocating linear motion in opposite directions.
再請參照圖3,前清潔裝置包含一三腳架210、一前刷盤220及一清潔布230。三腳架210連接於曲柄140的自由端以及前刷盤220之間,清潔布230裝設或附著於前刷盤220的下側面。曲柄140的自由端推動三腳架210,進而推動前刷盤220,而使黏貼在前刷盤220的前清潔布230會在地面上作往復式來回運動。後清潔裝置包含一三腳架240、一後刷盤250及一清潔布260。三腳架240連接於曲柄150的自由端以及後刷盤250之間,清潔布260裝設或附著於後刷盤250的下側面。曲柄150的自由端推動三腳架240,進而推動後刷盤 250,使黏貼在後刷盤250的清潔布260會在地面上作往復式來回運動。 Referring again to FIG. 3, the front cleaning device includes a tripod 210, a front brush tray 220, and a cleaning cloth 230. The tripod 210 is coupled between the free end of the crank 140 and the front brush disc 220, and the cleaning cloth 230 is attached or attached to the lower side of the front brush disc 220. The free end of the crank 140 pushes the tripod 210, which in turn pushes the front brush disc 220, so that the front cleaning cloth 230 adhered to the front brush disc 220 reciprocates back and forth on the ground. The rear cleaning device includes a tripod 240, a rear brush tray 250, and a cleaning cloth 260. The tripod 240 is coupled between the free end of the crank 150 and the rear brush disc 250, and the cleaning cloth 260 is attached or attached to the lower side of the rear brush disc 250. The free end of the crank 150 pushes the tripod 240, thereby pushing the rear brush plate 250, the cleaning cloth 260 adhered to the rear brush tray 250 is reciprocated back and forth on the ground.
前、後刷盤220及250的運動方向完全相反,致使反作用力可相互抵銷,而使自動清潔機100可穩定工作。再請參照圖2及4,前清潔裝置更包含至少一滾輪270,且前刷盤220具有兩個滑軌。滾輪270固定在前刷盤220上,且位於前刷盤220的頂面與自動清潔機100之機殼320的底座310的下底面之間。當前刷盤220往復式來回運動時,如圖4所示,滾輪270會對底座310或前刷盤220進行滾動,而能夠減少前刷盤220與底座310間相對運動時的摩擦力。於一實施例中,底座310的上方側形成一滑槽271,且前刷盤220的一部分被限制於滑槽271內,藉以利用上方的滑槽271限制前刷盤220,使前刷盤220不會向下掉落。 The moving directions of the front and rear brush plates 220 and 250 are completely opposite, so that the reaction forces can cancel each other, so that the automatic cleaning machine 100 can work stably. Referring again to Figures 2 and 4, the front cleaning device further includes at least one roller 270, and the front brush disk 220 has two slide rails. The roller 270 is fixed to the front brush plate 220 and is located between the top surface of the front brush disk 220 and the lower surface of the base 310 of the casing 320 of the automatic cleaning machine 100. When the brush disc 220 is reciprocating back and forth, as shown in FIG. 4, the roller 270 rolls the base 310 or the front brush disc 220, and the frictional force when the front brush disc 220 and the base 310 move relative to each other can be reduced. In one embodiment, a sliding slot 271 is formed on the upper side of the base 310, and a portion of the front brush disc 220 is restrained in the sliding slot 271, so that the front brushing disc 220 is restricted by the upper sliding slot 271, so that the front brushing disc 220 Will not fall down.
後清潔裝置更包含至少一滾輪280,且後刷盤250具有兩個滑軌。滾輪280固定在後刷盤250上,且位於後刷盤250的頂面與自動清潔機100之機殼320的底座310的下底面之間。當後刷盤250往復式來回運動時,滾輪280會對底座310或後刷盤250進行滾動,而能夠減少後刷盤250與底座310間相對運動時的摩擦力。於一實施例中,底座310的上方側形成一滑槽281,且後刷盤250的一部分被限制於滑槽281內,藉以利用上方的滑槽281限制後刷盤250,使後刷盤250不會向下掉落。 The rear cleaning device further includes at least one roller 280, and the rear brush tray 250 has two slide rails. The roller 280 is fixed to the rear brush disc 250 and is located between the top surface of the rear brush disc 250 and the lower bottom surface of the base 310 of the casing 320 of the automatic cleaning machine 100. When the rear brush disc 250 reciprocates back and forth, the roller 280 rolls the base 310 or the rear brush disc 250, and the frictional force when the rear brush disc 250 and the base 310 move relative to each other can be reduced. In one embodiment, a sliding slot 281 is formed on the upper side of the base 310, and a portion of the rear brush disc 250 is restrained in the sliding slot 281, thereby limiting the rear brush disc 250 by the upper sliding slot 281, so that the rear brush disc 250 Will not fall down.
擦拭用馬達110的轉速可決定清潔布230及260來回擦拭的速度,每分鐘可來回擦拭100~2000次,這是一種高效能的擦拭機構。 The rotation speed of the wiping motor 110 determines the speed at which the cleaning cloths 230 and 260 are wiped back and forth, and can be wiped back and forth 100 to 2000 times per minute, which is a high-efficiency wiping mechanism.
如上雖然詳細地說明了一種往復式擦拭機構的實施例,然而本發明不限定於前述結構。於一實施例只要是能夠利用旋轉運動轉換成直線運動的結構即可,舉例而言於一實施例中往復式擦拭機構可以包含一凸輪及一直桿(未圖示)。直桿抵接於凸輪上。凸輪具有非圓形的形狀,例如橢圓形、或一端形成有突出的近半橢圓而另一端形成半圓形。當凸輪進行旋轉時,直桿就能夠進行直線的往復運動。再舉例而言,圖8顯示本發明另一實施例之往復式擦拭機構的示意圖。如圖8所示,於一實施例中,往復式擦拭機構包含一旋轉輪131、一直桿141及一清潔裝置231。於清潔裝置231下側裝設有一清潔布230。當旋轉輪131旋轉時,拉動直桿141的一端移動,而使連接於直桿141的另一端清潔裝置231進行前後的往復運動,並透過清潔布230往復地擦拭且清潔地面。 Although an embodiment of a reciprocating wiping mechanism has been described in detail above, the present invention is not limited to the foregoing configuration. In one embodiment, as long as it can be converted into a linear motion by using a rotary motion, for example, in one embodiment, the reciprocating wiping mechanism can include a cam and a straight rod (not shown). The straight rod abuts on the cam. The cam has a non-circular shape, such as an elliptical shape, or a proximal semi-ellipse formed at one end and a semi-circular shape at the other end. When the cam rotates, the straight rod can reciprocate in a straight line. By way of example, FIG. 8 shows a schematic view of a reciprocating wiping mechanism in accordance with another embodiment of the present invention. As shown in FIG. 8, in one embodiment, the reciprocating wiping mechanism includes a rotating wheel 131, a straight rod 141, and a cleaning device 231. A cleaning cloth 230 is mounted on the lower side of the cleaning device 231. When the rotary wheel 131 rotates, one end of the pull straight rod 141 moves, and the other end cleaning device 231 connected to the straight rod 141 reciprocates back and forth, and reciprocally wipes and cleans the ground through the cleaning cloth 230.
關於真空吸塵裝置 About vacuum cleaner
前、後刷盤220及250的相互往復運動,雖然可清潔地面,但是垃圾會累積在前清潔布230的前緣處,亦即靠近圖2之吸塵裝置的活動吸入口611處。於一實施例中,自動清潔機100更包含有一吸塵裝置。吸塵裝置包含一真空泵馬達640、一真空泵葉輪630及一空氣管路。空氣管路包含活動吸入口611、喉管612、濾網模組(610及620)、垃圾蒐集桶600及排出口613。真空泵馬達640帶動真空泵葉輪630轉動形成空氣流,並使該空氣流在空氣管路中依空氣流20a至空氣流20f的路徑流動。 The mutual reciprocating movement of the front and rear brush trays 220 and 250, although the floor can be cleaned, the garbage accumulates at the leading edge of the front cleaning cloth 230, that is, near the movable suction port 611 of the dust suction device of FIG. In an embodiment, the automatic cleaning machine 100 further includes a dust suction device. The dust suction device includes a vacuum pump motor 640, a vacuum pump impeller 630, and an air line. The air line includes a movable suction port 611, a throat pipe 612, a strainer module (610 and 620), a garbage collecting bucket 600, and a discharge port 613. The vacuum pump motor 640 causes the vacuum pump impeller 630 to rotate to form an air flow, and the air flow flows in the air passage in a path from the air flow 20a to the air flow 20f.
吸塵裝置的活動吸入口611處設於前清潔布230的前緣處的前方,藉以使行走裝置沿一行走方向前進時,吸塵裝置預先吸入垃圾粒子後,再使前清潔布230擦拭平面的該垃圾粒子所處位置的部分。活動吸入口611更位於前清潔布230的前緣處的一預定距離內,其中在該預定距離內,吸塵裝置能夠透過空氣流20a吸走累積在前清潔布230前緣的垃圾,而使前清潔布230前緣不累積垃圾粒子。本領域具有通常知識者可以依據不累積垃圾粒子的目的,針對吸塵裝置的各種效率或活動吸入口611的各種大小進行實驗,來決定該預定距離的距離,亦即該預定距離可以由吸塵裝置的效率或活動吸入口611的大小而定,當吸塵裝置的效率愈高時該預定距離愈遠。如圖1及圖3所示,吸塵裝置的活動吸入口611設於前刷盤220前側,空氣流20a從靠近前刷盤220前側的活動吸入口611被吸入後,空氣流20b經過喉管612。如圖1所示喉管612銜接垃圾蒐集桶600,空氣流20c流經濾網模組的初級濾網610,空氣流20d再流經高效率濾網620到達空氣流20e時,大部分所有灰塵已經被濾乾淨。隨後,空氣流20e會經過空氣流20f後從排出口613排出。因此地面上的灰塵能夠被吸塵裝置吸走。於一實施例中,高效率濾網620可以為濾網模組的高效率空氣過濾器(High Efficiency Particulate Air filter,HEPA filter)的濾網。 The movable suction port 611 of the dust suction device is disposed in front of the front edge of the front cleaning cloth 230, so that when the traveling device advances in a traveling direction, the dust suction device sucks the garbage particles in advance, and then wipes the front cleaning cloth 230 to wipe the plane. The part of the location where the garbage particles are located. The movable suction port 611 is further located within a predetermined distance of the front edge of the front cleaning cloth 230, wherein within the predetermined distance, the dust suction device is capable of sucking away the garbage accumulated at the leading edge of the front cleaning cloth 230 through the air flow 20a, thereby making the front The leading edge of the cleaning cloth 230 does not accumulate garbage particles. Those skilled in the art can determine the distance of the predetermined distance by performing various experiments on various efficiencies of the dust suction device or various sizes of the movable suction port 611 for the purpose of not accumulating the garbage particles, that is, the predetermined distance can be determined by the dust suction device. Depending on the efficiency or the size of the movable suction port 611, the further the predetermined distance is, the higher the efficiency of the dust suction device. As shown in FIGS. 1 and 3, the movable suction port 611 of the dust suction device is disposed on the front side of the front brush disk 220, and the air flow 20a is sucked from the movable suction port 611 near the front side of the front brush disk 220, and the air flow 20b passes through the throat pipe 612. . As shown in Fig. 1, the throat pipe 612 is connected to the garbage collection bucket 600, the air flow 20c flows through the primary filter screen 610 of the filter module, and the air flow 20d flows through the high efficiency filter 620 to the air flow 20e, most of the dust. It has been filtered. Subsequently, the air stream 20e is discharged from the discharge port 613 after passing through the air stream 20f. Therefore, dust on the ground can be sucked away by the dust suction device. In one embodiment, the high efficiency filter 620 can be a filter of a high efficiency Particulate Air filter (HEPA filter) of the filter module.
關於行走裝置 About walking device
請參照圖2及5,依據自動清潔機100的一實施例,其行走裝置具有兩組移動輪組400以及兩組外殼體402。外殼體402用以容置移動輪組400。移動輪組400包含履帶輪馬達430、履帶驅動輪410及履帶420。於一實施例中, 移動輪組400亦可以由一滾輪及驅動該滾輪的馬達所構成。移動輪組400的履帶輪馬達430經內部減速機,使履帶驅動輪410轉動,履帶驅動輪410會帶動整條履帶420,使自動清潔機100在地板上移動。請參照圖10,控制系統500有驅動電路連接兩個履帶輪馬達430,控制系統500內的軟體可控制兩個履帶輪馬達430,使得自動清潔機100可前進、後退、轉向等。配合控制系統500內的人工智慧(AI)軟體,自動清潔機100可自動擦完整個房間地板(詳細內容如後述)。 Referring to Figures 2 and 5, in accordance with an embodiment of the automatic cleaning machine 100, the traveling device has two sets of moving wheel sets 400 and two sets of outer casings 402. The outer casing 402 is for accommodating the moving wheel set 400. The moving wheel set 400 includes a track wheel motor 430, a track drive wheel 410, and a track 420. In an embodiment, The moving wheel set 400 can also be formed by a roller and a motor that drives the roller. The crawler wheel motor 430 of the moving wheel set 400 rotates the track drive wheel 410 via the internal reducer, and the track drive wheel 410 drives the entire track 420 to move the automatic cleaner 100 on the floor. Referring to FIG. 10, the control system 500 has a drive circuit connecting the two crawler wheel motors 430. The software in the control system 500 can control the two crawler wheel motors 430 so that the automatic cleaner 100 can advance, retreat, turn, and the like. In conjunction with the artificial intelligence (AI) software in the control system 500, the automatic cleaning machine 100 can automatically wipe the entire room floor (details will be described later).
關於履帶輪定壓結構 About the track wheel constant pressure structure
自動清潔機100整台機器與地面接觸只有兩部份,一是清潔布230及260,另一是履帶420,當這兩部份所承受的壓力分配不均時,自動清潔機100是無法良好地正常運作。當清潔布230及260分配到的正壓力太多時,履帶420沒有分配到足夠的正壓力時,履帶420會打滑無法推進機器。換言之,當履帶420分配到的正壓力太多,且清潔布230及260沒有分配到足夠的正壓力時,將擦不乾淨地面。因此必須設計一固定比例的壓力分配,才能使機器可正常行走又可擦乾淨地面。 The automatic cleaning machine 100 has only two parts in contact with the ground. One is the cleaning cloths 230 and 260, and the other is the crawler belt 420. When the pressures of the two parts are unevenly distributed, the automatic cleaning machine 100 cannot be good. The ground is functioning normally. When the positive pressures to which the cleaning cloths 230 and 260 are distributed are too large, and the track 420 is not dispensed with sufficient positive pressure, the track 420 may slip and cannot propel the machine. In other words, when the positive pressure to which the track 420 is dispensed is too much, and the cleaning cloths 230 and 260 are not dispensed with sufficient positive pressure, the ground will be wiped clean. Therefore, a fixed proportion of pressure distribution must be designed to allow the machine to walk normally and wipe the floor clean.
如圖5所示,依據本發明一實施例之履帶輪定壓結構,自動清潔機100可以更包含一彈簧440,彈簧440設於行走裝置及自動清潔機100的機殼320之間,藉以透過彈簧440將行走裝置往遠離自動清潔機100的方向施力,亦即將行走裝置向下壓。更具體而言於本實施例中,彈簧440設於底座310及行走裝置之間,藉以透過彈簧440將移動輪組400向下壓,因此只要設計好 彈簧440的彈簧常數,就可以設計固定的壓力,而能夠分配清潔布230及260;以及履帶420此兩部份對地板的正壓力。更詳細言之,依據本實施例之履帶輪定壓結構構成如下。行走裝置的外殼體402包含一套筒401其位於外殼體402的一端。機殼320更包含一固定柱443、一彈簧擋片441及一固定螺絲442。套筒401設於移動輪組400之外殼的一突出端。再請參照圖5。固定柱443設於底座310並自底座310突出,且套筒401套設於固定柱443外周面。彈簧擋片441設於固定柱443頂側,固定螺絲442螺入於固定柱443用以將彈簧擋片441固定於固定柱443頂側。 As shown in FIG. 5, the automatic cleaning machine 100 may further include a spring 440 disposed between the traveling device and the casing 320 of the automatic cleaning machine 100, according to an embodiment of the present invention. The spring 440 urges the traveling device away from the automatic cleaning machine 100, that is, the traveling device is pressed downward. More specifically, in this embodiment, the spring 440 is disposed between the base 310 and the traveling device, thereby pressing the moving wheel set 400 downward through the spring 440, so as long as the design is good. The spring constant of the spring 440 allows the design of a fixed pressure to dispense the cleaning cloths 230 and 260; and the positive pressure of the two portions of the track 420 to the floor. More specifically, the track roller constant pressure structure according to the present embodiment is constructed as follows. The outer casing 402 of the traveling device includes a sleeve 401 that is located at one end of the outer casing 402. The casing 320 further includes a fixing post 443, a spring blocking piece 441 and a fixing screw 442. The sleeve 401 is disposed at a protruding end of the outer casing of the moving wheel set 400. Please refer to FIG. 5 again. The fixing post 443 is disposed on the base 310 and protrudes from the base 310 , and the sleeve 401 is sleeved on the outer circumferential surface of the fixing post 443 . The spring blocking piece 441 is disposed on the top side of the fixing post 443, and the fixing screw 442 is screwed into the fixing post 443 for fixing the spring blocking piece 441 to the top side of the fixing post 443.
彈簧440的上端抵靠於彈簧擋片441,而彈簧440的下端抵靠於行走裝置的外殼體402的一部分,更具體而言如圖5所示,抵靠外殼體402的套筒401的底端部。因此,可以透過彈簧440將移動輪組400向下壓。於一實施例中,沒有再額外設置另一彈簧將清潔裝置往下壓,因此能夠使清潔裝置的前刷盤220及後刷盤250的往復運動能夠更為順利。 The upper end of the spring 440 abuts against the spring stop 441, while the lower end of the spring 440 abuts against a portion of the outer casing 402 of the travel device, and more particularly, as shown in Figure 5, against the bottom of the sleeve 401 of the outer casing 402. Ends. Therefore, the moving wheel set 400 can be pressed downward by the spring 440. In one embodiment, no additional spring is provided to press the cleaning device downward, so that the reciprocating motion of the front brush disc 220 and the rear brush disc 250 of the cleaning device can be made smoother.
關於噴水裝置 About water spray device
依據習知技術,只有乾擦是無法擦除污漬、腳印、水漬痕、微細灰粒等等。因此於本發明一實施例更設置一噴水裝置,利用噴水裝置噴一些水而能夠容易地清除地面上的髒污痕跡。如圖1及圖6所示,噴水裝置包含儲水箱700、水管710、水泵720、水管730及左噴嘴740與右噴嘴750。如圖9所示,控制系統500可以控制圖水泵720驅動噴水。如圖1所示,水儲存於儲水箱700中,經過進水管710到水泵720。如圖1及圖6所示,清潔水被水泵720 加壓後,經過出水管730,再透過圖6中所示的左噴嘴740及右噴嘴750噴出。符號741表示左噴嘴740的噴出範圍,符號751表示右噴嘴750的噴出範圍。控制系統500會依據機器的行進速度控制水泵720噴水時機與噴水量,使清潔布230及260不會太濕或太乾,而能夠達到最佳的清潔效果。 According to the conventional technique, only dry rubbing cannot remove stains, footprints, water stains, fine ash, and the like. Therefore, in an embodiment of the present invention, a water spray device is further provided, and the water spray device is used to spray some water to easily remove dirt marks on the ground. As shown in FIGS. 1 and 6, the water spray device includes a water storage tank 700, a water pipe 710, a water pump 720, a water pipe 730, and a left nozzle 740 and a right nozzle 750. As shown in FIG. 9, control system 500 can control map pump 720 to drive water spray. As shown in FIG. 1, water is stored in the water storage tank 700 through the water inlet pipe 710 to the water pump 720. As shown in FIG. 1 and FIG. 6, the clean water is pumped by the water pump 720. After being pressurized, it is discharged through the outlet pipe 730 through the left nozzle 740 and the right nozzle 750 shown in FIG. Symbol 741 indicates the discharge range of the left nozzle 740, and symbol 751 indicates the discharge range of the right nozzle 750. The control system 500 controls the water injection timing and the amount of water sprayed by the water pump 720 according to the traveling speed of the machine, so that the cleaning cloths 230 and 260 are not too wet or too dry, and the best cleaning effect can be achieved.
關於控制系統 About the control system
馬達驅動Motor drive
圖9顯示本發明一實施例之控制系統的功能方塊圖。如圖9所示,本發明一實施例之控制系統500包含:一處理器(CPU)510、一記憶體(RAM)511、一快閃記憶體(flash)512、一脈衝寬度調變(PWM)裝置520、至少一功率驅動器521及一遙控接收器910。處理器510、記憶體511及快閃記憶體512作為微電腦運算與記憶的基本模組。一操作軟體儲存於快閃記憶體512內,操作軟體控制脈衝寬度調變裝置520輸出功率信號到該些功率驅動器521,進而推動各個馬達430、110、640及720。第一及二履帶輪馬達430負責自動清潔機100的行走,擦拭用馬達110負責往復式擦拭機構的往復式擦拭動作,真空泵馬達640負責真空吸塵,而水泵馬達640負責噴水。 Figure 9 is a block diagram showing the function of a control system in accordance with an embodiment of the present invention. As shown in FIG. 9, a control system 500 according to an embodiment of the present invention includes a processor (CPU) 510, a memory (RAM) 511, a flash memory 512, and a pulse width modulation (PWM). The device 520, the at least one power driver 521, and a remote control receiver 910. The processor 510, the memory 511 and the flash memory 512 serve as basic modules for microcomputer operation and memory. An operating software is stored in the flash memory 512, and the operating software controls the pulse width modulation device 520 to output power signals to the power drivers 521, thereby driving the motors 430, 110, 640, and 720. The first and second crawler wheels motors 430 are responsible for the walking of the automatic cleaning machine 100, and the wiping motor 110 is responsible for the reciprocating wiping action of the reciprocating wiping mechanism, the vacuum pump motor 640 is responsible for vacuuming, and the water pump motor 640 is responsible for spraying water.
障礙物偵測Obstacle detection
如圖1所示,自動清潔機100更包含至少一前方近接感測器810,設置自動清潔機100的前端且可偵測前方障礙物,以避免撞擊。如圖2所示,自動清潔機100更包含至少一下方近接感測器820,設置於外殼之底側,較佳地設置於底座310的底面。下方近接感測器820可以偵測前方是否為斷崖,以 防止自動清潔機100翻落,近接感測器810及820可為紅外線感測器、雷射測距,或超音波感測器等,亦可以使用目前現有或未來發展的其他感測器。 As shown in FIG. 1, the automatic cleaning machine 100 further includes at least one front proximity sensor 810, which is provided with the front end of the automatic cleaning machine 100 and can detect obstacles in front to avoid impact. As shown in FIG. 2, the automatic cleaning machine 100 further includes at least one lower proximity sensor 820 disposed on the bottom side of the outer casing, preferably disposed on the bottom surface of the base 310. The bottom proximity sensor 820 can detect whether the front is a cliff, To prevent the automatic cleaning machine 100 from falling down, the proximity sensors 810 and 820 may be infrared sensors, laser ranging, or ultrasonic sensors, etc., and other sensors currently available or developed in the future may be used.
如圖5所示,於一實施例中,自動清潔機100更包含一保險桿330及一極限開關830。自動清潔機100的前方可設置保險桿330,當保險桿330撞擊障礙物後會擠壓到極限開關(limit switch)830,微電腦或處理器510便可知道已經碰到障礙物,而進行其他的操作或移動。 As shown in FIG. 5, in an embodiment, the automatic cleaning machine 100 further includes a bumper 330 and a limit switch 830. The front side of the automatic cleaning machine 100 can be provided with a bumper 330. When the bumper 330 hits the obstacle, it will be squeezed to a limit switch 830, and the microcomputer or the processor 510 can know that the obstacle has been hit and perform other operations. Operate or move.
於一實施例中,自動清潔機100更包含一測距感測器840,而使自動清潔機100可具有雷射測距功能,其可量測前方障礙物距離或量測周圍環境距離,用以建立地圖規劃清潔路徑。 In an embodiment, the automatic cleaning machine 100 further includes a distance measuring sensor 840, so that the automatic cleaning machine 100 can have a laser ranging function, which can measure the distance of the front obstacle or measure the distance of the surrounding environment. To establish a map to plan the cleaning path.
自動清潔功能Automatic cleaning function
控制系統500的微電腦或處理器510內建的程式可自動控制所有馬達,進行障礙物偵測或規劃清潔路徑,進而清潔完整個房間。 The built-in program of the microcomputer or processor 510 of the control system 500 automatically controls all motors, detects obstacles or plans a cleaning path to clean the entire room.
遙控功能Remote control function
控制系統500的遙控接收器910與遙控發射器900,可為紅外線式或無線傳輸方式,或者可以使用目前現有或未來發展的其他遙控接收器910與遙控發射器900。 The remote control receiver 910 and the remote control transmitter 900 of the control system 500 may be in an infrared or wireless transmission mode, or other remote control receivers 910 and remote control transmitters 900 that are currently available or developed in the future may be used.
圖7顯示本發明另一實施例之自動清潔機其對應圖2中剖面線A-A的剖 面圖。圖7實施例相似於圖2及圖3之實施例,因此相同的元件使用相同的符號,並且省去其相關說明,僅說明兩實施例的至少一相異處。圖7之剖面線A1-A1對應圖2中剖面線A-A。如圖7所示,前刷盤220的活動吸入口611改成固定於底座310的電動的圓桶刷690及固定吸入口619,圓桶刷690的圓桶上有螺旋式刷毛910,刷毛910位於固定吸入口619附近。電動的圓桶刷690可清潔地面,刷毛910所捲起的灰塵、毛髮、垃圾後,該些物質從固定吸入口619被空氣流20a吸入而到達垃圾蒐集桶600,以達到高效率清潔。 Figure 7 is a cross-sectional view taken along line A-A of Figure 2 of the automatic cleaning machine according to another embodiment of the present invention. Surface map. The embodiment of Fig. 7 is similar to the embodiment of Fig. 2 and Fig. 3, and therefore the same elements are denoted by the same reference numerals, and the related description will be omitted, and only at least one difference between the two embodiments will be described. The section line A1-A1 of Fig. 7 corresponds to the section line A-A of Fig. 2. As shown in FIG. 7, the movable suction port 611 of the front brush plate 220 is changed to an electric drum brush 690 fixed to the base 310 and a fixed suction port 619. The drum of the barrel brush 690 has spiral bristles 910 and bristles 910. Located near the fixed suction port 619. The electric drum brush 690 can clean the ground, and after the dust, hair, and garbage rolled up by the bristles 910, the substances are sucked from the fixed suction port 619 by the air flow 20a to reach the garbage collecting bucket 600 for high efficiency cleaning.
應了解的是本發明不限定於自動清潔機100的外形。圖10顯示本發明另一實施例之自動清潔機的俯視圖。圖10實施例相似於圖1之實施例,因此相同的元件使用相同的符號,並且省去其相關說明,僅說明兩實施例的至少一相異處。如圖10所示,自動清潔機100的外形可設計成圓形。於一實施例中亦可以為三角形(未圖示)。 It should be understood that the present invention is not limited to the outer shape of the automatic cleaning machine 100. Figure 10 is a plan view showing an automatic cleaning machine in accordance with another embodiment of the present invention. The embodiment of Fig. 10 is similar to the embodiment of Fig. 1, and therefore the same elements are denoted by the same reference numerals, and the related description will be omitted, and only at least one difference between the two embodiments will be described. As shown in FIG. 10, the shape of the automatic cleaner 100 can be designed to be circular. In one embodiment, it may also be a triangle (not shown).
依據本發明一實施例,由於設計有高速往復式清潔機構,清潔布擦拭頻率可每分鐘200次以上,而能夠達到高效率清潔。於一實施例中,設置有真空吸塵裝置,而能夠吸除累積在清潔布前方的垃圾。於一實施例中,設置有噴水裝置,而能夠智慧型控制噴水,保持清潔布最佳溼度以達到最佳清潔效果。由於本發明一實施例,能夠系統整合前述所有裝置,並且加入人工智慧,而能夠使機器人可清潔完整個房間的地板。 According to an embodiment of the present invention, since the high-speed reciprocating cleaning mechanism is designed, the wiping frequency of the cleaning cloth can be more than 200 times per minute, and high-efficiency cleaning can be achieved. In one embodiment, a vacuum cleaner is provided to absorb waste accumulated in front of the cleaning cloth. In an embodiment, a water spray device is provided, and the water spray can be intelligently controlled to maintain the optimal humidity of the cleaning cloth for optimal cleaning. Thanks to an embodiment of the invention, it is possible to systematically integrate all of the aforementioned devices and incorporate artificial intelligence to enable the robot to clean the floor of a complete room.
已詳細地說明本發明,相同的方法還能夠用很多種方法來改變,這是 很明顯的。該些變形不應視為脫離本發明的精神和範圍。所有該些對於本領域具有通常知識者為明顯的修正,皆包含在本說明書之申請專利範圍中。 Having described the invention in detail, the same method can be changed in a variety of ways, this is obviously. Such variations are not to be regarded as a departure from the spirit and scope of the invention. All such modifications as would be apparent to one of ordinary skill in the art are included in the scope of the claims.
100‧‧‧自動清潔機 100‧‧‧Automatic cleaning machine
110‧‧‧擦拭用馬達 110‧‧‧wiping motor
120‧‧‧皮帶輪裝置 120‧‧‧ Pulley device
130‧‧‧曲柄軸 130‧‧‧ crankshaft
131‧‧‧旋轉輪 131‧‧‧Rotary wheel
140‧‧‧曲柄 140‧‧‧ crank
150‧‧‧曲柄 150‧‧‧ crank
210‧‧‧三腳架 210‧‧‧ Tripod
220‧‧‧前刷盤 220‧‧‧Pre-brushing plate
240‧‧‧三腳架 240‧‧‧ Tripod
250‧‧‧後刷盤 250‧‧‧Back brush
270‧‧‧滾輪 270‧‧‧Roller
330‧‧‧保險桿 330‧‧‧ bumper
400‧‧‧移動輪組 400‧‧‧Mobile wheel set
430‧‧‧馬達 430‧‧ ‧motor
500‧‧‧控制系統 500‧‧‧Control system
820‧‧‧下方近接感測器 820‧‧‧near proximity sensor

Claims (13)

  1. 一種自動清潔機,包含:一往復式擦拭機構,包含:至少一清潔裝置,用以接觸一平面;及至少一往復式裝置,連接於該至少一清潔裝置,並使該至少一清潔裝置產生一往復運動,藉以往復地擦拭該平面;一行走裝置,用以使該自動清潔機行走於該平面;以及一控制系統,耦接於該往復式擦拭機構及該行走裝置,用以控制該往復式擦拭機構及該行走裝置,其中該至少一往復式裝置包含:一擦拭用馬達;一旋轉運動裝置,用以被該擦拭用馬達驅動而進行轉動;至少一連接裝置,其一端連接於該旋轉運動裝置,且其另一端用以連接該至少一清潔裝置的一刷盤,並且隨著該旋轉運動裝置的轉動,而將旋轉運動轉換成直線運動,使該至少一清潔裝置的該刷盤進行往復式線性運動。 An automatic cleaning machine comprising: a reciprocating wiping mechanism comprising: at least one cleaning device for contacting a plane; and at least one reciprocating device coupled to the at least one cleaning device and causing the at least one cleaning device to generate a a reciprocating motion for reciprocatingly wiping the plane; a walking device for causing the automatic cleaning machine to travel on the plane; and a control system coupled to the reciprocating wiping mechanism and the traveling device for controlling the reciprocating a wiping mechanism and the traveling device, wherein the at least one reciprocating device comprises: a wiping motor; a rotating motion device for being rotated by the wiping motor; at least one connecting device having one end connected to the rotating motion a device, and the other end thereof is configured to connect a brush disk of the at least one cleaning device, and convert the rotary motion into a linear motion as the rotary motion device rotates, so that the brush disk of the at least one cleaning device reciprocates Linear motion.
  2. 根據請求項1所述的自動清潔機,其中至少一清潔裝置包含一第一清潔裝置及一第二清潔裝置,而且該至少一往復式裝置,使該第一清潔裝置在一第一方向進行往復運動,並使該第二清潔裝置在一第二方向進行往復運動,且該第一方向相反於該第二方向。 The automatic cleaning machine of claim 1, wherein the at least one cleaning device comprises a first cleaning device and a second cleaning device, and the at least one reciprocating device causes the first cleaning device to reciprocate in a first direction Moving and reciprocating the second cleaning device in a second direction, the first direction being opposite to the second direction.
  3. 根據請求項1所述的自動清潔機,更包含一機殼,其中, 該機殼,容置該往復式擦拭機構的該至少一往復式裝置、該控制系統及該行走裝置,而且該至少一清潔裝置包含:一刷盤,置於該機殼之一底座的下方;一滾輪,位於該刷盤及該機殼之間,並在該刷盤或該底座滾動,藉以減少該刷盤與該底座間的摩擦力;及一清潔布,設於該刷盤,用以接觸該平面。 The automatic cleaning machine according to claim 1, further comprising a casing, wherein The casing, the at least one reciprocating device, the control system and the walking device of the reciprocating wiping mechanism, and the at least one cleaning device comprises: a brush disc disposed under a base of the casing; a roller disposed between the brush plate and the casing and rolling on the brush plate or the base to reduce friction between the brush plate and the base; and a cleaning cloth disposed on the brush plate for Touch the plane.
  4. 一種自動清潔機,包含:一往復式擦拭機構,包含:至少一清潔裝置,用以接觸一平面;及至少一往復式裝置,連接於該至少一清潔裝置,並使該至少一清潔裝置產生一往復運動,藉以往復地擦拭該平面;一行走裝置,用以使該自動清潔機行走於該平面;一控制系統,耦接於該往復式擦拭機構及該行走裝置,用以控制該往復式擦拭機構及該行走裝置;一機殼,容置該往復式擦拭機構的該至少一往復式裝置、該控制系統及該行走裝置;以及一彈性元件,設於該行走裝置及該機殼之間,藉以透過該彈性元件將該行走裝置往遠離該自動清潔機的方向施力,其中,該行走裝置包含一移動輪組以及一外殼體,該外殼體用以容置該移動輪組且包含一套筒, 該機殼包含:一底座;一固定柱,設於該底座並自該底座突出,且該套筒套設於該固定柱的外周面;一擋片,設於該固定柱的頂側;及一固定螺絲,螺入於該固定柱中,用以將該擋片固定於該固定柱的頂側,而且該彈性元件的一端抵靠於該擋片,而該彈性元件的另一端抵靠於該行走裝置的該外殼體的該套筒。 An automatic cleaning machine comprising: a reciprocating wiping mechanism comprising: at least one cleaning device for contacting a plane; and at least one reciprocating device coupled to the at least one cleaning device and causing the at least one cleaning device to generate a a reciprocating motion for reciprocatingly wiping the plane; a walking device for causing the automatic cleaning machine to travel on the plane; a control system coupled to the reciprocating wiping mechanism and the traveling device for controlling the reciprocating wiping a mechanism and the traveling device; a casing, the at least one reciprocating device for accommodating the reciprocating wiping mechanism, the control system and the traveling device; and an elastic member disposed between the traveling device and the casing The moving device is biased away from the automatic cleaning machine by the elastic member, wherein the traveling device comprises a moving wheel set and an outer casing, the outer casing is for accommodating the moving wheel set and comprises a set cylinder, The housing comprises: a base; a fixing post disposed on the base and protruding from the base, wherein the sleeve is sleeved on an outer circumferential surface of the fixing post; a blocking piece is disposed on a top side of the fixing post; a fixing screw screwed into the fixing post for fixing the blocking piece to the top side of the fixing post, and one end of the elastic member abuts against the blocking piece, and the other end of the elastic element abuts against The sleeve of the outer casing of the walking device.
  5. 根據請求項1或4所述的自動清潔機,更包含一吸塵裝置,其中,該吸塵裝置包含一吸入口,用以使該平面上的一粒子,隨著一空氣流從該吸入口被吸入於該吸塵裝置中,至少一清潔裝置包含一第一清潔裝置,而且該吸入口位於該第一清潔裝置的前方,該吸入口位於該第一清潔裝置的一預定距離內,並且在該預定距離內該第一清潔裝置不累積粒子。 The automatic cleaning machine according to claim 1 or 4, further comprising a dust suction device, wherein the dust suction device includes a suction port for causing a particle on the plane to be sucked from the suction port with an air flow In the dust collecting device, at least one cleaning device includes a first cleaning device, and the suction port is located in front of the first cleaning device, the suction port is located within a predetermined distance of the first cleaning device, and at the predetermined distance The first cleaning device does not accumulate particles.
  6. 根據請求項1或4所述的自動清潔機,更包含一噴水裝置,用以噴水於該平面。 The automatic cleaning machine according to claim 1 or 4, further comprising a water spray device for spraying water on the plane.
  7. 根據請求項1所述的自動清潔機,更包含一機殼及一彈性元件,其中,該機殼容置該往復式擦拭機構的該至少一往復式裝置、該控制系統及該行走裝置,而且該彈性元件設於該行走裝置及該機殼之間,藉以透過該彈性元件將該行走裝置往遠離該自動清潔機的方向施力, 該行走裝置包含一移動輪組以及一外殼體,該外殼體用以容置該移動輪組且包含一套筒,該機殼包含:一底座;一固定柱,設於該底座並自該底座突出,且該套筒套設於該固定柱的外周面;一擋片,設於該固定柱的頂側;及一固定螺絲,螺入於該固定柱中,用以將該擋片固定於該固定柱的頂側,而且該彈性元件的一端抵靠於該擋片,而該彈性元件的另一端抵靠於該行走裝置的該外殼體的該套筒。 The automatic cleaning machine of claim 1, further comprising a casing and an elastic member, wherein the casing houses the at least one reciprocating device, the control system and the traveling device of the reciprocating wiping mechanism, and The elastic member is disposed between the traveling device and the casing, and the moving device is biased away from the automatic cleaning device through the elastic member. The walking device comprises a moving wheel set and an outer casing, the outer casing is for accommodating the moving wheel set and comprises a sleeve, the casing comprises: a base; a fixing column disposed on the base and from the base Protruding, the sleeve is sleeved on the outer peripheral surface of the fixing post; a blocking piece is disposed on the top side of the fixing post; and a fixing screw is screwed into the fixing post for fixing the blocking piece to the fixing piece The top side of the fixing post, and one end of the elastic member abuts against the blocking piece, and the other end of the elastic member abuts against the sleeve of the outer casing of the traveling device.
  8. 根據請求項1或4所述的自動清潔機,其中,該旋轉運動裝置包含一曲柄軸;該至少一連接裝置,包含一曲柄;及至少一滑軌,限制該刷盤的一部分,藉以使該至少一清潔裝置進行往復運動。 The automatic cleaning machine of claim 1 or 4, wherein the rotary motion device comprises a crank shaft; the at least one connecting device comprises a crank; and at least one slide rail limiting a portion of the brush disc, thereby At least one cleaning device reciprocates.
  9. 根據請求項5所述的自動清潔機,其中該吸塵裝置的該吸入口設置在該第一清潔裝置的一刷盤上。 The automatic cleaning machine according to claim 5, wherein the suction port of the dust suction device is disposed on a brush tray of the first cleaning device.
  10. 根據請求項5所述的自動清潔機,更包含一電動清潔刷,其中,該吸塵裝置的該吸入口設置在該自動清潔機的一機殼的一底座上,而且該電動清潔刷,固定於該底座,並且將該粒子掃入該吸入口。 The automatic cleaning machine according to claim 5, further comprising an electric cleaning brush, wherein the suction port of the dust suction device is disposed on a base of a casing of the automatic cleaning machine, and the electric cleaning brush is fixed to The base and sweeping the particles into the suction port.
  11. 根據請求項1或4所述的自動清潔機,更包含至少一感測器,設於該機殼 前側或下側,用以非接觸式偵側一障礙物或一斷崖。 The automatic cleaning machine according to claim 1 or 4, further comprising at least one sensor disposed in the casing The front side or the lower side is used for non-contact detection of an obstacle or a cliff.
  12. 根據請求項1或4所述的自動清潔機,更包含一保險桿設於該自動清潔機外側;以及至少一極限開關,用以被保險桿觸碰後而偵測到一障礙物。 The automatic cleaning machine according to claim 1 or 4, further comprising a bumper disposed outside the automatic cleaner; and at least one limit switch for detecting an obstacle after the bumper is touched.
  13. 根據請求項1或4所述的自動清潔機,更包含至少一的雷射測距裝置,用以偵測一障礙物的距離並量測周圍環境距離,用以建立一地圖並規劃一清潔路徑。 The automatic cleaning machine according to claim 1 or 4, further comprising at least one laser ranging device for detecting the distance of an obstacle and measuring the distance of the surrounding environment for establishing a map and planning a cleaning path .
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