WO2021197072A1

WO2021197072A1 - Smart automatic sweeping/mopping robot

Info

Publication number: WO2021197072A1
Application number: PCT/CN2021/081318
Authority: WO
Inventors: 颛孙丰勤; 陈皎皎; 孙燕; 朱益新
Original assignee: 无锡职业技术学院
Priority date: 2020-04-02
Filing date: 2021-03-17
Publication date: 2021-10-07
Also published as: CN111419122A

Abstract

A smart automatic sweeping/mopping robot comprises a robot body, the robot body comprising a machine housing (1), a control panel (17) installed on the machine housing (1), a controller installed inside the machine housing (17), a locomotion mechanism and a sweeping mechanism installed on the bottom of the machine housing (1); and further comprises a mopping mechanism used to clean a floor and capable of automatic self-cleaning, and a hot air blowing mechanism (9) for drying the floor, the mopping mechanism and the hot air blowing mechanism (9) being installed sequentially on the rear side of the sweeping mechanism on the machine housing (1), and the mopping mechanism and the hot air blowing mechanism (9) each being connected to the controller. A human body sensor, a camera system and a wireless signal device are installed on the machine housing (1) and are connected to the controller. The smart automatic sweeping/mopping robot is able to blow hot air to dry a mopped floor so as to prevent pedestrians from slipping, is able to automatically clean the mop cloth during the sweeping and mopping process, thereby enhancing the cleaning effect, and is able to improve the level of automation of cleaning, reduce human labor and save cost.

Description

Intelligent automatic sweeping and mopping robot

Technical field

The invention relates to an intelligent automatic sweeping and mopping robot, belonging to the technical field of sweeping robots.

Background technique

At present, most of the sweeping machines used in supermarkets and commercial establishments are manually controlled sweeping and mopping machines. In actual use, there are the following problems: 1. After cleaning and mopping, there is water on the ground and pedestrians are likely to fall; 2. Replacement The mop needs to be carried out manually, cannot be cleaned automatically, it occupies a lot of labor, the operation is slow, and the efficiency is low; 3. The cleaning work requires manual operation and cannot be automated.

Summary of the invention

In view of the above-mentioned problems in the prior art, the present invention provides an intelligent automatic sweeping and mopping robot, which can blow hot air to dry the mopped ground to prevent pedestrians from slipping on the ground; it can automatically clean the mop during the sweeping and mopping process to improve Cleaning effect; it can also improve the automation degree of cleaning work, reduce manual use and reduce costs.

In order to achieve the above objectives, the present invention adopts the following technical solutions: an intelligent automatic sweeping and mopping robot, including a robot body, the robot body including a machine box, a control panel installed on the machine box, and a controller installed in the machine box , The walking mechanism and cleaning mechanism installed at the bottom of the machine box, and also include a mopping mechanism for mopping and washing the ground and capable of automatic cleaning, and a hot air blowing mechanism for drying the ground. The mopping mechanism and The hot air blowing mechanism is sequentially installed on the rear side of the cleaning mechanism on the machine box. The mopping mechanism and the hot air blowing mechanism are all connected to the controller; the machine box is also installed with a human body sensor and a camera system And wireless annunciator, the human sensor, camera system, and wireless annunciator are all connected to the controller. The human sensor and camera system are used to detect pedestrians and image information around the robot body in real time, and the wireless annunciator detects The received signal is sent to the master computer for monitoring.

Preferably, the mopping mechanism includes a crawler mop, a mop drive wheel installed at the bottom of the machine box, a drive motor installed on the machine box for driving the mop drive wheel to rotate, and a cleaning pool installed in the machine box, The guide mechanism installed on the cleaning pool, and the rolling brush mechanism arranged in the cleaning pool for scrubbing the crawler mop, the cleaning nozzle mechanism for washing the crawler mop, and the water in the crawler mop. The squeeze roller mechanism; the crawler-type mop surrounds the mop drive wheel and the guide mechanism; the machine box is equipped with a washing liquid tank; the cleaning tank is equipped with a filter device, and part of the filtered clean water is passed through the high-pressure water pump Transported to the cleaning nozzle mechanism; the drive motor is connected with the controller.

Preferably, the guide mechanism includes a first guide wheel arranged in the cleaning tank, a front guide wheel and a rear guide wheel correspondingly installed on the front and rear side walls of the cleaning tank, the rolling brush mechanism, the cleaning nozzle mechanism, and the extrusion The roller mechanism is arranged between the first guide wheel and the rear guide wheel in sequence from front to back, and the brushes in the rolling brush mechanism are symmetrically arranged on the upper and lower sides of the crawler mop; in the squeeze roller mechanism The rollers are symmetrically arranged on the upper and lower sides of the crawler mop.

Preferably, the hot air blowing mechanism includes a hood, a fan installed at the end of the hood, a fan motor that drives the fan to work, and an electric heating wire installed in the hood. The hood is provided with rows of gradually increasing apertures. The fan motor is connected to the controller.

Preferably, the walking mechanism includes a universal driving wheel installed at the front end of the machine box, a driven wheel installed at the rear end of the machine box, and a driving device for providing power to the universal driving wheel.

Preferably, the cleaning mechanism includes a sweeping brush and a vacuum cleaner, and both the sweeping brush and the vacuum cleaner are connected to the controller.

Preferably, the sweeping brush is a drum-type sweeping brush, which includes a drum and a brush mounted on the drum. The diameter of the drum and the thickness of the brush are greater than the diameter of the universal driving wheel. The drum and the machine box A spring is installed between the bodies.

Compared with the prior art, the beneficial effects of the present invention are as follows:

First, by adding a mopping mechanism for mopping and washing the floor and realizing automatic cleaning to the existing sweeping robot, the cleaning efficiency and effect are improved, and the mop is automatically cleaned during the sweeping and mopping process to improve the cleaning effect;

Second, by adding a hot air blowing mechanism for drying the ground, hot air can be used to dry the mowed ground to prevent pedestrians from slipping on the ground;

Third, the human body sensor, camera system and wireless signal device installed on the machine box can be used to detect pedestrians and image information around the robot body in real time, and transmit the detected signal to the main control computer for monitoring through the wireless signal device. , Through the wireless network to monitor the working status of the sweeping and dragging robot in real time, and making timely adjustments, it can monitor multiple sweeping and dragging robots at the same time; it can avoid pedestrians to protect the safety of pedestrians;

Finally, through the cooperation between the various components, it can overcome the shortcomings of the current cleaning machine, automatically clean the mop, improve the cleaning effect, make the cleaning work can be automated, reduce manual use, and realize real-time monitoring of the wireless network.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the present invention.

Detailed ways

The following is a clear and complete description of the technical solutions in the implementation of the present invention with reference to the accompanying drawings. The described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

As shown in Figure 1, an intelligent automatic sweeping and mopping robot provided by an embodiment of the present invention includes a robot body. The robot body includes a machine box 1, and a control panel 17 installed on the machine box 1 is installed on the machine box. 1 The controller used to control the overall operation of the machine, the walking mechanism and cleaning mechanism installed at the bottom of the machine box 1, as well as the mopping mechanism for mopping and washing the floor and capable of automatic cleaning, and for drying the floor The hot air blowing mechanism 9, the mopping mechanism and the hot air blowing mechanism 9 are sequentially installed on the rear side of the cleaning mechanism on the machine box 1, and the mopping mechanism and the hot air blowing mechanism 9 are both connected to the controller; The machine box 1 is also installed with a human body sensor, a camera system, and a wireless signal device. The human body sensor, camera system, and wireless signal device are all connected to the controller, and the human body sensor mainly uses infrared rays to sense pedestrians. The camera system is used to record images around the robot body, and the detected signals are transmitted to the host computer for monitoring through a wireless signal device. Among them, there are various control buttons for different operations on the control panel for manual operation. The wireless annunciator is used to communicate with the master computer to receive and send wireless wifi signals.

Preferably, the mopping mechanism may include a crawler-type mop 7, a mop drive wheel 6 installed at the bottom of the machine box 1, and a drive motor installed on the machine box 1 for driving the mop drive wheel 6 to rotate. The cleaning tank 15 in the box 1 used to clean the crawler mop 7, the guide mechanism installed on the cleaning tank 15, and the rolling brush mechanism 11 arranged in the cleaning tank 15 for scrubbing the crawler mop 7. The cleaning nozzle mechanism 14 for washing the crawler mop 7 and the squeezing roller mechanism 12 for squeezing the moisture in the crawler mop 7; the crawler mop 7 surrounds the mop driving wheel 6 and the guide mechanism; The machine box 1 is equipped with a washing liquid tank, and the washing liquid is stored in the washing liquid tank, and the washing liquid is regularly and quantitatively released into the washing tank; the washing tank 15 is installed with a filter device, and the filter device is built with a small water pump. The water in the cleaning tank is filtered, and the clean water is discharged while filtering to continuously purify the cleaning tank; in addition, part of the filtered clean water is delivered to the cleaning nozzle mechanism 14 by a high-pressure water pump; the driving motor is connected with the controller. The mop driving wheel 6 needs to have a certain friction, the same width as the crawler mop 7, and the direction of rotation is opposite to the direction of movement of the walking mechanism. The driving motor provides driving force for the mop driving wheel 6 to drive the crawler mop 7 to move. Among them, the crawler mop 7 can be a pure cotton mop or a PVC sponge mop, and the width is the same as that of the machine box 1, and the movement direction of the crawler mop 7 is the same as that of the robot to increase the friction between the mop and the ground. The mopping effect is better.

Preferably, the guide mechanism includes a first guide wheel 8 arranged in the cleaning tank 15, a front guide wheel 16 and a rear guide wheel 13 correspondingly installed on the front and rear side walls of the cleaning tank 15. The rolling brush mechanism 11 The cleaning nozzle mechanism 14 and the squeezing roller mechanism 12 are arranged in sequence from front to back between the first guide wheel 8 and the rear guide wheel 13. The brushes in the rolling brush mechanism 11 are symmetrically arranged on the crawler mop On the upper and lower sides of 7, the brushes are driven by the motor to rotate, used to scrub the dirt on the crawler mop 7, and the rotation direction is opposite to the movement direction of the crawler mop 7; the rollers in the squeezing roller mechanism 12 are arranged symmetrically On the upper and lower sides of the crawler mop 7, the distance between the two rollers is less than the thickness of the crawler mop 7. When the servo motor drives the rollers to rotate, the crawler mop 7 can be squeezed, so that the crawler mop 7 can be squeezed. Squeeze the water on it dry.

Preferably, the hot air blowing mechanism 9 includes a head cover 91, a fan 92 installed at the end of the head cover 91, a fan motor that drives the fan 92 to work, and a heating wire 93 installed in the head cover 91. A number of rows of air outlets 94 with gradually increasing diameters are opened, and the fan motor is connected to the controller. When it starts to work, the fan rotates under the drive of the fan motor, and the heating wire also starts to heat. The wind generated by the fan turns into hot air to dry the ground after passing through the heating wire. The hot air blowing mechanism 9 has a simple structure, low cost, and good drying effect.

Preferably, the walking mechanism includes a universal driving wheel 3 installed at the front end of the machine box 1, a driven wheel 10 installed at the rear end of the machine box 1, and a driving device 2 for providing power to the universal driving wheel 3. The driving device 2 provides driving force for the universal driving wheel 3, and drives the universal driving wheel 3 to rotate, thereby driving the entire machine box 1 to move.

Preferably, the cleaning mechanism includes a sweeping brush 4 and a vacuum cleaner 5, and both the sweeping brush 4 and the vacuum cleaner 5 are connected to a controller. Among them, the suction mouth of the vacuum cleaner is rectangular, the width of the suction mouth is about 10-20 cm, and the length of the suction mouth is the same width as the machine box 1. The movement direction of the sweeping brush 4 can be opposite to the movement direction of the machine box 1, and can sweep dust and other garbage to the bottom of the vacuum cleaner 5, and then the vacuum cleaner 5 can absorb and clean it.

Preferably, the sweeping brush is a drum-type sweeping brush, which includes a drum and a brush mounted on the drum. The diameter of the drum and the thickness of the brush are greater than the diameter of the universal driving wheel. The drum and the machine box A spring is installed between the body 1. The distance to the ground is adjusted by a spring, and the drum-type sweeping brush is the same width as the machine box 1.

work process:

After the robot receives the sweeping and mopping command (wireless command or control panel command), it starts to work, and the universal drive wheel 3, sweeping brush 4, vacuum cleaner 5, crawler mop 7, hot air blowing mechanism 9 and so on start to work at the same time. During work, the front-end universal drive wheel 3 provides power and is responsible for steering. The sweeping brush 4 behind it mainly sweeps the ground, and the rear vacuum cleaner mainly absorbs the debris on the ground after the sweeping brush sweeps, and then the crawler type behind it. The mop 7 mainly performs the mopping and washing function on the ground, and brings the flowing dirt into the cleaning pool 15 through the rotation of the crawler mop 7 for cleaning. The hot air blowing mechanism 9 mainly blows hot air to the mowed ground to promote the drying of the ground. To prevent pedestrians from slipping and falling; during work, the robot generally keeps sweeping and mopping in a straight line. When it encounters and touches an obstacle, the universal drive wheel 3 will automatically change its direction under the action of the touch force, or When encountering a pedestrian, the human body sensor will send a signal to the controller, and the operation will be suspended for 5-10 seconds. If it can still sense that there is a pedestrian in front, it will change direction. The human body sensor can be an infrared sensor or a life detector.

In summary, through the cooperation of various components, the present invention can blow hot air to dry the mopped ground to prevent pedestrians from slipping on the ground; it can automatically clean the mop during the sweeping and mopping process to improve the cleaning effect; and it can also improve the cleaning work. The degree of automation reduces manual use and reduces costs.

For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit and basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description, and therefore it is intended to fall within the claims. All changes within the meaning and scope of the equivalent elements of are included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

In addition, it should be understood that although this specification is described in accordance with the implementation manners, not each implementation manner only includes an independent technical solution. This narration in the specification is only for clarity, and those skilled in the art should consider the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims

An intelligent automatic sweeping and mopping robot, including a robot body, the robot body including a machine box (1), a control panel (17) installed on the machine box (1), and a control installed in the machine box (1) The machine, the walking mechanism installed at the bottom of the machine box (1) and the cleaning mechanism for cleaning the ground, characterized in that it also includes a mopping mechanism for mopping and washing the ground and realizing automatic cleaning and a mopping mechanism for cleaning the ground. A hot air blowing mechanism for drying the ground, the mopping mechanism and the hot air blowing mechanism are sequentially installed on the rear side of the cleaning mechanism on the machine box (1), the mopping mechanism and the hot air blowing mechanism (9) Are connected to the controller; the machine box (1) is also installed with a human body sensor, a camera system and a wireless signal device, the human body sensor, the camera system, and the wireless signal device are all connected to the controller, and the human body Sensors and camera systems are used to detect pedestrians and image information around the robot body in real time, and transmit the detected signals to the main control computer for monitoring through wireless annunciators.
The intelligent automatic sweeping and mopping robot according to claim 1, wherein the mopping mechanism comprises a crawler mop (7), a mop driving wheel (6) installed at the bottom of the machine box (1), A drive motor installed on the machine box (1) to drive the mop drive wheel (6) to rotate, installed in the cleaning pool (15) in the machine box (1), and a guide mechanism installed on the cleaning pool (15) , As well as the rolling brush mechanism (11) arranged in the cleaning pool (15) for scrubbing the crawler mop (7), the cleaning nozzle mechanism (14) for washing the crawler mop (7), and the A squeeze roller mechanism (12) for squeezing moisture from the crawler mop (7); the crawler mop (7) surrounds the mop driving wheel (6) and the guide mechanism; the machine box (1) A washing liquid tank is installed on the washing tank (15); a filtering device is installed in the washing tank (15), and part of the filtered clean water is delivered to the washing nozzle mechanism (14) by a high-pressure water pump; the driving motor is connected with the controller.
The intelligent automatic sweeping and mopping robot according to claim 2, characterized in that, the guide mechanism includes a first guide wheel (8) arranged in the cleaning pool (15), and correspondingly installed on the front and rear sides of the cleaning pool. The front guide wheel (16) and the rear guide wheel (13) on the wall, the rolling brush mechanism (11), the cleaning nozzle mechanism (14), and the squeezing roller mechanism (12) are in turn from front to back, from bottom to top Arranged in sequence between the first guide wheel (8) and the rear guide wheel (13), the brushes in the rolling brush mechanism (11) are symmetrically arranged on the upper and lower sides of the crawler mop (7); The rollers in the squeezing roller mechanism (12) are symmetrically arranged on the upper and lower sides of the crawler mop (7).
The intelligent automatic sweeping and mopping robot according to claim 1, characterized in that the thermal blowing mechanism (9) comprises a head cover, a fan installed at the end of the head cover, a fan motor that drives the fan to work, and a fan motor installed on the end of the head cover. The electric heating wire in the head cover is provided with a plurality of rows of air outlet holes with gradually increasing diameters, and the fan motor is connected with the controller.
The intelligent automatic sweeping and mopping robot according to claim 1, characterized in that the walking mechanism includes a universal drive wheel (3) installed at the front end of the machine box (1), and installed on the machine box (1). ) A driven wheel (10) at the rear end and a driving device for providing power to the universal driving wheel (3).
The intelligent automatic sweeping and mopping robot according to claim 1, wherein the cleaning mechanism includes a sweeping brush and a vacuum cleaner, and both the sweeping brush and the vacuum cleaner are connected to the controller.
The intelligent automatic sweeping and mopping robot according to claim 6, characterized in that the sweeping brush is a drum-type sweeping brush, comprising a drum and a brush installed on the drum, the diameter of the drum plus the brush The thickness is greater than the diameter of the universal drive wheel, and a spring is installed between the drum and the machine box (1).