CN107320022A - Toilet intelligent cleaning robot - Google Patents
Toilet intelligent cleaning robot Download PDFInfo
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- CN107320022A CN107320022A CN201710767705.XA CN201710767705A CN107320022A CN 107320022 A CN107320022 A CN 107320022A CN 201710767705 A CN201710767705 A CN 201710767705A CN 107320022 A CN107320022 A CN 107320022A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 46
- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 238000004659 sterilization and disinfection Methods 0.000 claims abstract description 7
- 230000001954 sterilising effect Effects 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 33
- 239000000428 dust Substances 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 13
- 230000002070 germicidal effect Effects 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 239000003086 colorant Substances 0.000 claims description 3
- 238000001035 drying Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 230000005622 photoelectricity Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000006855 networking Effects 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 claims 1
- 238000007726 management method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 241000894006 Bacteria Species 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241001672694 Citrus reticulata Species 0.000 description 1
- 241000700605 Viruses Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000002155 anti-virotic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 239000000839 emulsion Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004816 latex Substances 0.000 description 1
- 229920000126 latex Polymers 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 244000005700 microbiome Species 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4036—Parts or details of the surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/405—Machines using UV-lamps, IR-lamps, ultrasound or plasma cleaning
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4063—Driving means; Transmission means therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4072—Arrangement of castors or wheels
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of toilet Intelligent cleaning robot, including：Field positioning system, robot control and drive system, battery unit and battery management module, sprinkling system, warm blower system, mechanical arm, state of toilet detecting system, debris cleaning systems, path identifying system, obstacle avoidance system, voice system, remote monitoring system, automatic charging system；The present invention utilizes omni-directional wheel, and control is easy in robot, and operation is easy, realize toilet closet stall, the cleaning of urinal and floor cleaning, the ultraviolet sterilization instrument carried can also realize the disinfection to toilet, greatly reduce the difficulty manually cleaned, improve operating efficiency.
Description
Technical field
The present invention relates to ground cleaning device field, more particularly to a kind of toilet Intelligent cleaning robot.
Background technology
With the development of science and technology and robot technology, all trades and professions all occur in that the figure of robot.Family sweeps
Floor-washing robot has appeared in the family of consumer very early.Sweeping robot is because of its cheap price and practical function
Extensively pursued by consumer.But nowadays but can also be really instead of being accomplished manually between sanitation and hygiene without a robot
Work.Similar to the various flows of the people such as airport, railway station, school, government bodies very big place, toilet cleaning just becomes
It is most important.
Traditional artificial cleaning mode is and with the development of society, fewer and fewer, it is necessary to expend substantial amounts of manpower and materials
People be ready to undertake this work.
On the other hand, especially communal bathroom flow of the people is big, various bacteriums and virus is easily grown, if sterilized not in time
Antivirus can cause serious social influence.
Therefore, that develops that a economic, practical toilet Intelligent cleaning robot just becomes is most important, and can
There is certain cleaning ability while intelligent cleaning toilet to the microorganism and bacterium in air.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of toilet Intelligent cleaning machine
People.
For achieving the above object, technical solution of the present invention is as follows：
A kind of toilet Intelligent cleaning robot, including：
Field positioning system, for obtaining exact position of the robot in toilet；
Robot is controlled and drive system, for calculating robot's whole audience position, the work and drive of coordination subsystems
Each power model inside mobile robot；
Battery unit and battery management module, for providing the required electric energy of robot operation and the quantity of electric charge to battery
Estimation；
Sprinkling system, for cleaning urinal；
Warm blower system, including heater and wind model equipment, the wet and slippery accomodation ground for drying；
Mechanical arm, for the position for adjusting shower nozzle and the urinal door for opening toilet, includes the machine of two Three Degree Of Freedoms
Tool arm, is separately mounted to the both sides of machine human body, and the end of mechanical arm is provided with shower nozzle；
State of toilet detecting system, including detection of air quality module and ultraviolet germicidal lamp, for toilet air
The detection and sterilization of quality；
Debris cleaning systems, including a dust exhaust apparatus and a dust disposable box, for cleaning the dust on ground；
Path identifying system, the pre-determined route and identification urinal mark on ground are attached to for recognizing；
Obstacle avoidance system, including ultrasonic distance measuring module and infrared module, for robot obstacle-avoiding and detection pedestrian；
Voice system, including sound extraction module, loudspeaker and signal processing module, the voice for machine person to person are handed over
Mutually；
Remote monitoring system, the running status for each toilet robot of user's remote monitoring；
Automatic charging system, including ultrasonic wave locating module and radio energy-transmitting module, for robot in battery electric quantity not
Charging work is automatically performed when sufficient.
It is preferred that, it is high-precision that the field positioning system includes four omni-directional wheels, two encoders and a single shaft
Gyroscope is spent, the encoder is separately mounted to above two omni-directional wheels, and the high accuracy gyroscope instrument is arranged on omni-directional wheel
On controller, the omni-directional wheel controller is arranged on the centre of 4 omni-directional wheels, and robot chassis is circle, the omni-directional wheel
The inside of circular base plate is distributed in, four omni-directional wheels are mutually orthogonal, the line of two wheels on positive direction diagonal
It is mutually perpendicular to, the omni-directional wheel chassis is an independent module, is connected with other systems by mechanical snap, the omni-directional wheel
Directly it is connected by flange with motor, omni-directional wheel controller is used to make robot complete according to specific route by program
Motion.
It is preferred that, robot control and drive system include base plate electric machine driver, warm air system driver, machine
Tool arm motor driver and robot main control module.
It is preferred that, sprinkling system includes water storage box, high-pressure mini water pump, control unit, magnetic valve water tap, spray
Penetrate joint, control unit control the magnetic valve water tap robot close to when open tap, the magnetic valve water tap
Be provided with solenoid valve controller, proximity switch, the controller include power module, electromagnetic valve driver, proximity transducer, with
And single-chip microcomputer, the water storage box is located at the top of whole robot, and one end of the high-pressure mini water pump is connected with water storage box,
The other end connects jet-sub, and the jet-sub is arranged on above a multivariant mechanical arm.
It is preferred that, in the warm blower system, heater includes adding thermal resistance, and wind model equipment is included at a high speed
Motor, fan blade, air channel, the air channel are arranged on the front side of robot fuselage.
It is preferred that, in state of toilet detecting system, the ultraviolet germicidal lamp is arranged on robot fuselage side
Face, detection of air quality module is gas sensor.
It is preferred that, the debris cleaning systems are arranged on the bottommost of robot, including dust exhaust apparatus and
One dust disposable box, the dust exhaust apparatus is vacuum integrated box.
It is preferred that, the path identifying system uses line walking sensor, and the sensor belongs to photoelectricity diffusing reflection
Communicated between the line walking sensor of formula, inspection system and the robot main control module by CAN, described urinal position
Front end center position the marks of different colours is installed, the inspection system is by the color of distinguishing mark thing so as to judging
Urinal is closet stall or urinal.
It is preferred that, the remote monitoring system is used for monitoring of the controllers to robot, the monitoring system
Communication mode used is GPRS module, and the GPRS module completion group is all passed through for all robots of same system
Net.
It is preferred that, described obstacle avoidance system includes ultrasonic sensor and infrared sensor, and the ultrasonic wave is passed
Sensor is respectively mounted the surrounding with robot, and the infrared sensor is arranged on robot front end.
Beneficial effects of the present invention are：The present invention utilizes omni-directional wheel, and control is easy in robot, and operation is easy, realizes and defends
Closet stall, the cleaning of urinal and floor cleaning between life, the ultraviolet sterilization instrument carried can also be realized to toilet
Disinfection, greatly reduce the difficulty manually cleaned, improve operating efficiency.
Brief description of the drawings
Fig. 1 is the module map of the present invention.
Fig. 2 is toilet clean robot structural representation in the embodiment of the present invention.
Wherein, 1 is obstacle avoidance system, and 2 be lid, and 3 be water storage box, and 4 be jet-sub, and 5 be mechanical arm, and 6 be robot
Control and drive system, 7 be battery unit and battery management module for warm blower system, 8, and 9 be omni-directional wheel.
Embodiment
Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through specific realities different in addition
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.
A kind of toilet Intelligent cleaning robot, including：
Field positioning system, for obtaining exact position of the robot in toilet；The field positioning system includes
Four omni-directional wheels, two encoders and a single shaft high accuracy gyroscope instrument, the encoder are separately mounted to two omnidirectionals
Wheel top, the high accuracy gyroscope instrument is arranged on omni-directional wheel controller, and the omni-directional wheel controller is arranged on 4 omni-directional wheels
Centre, robot chassis is circle, and the omni-directional wheel is distributed in the inside of circular base plate, and four omni-directional wheels are mutually orthogonal,
The line of two wheels on positive direction diagonal is mutually perpendicular to, and the omni-directional wheel chassis is an independent module, with
Other systems are connected by mechanical snap, and the omni-directional wheel is directly connected by flange with motor, and omni-directional wheel controller is used
In by program make robot according to specific route complete move.The field positioning system can with output device people relative to
The absolute coordinate of toilet, the motion control of auxiliary robot.
Robot is controlled and drive system, for calculating robot's whole audience position, the work and drive of coordination subsystems
Each power model inside mobile robot；Robot is controlled and drive system includes base plate electric machine driver, warm air system and driven
Dynamic device, mechanical arm motor driver and robot main control module.The robot control and drive system include robot control
Making sheet, collecting sensor signal board, robot whole audience location information processing card, remote monitor card.
Battery unit and battery management module, for providing the required electric energy of robot operation and the quantity of electric charge to battery
Estimation；Power-supply system is 24V voltages, and battery used is lead accumulator.Particularly, the power-supply system is arranged on chassis
Side.It is completely waterproof between the power-supply system and other systems to keep apart.
Sprinkling system, for cleaning urinal；Sprinkling system includes water storage box, high-pressure mini water pump, control unit, magnetic valve
Tap, jet-sub, control unit control the magnetic valve water tap robot close to when open tap, the electromagnetism
Valve (water tap) head is provided with solenoid valve controller, proximity switch, and proximity switch connects on the metope where tap when described
Nearly switch detects robot and cistern water filling of the magnetic valve to robot is automatically opened up after tap.The controller bag
Power module, electromagnetic valve driver, proximity transducer and single-chip microcomputer are included, the water storage box is located at the most upper of whole robot
End, one end of the high-pressure mini water pump is connected with water storage box, and other end connection jet-sub, the jet-sub is arranged on one
Above individual multivariant mechanical arm.Liquid level sensor, robot when water shortage are housed inside the cistern
Can be according to backtracking automatic watering.After the robot automatic watering, work unfinished before being returned according to path
Place, proceed clean up task.Cistern has two interfaces, and one is clear water inlet, and another is clear water delivery outlet
It is joined directly together with high-pressure mini water pump.
Warm blower system, including heater and wind model equipment, the wet and slippery accomodation ground for drying；Heater bag
Adding thermal resistance is included, wind model equipment includes high-speed motor, fan blade, air channel, and the air channel is arranged on before robot fuselage
Side.Predominantly detect front whether there is personnel.The wind speed and temperature of warm air system be it is controllable, can be by automatically controlled system of the robot
System is controlled.In the technical scheme, the air channel of warm wind output can be adjusted, and particularly, the regulation of wind speed is logical
The duct motor installed in robot interior is overregulated to control.On the other hand, the temperature adjustment of warm wind is by control
The heating resistor in portion is come what is adjusted, and the heating resistor is arranged on the port of export of exhausting.
Mechanical arm, for the position for adjusting shower nozzle and the urinal door for opening toilet, includes the machine of two Three Degree Of Freedoms
Tool arm, is separately mounted to the both sides of machine human body, and the end of mechanical arm is provided with shower nozzle；Each of three-freedom mechanical arm
The free degree all carries position feedback device by a Serve Motor Control, the afterbody of the servomotor.
State of toilet detecting system, including detection of air quality module and ultraviolet germicidal lamp, for toilet air
The detection and sterilization of quality；The ultraviolet germicidal lamp is arranged on robot fuselage side, and detection of air quality module is gas
Sensor.
Debris cleaning systems, for cleaning the dust on ground；The debris cleaning systems are arranged on the most bottom of robot
Portion, including a dust exhaust apparatus and a dust disposable box, the dust exhaust apparatus are vacuum integrated box.
Path identifying system, the pre-determined route and identification urinal mark on ground are attached to for recognizing；The Path Recognition
System uses line walking sensor, and the sensor belongs to the line walking sensor of photoelectricity diffusing reflection formula, the inspection system and machine
Communicated between people's main control module by CAN, the mark of different colours is installed in the front end center position of described urinal position
Thing, the inspection system is by the color of distinguishing mark thing so as to judge that urinal is closet stall or urinal.The line walking
The narrow band pass filter of corresponding color is respectively arranged with the light-sensitive device of sensor, and light source is made all using modulation light output
Sensor can effectively keep out the interference of ambient light, can be worked under complex environment and strong light.The sensor has environment mark
Determine function, user quickly sensor can be demarcated under new environment.Robot can be automatically performed adjacent man's health
Between and ladies' room cleaning.There is the road of a black of latex brush on ground face between men's room and ladies' room
Footpath.All paths are to use black emulsion paint on the ground on accomodation ground.Described path planning algorithm root first
The robot coordinate position returned according to field positioning system feedback is updated and corrected to the coordinate of robot.
Obstacle avoidance system, including ultrasonic distance measuring module and infrared module, for robot obstacle-avoiding and detection pedestrian；
Voice system, including sound extraction module, loudspeaker and signal processing module, the voice for machine person to person are handed over
Mutually；The voice system can distinguish the control command of mandarin, and the voice system can be by itself error code voice
Mode export.
Remote monitoring system, the running status for each toilet robot of user's remote monitoring；The remote monitoring
System is used for monitoring of the controllers to robot, and the communication mode used in the monitoring system is GPRS module, for same
All robots of system all complete networking by the GPRS module.
Automatic charging system, including ultrasonic wave locating module and radio energy-transmitting module, for robot in battery electric quantity not
Charging work is automatically performed when sufficient.
Described obstacle avoidance system include ultrasonic sensor and infrared sensor, the ultrasonic sensor be respectively mounted with
The surrounding of robot, the infrared sensor is arranged on robot front end.
Fig. 2 is toilet clean robot structural representation in the embodiment of the present invention.As shown in Fig. 2 the head of robot
Just risen provided with obstacle avoidance system 1, including ultrasonic distance-measuring sensor and infrared wear, robot head is provided with lid 2, the cistern
Lid by a Serve Motor Control, can control its open or close.Opening cover inside is water storage box 3, described to store
Water tank 3 is located at the top of whole robot, and one end of the high-pressure mini water pump is connected with water storage box 3, other end connection spray
Joint 4 is penetrated, the jet-sub 4 is arranged on above a multivariant mechanical arm 5.The lower section of mechanical arm 5 is robot
Control and drive system 6, robot is controlled and the lower section of drive system 6 is warm blower system 7, and it is battery to warm up the lower section of blower system 7
Unit and battery management module 8, robot circular base plate are provided with omni-directional wheel 9.Each omni-directional wheel connects a servo by flange
Motor.The utilization on omni-directional wheel chassis can allow the robot to move towards any one direction in the case of non-rotary.Need
It is noted that material used in robot chassis is aluminium alloy, robot chassis is shaped as circle.Particularly, robot
Chassis be an independent system, chassis only receives the control signal sent from control system.The high-precision top of the single shaft
The installation site of spiral shell instrument is at the geometric center on the robot chassis.Particularly, the code-disc is photoelectric code disk, each code
Disk is all arranged on above an omni-directional wheel.Shock-damping structure is carried above each group of code-disc.
The mode of operation of robot has two kinds.The first mode of operation is cleaning urinal, and now robot is according to toilet
The set route in road surface is advanced, and is sequentially completed the cleaning of urinal；Second of mode of operation is cleaning ground, now robot
According to the initial point position of setting, completed according to self-contained whole audience alignment system to cleaner of the accomodation ground without dead angle
Make.
Particularly, in this embodiment, on the vacant ground in toilet than larger toilet, the robot is being swept
After urinal, clean up task can be started to accomodation ground.According to path planning system, all ground can be completed
Clean up task.
Particularly, in this embodiment, the toilet clean robot can be according to the different frequency of use of toilet
The frequency cleaned the toilet is set.The robot of the toilet just enters park mode after task completing once sweep, etc.
The beginning of duty cycle next time.
It should be noted that the toilet Intelligent cleaning robot carries fault diagnosis system, the fault diagnosis system
Whether system can working properly with subsystems in diagnostic system.When faulty generation, the fault diagnosis system can pass through
Diagnostics interface exports failure code.Equally, failure code can be by being wirelessly transmitted to Surveillance center.
It should be noted that the toilet Intelligent cleaning robot carries battery management system.Special battery management
System can control the discharge and recharge and electric charge estimation of battery so that the motion of robot more efficient energy-saving, security is also carried
It is high.It should be noted that the charging system of the robot is wireless charging mode, when robot detects not enough power supply
The start position of robot can be automatically returned to.Particularly, when robot returns to the start position of robot, ultrasound is utilized
The position of ripple positioner correction robot navigates to charge position.The charging of robot is completed using radio energy-transmitting mode.
It should be noted that robot carries wireless communication system, Surveillance center is set in building monitoring room, can be monitored
The toilet clean robot of all working in one system.The state of each clean robot can feed back to the system
In.The content of feedback includes the running status of robot, the state and robot itself of each robot working environment
Parameter etc..Particularly, the monitoring system carries acoustic-optic alarm, when the Data Detection that system is fed back according to each robot is arrived
Wherein some robot can be with automatic alarm after breaking down.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, all those of ordinary skill in the art without departing from disclosed spirit with being completed under technological thought
All equivalent modifications or change, should by the present invention claim be covered.
Claims (10)
1. a kind of toilet Intelligent cleaning robot, it is characterised in that including：
Field positioning system, for obtaining exact position of the robot in toilet；
Robot is controlled and drive system, for calculating robot's whole audience position, the work of coordination subsystems and driving machine
Each power model inside device people；
Battery unit and battery management module, for providing the required electric energy of robot operation and estimating to the quantity of electric charge of battery
Meter；
Sprinkling system, for cleaning urinal；
Warm blower system, including heater and wind model equipment, the wet and slippery accomodation ground for drying；
Mechanical arm, for the position for adjusting shower nozzle and the urinal door for opening toilet, includes the mechanical arm of two Three Degree Of Freedoms,
The both sides of machine human body are separately mounted to, the end of mechanical arm is provided with shower nozzle；
State of toilet detecting system, including detection of air quality module and ultraviolet germicidal lamp, for toilet air quality
Detection and sterilization；
Debris cleaning systems, including a dust exhaust apparatus and a dust disposable box, for cleaning the dust on ground；
Path identifying system, the pre-determined route and identification urinal mark on ground are attached to for recognizing；
Obstacle avoidance system, including ultrasonic distance measuring module and infrared module, for robot obstacle-avoiding and detection pedestrian；
Voice system, including sound extraction module, loudspeaker and signal processing module, the interactive voice for machine person to person；
Remote monitoring system, the running status for each toilet robot of user's remote monitoring；
Automatic charging system, including ultrasonic wave locating module and radio energy-transmitting module, for robot when battery electric quantity is not enough
It is automatically performed charging work.
2. toilet Intelligent cleaning robot according to claim 1, it is characterised in that：The field positioning system includes
Four omni-directional wheels, two encoders and a single shaft high accuracy gyroscope instrument, the encoder are separately mounted to two omnidirectionals
Wheel top, the high accuracy gyroscope instrument is arranged on omni-directional wheel controller, and the omni-directional wheel controller is arranged on 4 omni-directional wheels
Centre, robot chassis is circle, and the omni-directional wheel is distributed in the inside of circular base plate, and four omni-directional wheels are mutually orthogonal,
The line of two wheels on positive direction diagonal is mutually perpendicular to, and the omni-directional wheel chassis is an independent module, with
Other systems are connected by mechanical snap, and the omni-directional wheel is directly connected by flange with motor, and omni-directional wheel controller is used
In by program make robot according to specific route complete move.
3. toilet Intelligent cleaning robot according to claim 1, it is characterised in that：Robot is controlled and drive system
Including base plate electric machine driver, warm air system driver, mechanical arm motor driver and robot main control module.
4. toilet Intelligent cleaning robot according to claim 1, it is characterised in that：Sprinkling system include water storage box,
High-pressure mini water pump, control unit, magnetic valve water tap, jet-sub, control unit control the magnetic valve water tap in machine
Device people close to when open tap, the magnetic valve water tap is provided with solenoid valve controller, proximity switch, the controller bag
Power module, electromagnetic valve driver, proximity transducer and single-chip microcomputer are included, the water storage box is located at the most upper of whole robot
End, one end of the high-pressure mini water pump is connected with water storage box, and other end connection jet-sub, the jet-sub is arranged on one
Above individual multivariant mechanical arm.
5. toilet Intelligent cleaning robot according to claim 1, it is characterised in that：In the warm blower system, plus
Hot device includes adding thermal resistance, and wind model equipment includes high-speed motor, fan blade, air channel, and it is man-machine that the air channel is arranged on machine
The front side of body.
6. toilet Intelligent cleaning robot according to claim 1, it is characterised in that：State of toilet detecting system
In, the ultraviolet germicidal lamp is arranged on robot fuselage side, and detection of air quality module is gas sensor.
7. toilet Intelligent cleaning robot according to claim 1, it is characterised in that：The debris cleaning systems are installed
In the bottommost of robot, including a dust exhaust apparatus and a dust disposable box, the dust exhaust apparatus is vacuum integrated box.
8. toilet Intelligent cleaning robot according to claim 1, it is characterised in that：The path identifying system is used
Line walking sensor, the sensor belongs to the line walking sensor of photoelectricity diffusing reflection formula, the inspection system and robot master control mould
Communicated between block by CAN, the mark of different colours is installed in the front end center position of described urinal position, described to patrol
Linear system system is by the color of distinguishing mark thing so as to judge that urinal is closet stall or urinal.
9. toilet Intelligent cleaning robot according to claim 1, it is characterised in that：The remote monitoring system is used for
Monitoring of the controllers to robot, the communication mode used in the monitoring system is GPRS module, all for same system
The robot all pass through the GPRS module complete networking.
10. toilet Intelligent cleaning robot according to claim 1, it is characterised in that：Described obstacle avoidance system includes
Ultrasonic sensor and infrared sensor, the ultrasonic sensor are respectively mounted the surrounding with robot, the infrared sensing
Device is arranged on robot front end.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710767705.XA CN107320022A (en) | 2017-08-31 | 2017-08-31 | Toilet intelligent cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710767705.XA CN107320022A (en) | 2017-08-31 | 2017-08-31 | Toilet intelligent cleaning robot |
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| CN107320022A true CN107320022A (en) | 2017-11-07 |
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| CN201710767705.XA Pending CN107320022A (en) | 2017-08-31 | 2017-08-31 | Toilet intelligent cleaning robot |
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| CN108005204A (en) * | 2018-01-11 | 2018-05-08 | 邵丽丹 | A kind of urinal automatic flushing device |
| CN108049474A (en) * | 2018-01-11 | 2018-05-18 | 邵丽丹 | A kind of urinal automatic rinser device people |
| CN108344625A (en) * | 2018-01-05 | 2018-07-31 | 中山大学 | A kind of During Geotechnical Tests intelligently level sensing control system |
| CN108717296A (en) * | 2018-06-05 | 2018-10-30 | 北京智行者科技有限公司 | Control method for vehicle |
| CN108784538A (en) * | 2018-06-27 | 2018-11-13 | 芜湖易迅生产力促进中心有限责任公司 | A kind of bathroom is with Intelligent sweeping machine device people |
| CN108852258A (en) * | 2018-08-29 | 2018-11-23 | 嗅联网环境工程技术有限公司 | A kind of urinal cleaning systems for lavatory robot |
| CN109481707A (en) * | 2018-11-01 | 2019-03-19 | 华南智能机器人创新研究院 | A kind of interior disinfection robot |
| CN110565989A (en) * | 2019-07-27 | 2019-12-13 | 中建科技有限公司 | vacuum water-saving automatic management toilet |
| WO2020060507A1 (en) * | 2018-09-21 | 2020-03-26 | Thales Electricus Enerji Uretim San. Ve Tic. A.S. | A cleaning robot |
| CN110992809A (en) * | 2019-12-19 | 2020-04-10 | 佛山科学技术学院 | Intelligent education robot |
| CN111905135A (en) * | 2020-07-14 | 2020-11-10 | 泉州师范学院 | Sterilizing device based on artificial intelligence disinfection robot |
| CN112471981A (en) * | 2020-11-24 | 2021-03-12 | 兰州理工大学 | Multifunctional household cleaning robot for toilet |
| CN113031609A (en) * | 2021-03-09 | 2021-06-25 | 金陵科技学院 | Automatic moving disinfection trolley based on machine vision |
| CN113069574A (en) * | 2020-01-06 | 2021-07-06 | 丰疆智能(深圳)有限公司 | Self-propelled intelligent cleaning robot |
| CN113768418A (en) * | 2021-08-24 | 2021-12-10 | 西安交通大学 | Multifunctional ladder stand cleaning robot based on code disc and gyroscope positioning |
| CN114343488A (en) * | 2021-12-16 | 2022-04-15 | 深圳市安杰信息科技有限公司 | Intelligent cleaning robot and intelligent cleaning system |
| US11844872B2 (en) | 2021-01-15 | 2023-12-19 | Honeywell International Inc. | Mobile sanitization systems and methods |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108344625A (en) * | 2018-01-05 | 2018-07-31 | 中山大学 | A kind of During Geotechnical Tests intelligently level sensing control system |
| CN108005204A (en) * | 2018-01-11 | 2018-05-08 | 邵丽丹 | A kind of urinal automatic flushing device |
| CN108049474A (en) * | 2018-01-11 | 2018-05-18 | 邵丽丹 | A kind of urinal automatic rinser device people |
| CN108717296A (en) * | 2018-06-05 | 2018-10-30 | 北京智行者科技有限公司 | Control method for vehicle |
| CN108784538A (en) * | 2018-06-27 | 2018-11-13 | 芜湖易迅生产力促进中心有限责任公司 | A kind of bathroom is with Intelligent sweeping machine device people |
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| WO2020060507A1 (en) * | 2018-09-21 | 2020-03-26 | Thales Electricus Enerji Uretim San. Ve Tic. A.S. | A cleaning robot |
| CN109481707A (en) * | 2018-11-01 | 2019-03-19 | 华南智能机器人创新研究院 | A kind of interior disinfection robot |
| CN110565989A (en) * | 2019-07-27 | 2019-12-13 | 中建科技有限公司 | vacuum water-saving automatic management toilet |
| CN110992809A (en) * | 2019-12-19 | 2020-04-10 | 佛山科学技术学院 | Intelligent education robot |
| CN113069574A (en) * | 2020-01-06 | 2021-07-06 | 丰疆智能(深圳)有限公司 | Self-propelled intelligent cleaning robot |
| CN111905135A (en) * | 2020-07-14 | 2020-11-10 | 泉州师范学院 | Sterilizing device based on artificial intelligence disinfection robot |
| CN112471981A (en) * | 2020-11-24 | 2021-03-12 | 兰州理工大学 | Multifunctional household cleaning robot for toilet |
| US11844872B2 (en) | 2021-01-15 | 2023-12-19 | Honeywell International Inc. | Mobile sanitization systems and methods |
| CN113031609A (en) * | 2021-03-09 | 2021-06-25 | 金陵科技学院 | Automatic moving disinfection trolley based on machine vision |
| CN113768418A (en) * | 2021-08-24 | 2021-12-10 | 西安交通大学 | Multifunctional ladder stand cleaning robot based on code disc and gyroscope positioning |
| CN114343488A (en) * | 2021-12-16 | 2022-04-15 | 深圳市安杰信息科技有限公司 | Intelligent cleaning robot and intelligent cleaning system |
| CN114343488B (en) * | 2021-12-16 | 2023-09-08 | 深圳市安杰信息科技有限公司 | Intelligent cleaning robot and intelligent cleaning system |
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