CN108065870A - A kind of ground cleaning robot and its control method - Google Patents
A kind of ground cleaning robot and its control method Download PDFInfo
- Publication number
- CN108065870A CN108065870A CN201810097121.0A CN201810097121A CN108065870A CN 108065870 A CN108065870 A CN 108065870A CN 201810097121 A CN201810097121 A CN 201810097121A CN 108065870 A CN108065870 A CN 108065870A
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- housing
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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
- A47L11/24—Floor-sweeping 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
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention relates to a kind of ground cleaning robot and its control methods, including housing and arranged on the in vivo controller of shell and power supply, the cleaning mechanism being connected with controller, walking mechanism, sensing mechanism and charging mechanism are set in housing, controller, cleaning mechanism, walking mechanism, charging mechanism and power supply are equipped with, and cleaning mechanism includes sweep the floor unit and the unit that mops floor；The water storage cavity that several injector heads are equipped with towards hull outside is set in housing, sets push rod in water storage cavity, push rod is connected by the first motor with controller；Water storage cavity and the unit matching that mops floor.The present invention completes basic cleaning, walking function, sensing mechanism feedback information trigger controller；Cleaning mechanism is separated sweep the floor unit and the unit that mops floor, with controller the first motor, push rod is controlled to release the water in water storage cavity, the unit completion that mops floor is coordinated to drag and smears operation, it can complete the work of cleaning dust, sundries, also can mop floor in special area, it reduces ground to keep a public place clean difficulty, mitigates the burden of cleaning.
Description
Technical field
The present invention relates to the technical fields of the machinery of covering on cleaning floor, carpet, furniture, wall or wall, especially relate to
And a kind of ground cleaning robot and its control method.
Background technology
Sweeping robot is one kind of controlling intelligent household appliances, using popularizing the most, can rely on certain artificial intelligence certainly
It is dynamic to complete floor cleaning work in the room, it is general to be swept using brush and vacuum mode, by ground sundries first receive into itself
Rubbish storage box, so as to complete the function of land clearing.
Functionally, sweeping robot is equivalent to the automatic cleaner with simple path planning and obstacle,
Floor sweeping function is essentially identical with dust catcher, is gathered dust to the opening of body suction area by hairbrush, high-power fan generates
Dust debris are sucked dust sucting pipeline by low pressure suction, and with the movement of body, dust, the sundries under body movement path are sucked
In body, filtering is remained in stored ash box.
However, as set forth, the sweeping robot of the prior art only has the simple function of " sweeping the floor ", many people exist
Sweeping robot is completed to clean after the work of dust, sundries, it is necessary to drag smearing to swept region again, ensures ground
The light in face, cleaning, for general family, it is not difficult matter to carry out this subsequent job in the region of open type, but
Often there are many dark dead zones in family, such as bed bottom, sofa bottom, under cabinet, simple cleaning dust, sundries
There is no fundamentally solve the problems, such as to sweep.
The content of the invention
In order to solve the problems in the existing technology, the present invention provides ground cleaning robot and its control of a kind of optimization
Method processed, robot can complete to clean the work of dust, sundries, can also carry out dragging the operation smeared in special area, reduce ground
Face is kept a public place clean difficulty, mitigates the burden of cleaning.
The technical solution adopted in the present invention is a kind of ground cleaning robot, including housing and arranged on the in vivo control of shell
Device and power supply processed, the housing is interior to be equipped with cleaning mechanism, walking mechanism, sensing mechanism and the charging mechanism being connected with controller,
The controller, cleaning mechanism, walking mechanism, charging mechanism and the power supply are equipped with, and the cleaning mechanism includes sweeping the floor
Unit and the unit that mops floor；Water storage cavity is equipped in the housing, the water storage cavity is equipped with several injector heads towards hull outside, described
Cooperation is equipped with push rod in water storage cavity, and the push rod is connected by the first motor with controller；The water storage cavity and the list that mops floor
Member is equipped with.
Preferably, the unit of sweeping the floor includes the second motor of at least one for being connected with controller, second motor it is defeated
Shaft runs through housing bottom, and the output shaft of the lower housing portion is equipped with hairbrush, cavity is equipped in the housing, the cavity
Adsorption orifice is arranged on the housing bottom of hairbrush side, and the miniature suction ventilator being connected with controller is equipped in the cavity.
Preferably, the cavity includes the inner wall of the main cavity of space connection and auxiliary cavity, the main cavity and auxiliary cavity
On be sticked and have electrostatic paster.
Preferably, the unit that mops floor includes the returning face plate for being hingedly arranged on housing bottom, the hinged side of the returning face plate
Both ends are equipped with sheet metal, and the housing of the returning face plate both sides is equipped with the electromagnetic disc being connected with the controller, the metal
Piece is equipped with the electromagnetic disc；Gas bar is equipped between the returning face plate and housing；The bottom of the returning face plate is equipped with cleaning part；
The water storage cavity is arranged in the housing on the returning face plate top.
Preferably, the walking mechanism includes universal wheel, and the universal wheel is arranged on the shell in the front of the unit that mops floor
Body bottom margin, the housing bottom for mopping floor unit both sides are respectively equipped with road wheel, and the road wheel is respectively connected to the 3rd
Motor and the 4th motor, the 3rd motor and the 4th motor are connected to controller.
Preferably, the push rod includes the sealing, seal receptacle, the body of rod and the connecting portion that are sequentially arranged, the sealing court
It is set to water storage cavity inside, the connecting portion is connected to the output terminal of the first motor.
Preferably, internal thread is equipped in the water storage cavity, the seal receptacle is equipped with external screw thread, the internal thread and external screw thread
It is equipped with.
Preferably, regulating valve is equipped at the injector head, the regulating valve is connected with controller.
Preferably, the sensing mechanism includes range sensor and optical sensor, is equipped with and distance on front side of the housing
Sensor be equipped with apart from sensing hole, the case top front end is equipped with the illumination being equipped with optical sensor and senses
Hole.
A kind of control method using the ground cleaning robot, the control method comprise the following steps：
Step 1：Water storage cavity water intaking empties cavity, and installation water storage cavity, cavity start robot；Controller control cleaning mechanism
Sweep the floor unit, walking mechanism and sensing mechanism is started to work；Controller controls the second motor band electric brush to rotate, micro-cleaner
Hairbrush is brushed lightly the dust swept and is swept into cavity by adsorption orifice by work；
Step 2：Sensing mechanism real-time Transmission robot and the distance of sweep-out pattern front obstacle, when distance is 0, controller
The 3rd motor and the 4th motor is controlled to carry out steering operation, universal wheel retinue according to the position of barrier；Sensing mechanism passes in real time
The intensity of illumination of defeated robot present position；
Step 3：In units of 1 second, the difference of the intensity of illumination for the robot present position that sensing mechanism obtains is △ between adjacent 1 second
E；When △ E are more than or equal to threshold value, step 4 is carried out, otherwise keeps current working status or shutdown；
Step 4：Controller control electromagnetic disc power-off demagnetization, the unit that mops floor are started to work, and unit of sweeping the floor is closed；Returning face plate opens,
Cleaning part lands, and controller controls the first motor to act on water storage cavity and sprinkles water towards ground, and cleaning part cleans the ground after watering；
Step 5：Sensing mechanism real-time Transmission robot and the distance of sweep-out pattern front obstacle, when distance is 0, controller
The 3rd motor and the 4th motor is controlled to carry out steering operation, universal wheel retinue according to the position of barrier；Sensing mechanism passes in real time
The intensity of illumination of defeated robot present position；Carry out step 3.
The present invention provides the ground cleaning robot and its control method of a kind of optimization, by setting and controlling in housing
Power supply, cleaning mechanism, walking mechanism, sensing mechanism and the charging mechanism of device connection processed complete basic cleaning, the walking of robot
Function, and pass through sensing mechanism feedback information trigger controller；Meanwhile cleaning mechanism is arranged to separated sweep the floor and unit and is dragged
Ground unit, and be provided in housing the water storage cavity of several injector heads, with controller by signal control the first motor and then
Control push rod releases the water in water storage cavity according to demand, is dragged with the unit matching completion that mops floor and smears operation, robot is in controller
Control under, can complete to clean the work of dust, sundries, can also mop floor in special area, reduce ground and keep a public place clean difficulty, mitigate
The burden of cleaning.
Description of the drawings
Fig. 1 is the main view schematic diagram of the present invention；
Fig. 2 is the main view schematic diagram that front side housing is omitted when the returning face plate of the present invention closes；
Fig. 3 is the main view schematic diagram that enclosure interior mechanism is omitted when the returning face plate of the present invention is opened；
Fig. 4 is the vertical view figure structure schematic representation of the present invention；
Fig. 5 looks up figure structure schematic representation for the present invention's；
Fig. 6 is the vertical view figure structure schematic representation of the enclosure interior mechanism of the present invention, wherein, electrical connection between dotted line outgoing mechanism or
Communication connection.
Specific embodiment
The present invention is described in further detail with reference to embodiment, but protection scope of the present invention is not limited to
This.
The present invention relates to a kind of ground cleaning robot, controller 2 and power supply 3 including housing 1 and in housing 1,
Cleaning mechanism, walking mechanism, sensing mechanism and the charging mechanism 4 being connected with controller 2, the control are equipped in the housing 1
Device 2, cleaning mechanism, walking mechanism, charging mechanism 4 and the power supply 3 are equipped with, the cleaning mechanism include sweep the floor unit and
Mop floor unit；Water storage cavity 5 is equipped in the housing 1, the water storage cavity 5 is equipped with several injector heads 6 towards 1 outside of housing, described
Cooperation is equipped with push rod 7 in water storage cavity 5, and the push rod 7 is connected by the first motor 8 with controller 2；The water storage cavity 5 with it is described
The unit matching that mops floor is set.
In the present invention, the main body of robot includes a housing 1, and the various mechanisms of entire robot are provided in housing 1
With 2 interactive signal of controller, instruction is assigned by controller 2 and is specifically acted, adult generally should be also collected in controller 2
Machine interactive module etc. is more suitable for applying the module in existing environmental demand.Controller 2 can be completed using general microcontroller
The corresponding function subsequently described, the main technical problems to be solved of non-invention, those skilled in the art can be according to respective demands
Complete basis instrument.
In the present invention, cleaning mechanism is used to receive the control of controller 2, switches different patterns and carries out work of keeping a public place clean to ground
Industry；Walking mechanism is used to receive the control of controller 2, completes the advance on road surface, steering, retreats operation；Sensing mechanism is used for
Corresponding heat transfer agent is sent towards controller 2, and then trigger controller 2 controls the work of other mechanisms；Charging mechanism 4 for pair
Robot completes charging operation, and under normal circumstances, integrated charge module in controller 2 carries out power supply 3 by charging mechanism 4
It charges, is the known technology of those skilled in the art, those skilled in the art can voluntarily be set according to demand.
In the present invention, cleaning mechanism, walking mechanism, charging mechanism 4 are related to charge and discharge, therefore are connected with power supply 3.
In the present invention, cleaning mechanism includes sweep the floor unit and the unit that mops floor, wherein sweeping the floor unit for carrying out ash to ground
The cleaning of trifle in the world object, and mop floor unit and smear operation for ground drag, it is contemplated that the general small volume of robot and power consumption
Amount is big, and the unit that mops floor only receives the trigger signal of controller 2 under specific circumstances and works.
In the present invention, in order to complete to mop floor, unit smears operation for dragging for ground, if being provided with dry-spray in housing 1
First 6 water storage cavity 5 controls the first motor 8 to control push rod 7 by the water in water storage cavity 5 according to need with controller 2 by signal
Release is asked, demand includes water yield and water discharging time, and then is dragged with the unit matching completion that mops floor and smear operation.
In the present invention, robot under control of the controller 2, can complete to clean the work of dust, sundries, also can be in spy
Different region mops floor, and reduces ground and keeps a public place clean difficulty, mitigates the burden of cleaning.
The unit of sweeping the floor includes the second motor of at least one 9 being connected with controller 2, the output shaft of second motor 9
Through 1 bottom of housing, the output shaft of 1 lower part of housing is equipped with hairbrush 10, and cavity, the cavity are equipped in the housing 1
Adsorption orifice 11 be arranged on 1 bottom of housing of 10 side of hairbrush, the miniature suction ventilator being connected with controller 2 is equipped in the cavity
12。
The cavity includes the inner wall of the main cavity 13 and auxiliary cavity 14 of space connection, the main cavity 13 and auxiliary cavity 14
On be sticked and have electrostatic paster 15.
In the present invention, unit of sweeping the floor includes the second motor of at least one 9, that is, corresponds to a hairbrush 10, in actual operation
In, the combination of 2 group of second motor 9 and hairbrush 10 according to demand can be set, increase cleaning dynamics.
In the present invention, rotated with the output shaft band electric brush 10 of the second motor 9, set in 1 bottom of housing of 10 side of hairbrush
Be equipped with adsorption orifice 11, during hairbrush 10 rotates dust and sundries have it is a degree of raise, be provided in the cavities micro-
Type suction ventilator 12, dust and sundries are entered by adsorption orifice 11 in cavity immediately.
In the present invention, it is therefore apparent that air passage is equipped in 1 side of housing, miniature suction ventilator 12 is coordinated to complete absorption dust and miscellaneous
The operation of object, this be skilled addressee readily understands that content.
In the present invention, cavity includes the main cavity 13 and auxiliary cavity 14 of space connection, sets 2 cavitys primarily to depositing
Put enough dust and sundries；Main cavity 13 and auxiliary cavity 14 can be two cavitys in parallel, can also be in main cavity 13
It is interior to include the auxiliary cavity 14 of setting.
In the present invention, in order to increase adsorption capacity, being sticked on the inner wall of main cavity 13 and auxiliary cavity 14 has electrostatic paster
15, it is further fixed for adsorbate, cavity Whole-dismountable is replaced or at least replaces electrostatic paster 15.
In the present invention, in actual operation, filter layer 16, filter layer can also be set between main cavity 13 and auxiliary cavity 14
16 for the larger sundries of filtration volume, i.e., under normal circumstances, for adsorbing larger sundries, auxiliary cavity 14 is used for main cavity 13
Adsorb the small particles such as dust.
The returning face plate 17 of the unit that mops floor including being hingedly arranged on 1 bottom of housing, the two of the hinged side of the returning face plate 17
End is equipped with sheet metal 18, and the housing 1 of 17 both sides of returning face plate is equipped with the electromagnetic disc 19 being connected with the controller 2, institute
Sheet metal 18 is stated to be equipped with the electromagnetic disc 19；Gas bar 20 is equipped between the returning face plate 17 and housing 1；The returning face plate 17
Bottom be equipped with cleaning part 21；The water storage cavity 5 is arranged in the housing 1 on 17 top of returning face plate.
The push rod 7 includes the sealing 22, seal receptacle 23, the body of rod 24 and the connecting portion 25 that are sequentially arranged, the sealing
22 are set towards 5 inside of water storage cavity, and the connecting portion 25 is connected to the output terminal of the first motor 8.
Internal thread is equipped in the water storage cavity 5, the seal receptacle 23 is equipped with external screw thread, the internal thread and external screw thread cooperation
It sets.
Regulating valve 26 is equipped at the injector head 6, the regulating valve 26 is connected with controller 2.
In the present invention, the unit that mops floor actually is equipped with water storage cavity 5 and relational structure, and completion, which is dragged, smears operation.
In the present invention, the unit that mops floor mainly hingedly is arranged on the returning face plate 17 of 1 bottom of housing to be operated by control,
It is provided with to drag the cleaning part 21 smeared in the bottom of returning face plate 17, cleaning part 21 is detachably set, under normal circumstances to be easy to
The nonwoven fabric of cleaning or sponge.
In the present invention, the both ends of the hinged side of returning face plate 17 are equipped with sheet metal 18, are set on the housing 1 of 17 both sides of returning face plate
There is the electromagnetic disc 19 being connected with controller 2, sheet metal 18 is equipped with electromagnetic disc 19, is mopped floor list when controller 2 sends triggering
During the signal of member, electromagnetic disc 19 powers off demagnetization, and sheet metal 18 loses magnetic force, and returning face plate 17 is opened, and cleaning part 21 contacts to earth, and sets simultaneously
The water storage cavity 5 put in the housing 1 on 17 top of returning face plate is sprinkled water, and drenches ground, is wiped by cleaning part 21.
It,, can also be in order to ensure that cleaning part 21 can act on ground completely in actual operating process in the present invention
Small-sized gas bar 20 is set between 1 inside of housing and returning face plate 17, after returning face plate 17 opens, gas bar 20 also struts, and ensures cleaning part 21
Always contact to earth and certain pressure is generated to ground, after the unit that mops floor is stopped, gas bar 20 unlocks first, and returning face plate 17 is drawn
It rises, withdraws.
In the present invention, water storage cavity 5 is equipped with push rod 7, and push rod 7 includes the sealing 22, seal receptacle 23, the bar that are sequentially arranged
Body 24 and connecting portion 25, during real work, the first motor 8 with rotation connection 25 forward or backward, and then sequentially band
Lever body 24, seal receptacle 23 and sealing 22 advance or retreat, in order to ensure the smooth and sealing performance excellent of work,
Internal thread, 23 outside of seal receptacle is set to be equipped with external screw thread in water storage cavity 5.
In the present invention, in order to effectively adjust the water outlet size of water storage cavity 5, and ensure that its is water-tight, therefore set at injector head 6
There is regulating valve 26, by the size of 26 mouthfuls of the valve of control and regulation of controller 2, the list that mops floor has been effectively ensured in and then water yield adjusting
The work efficiency of member.
The walking mechanism includes universal wheel 27, and the universal wheel 27 is arranged on the housing 1 in the front of the unit that mops floor
Bottom margin, 1 bottom of housing of the unit both sides that mop floor are respectively equipped with road wheel 28, and the road wheel 28 is respectively connected to
Three motors 29 and the 4th motor 30, the 3rd motor 29 and the 4th motor 30 are connected to controller 2.
In the present invention, controller 2 controls the 3rd motor 29 and the different of the 4th motor 30 to export and then drive road wheel 28
Toward different directional steerings, it is supported by universal wheel 27 and is normally advanced, when robot touches wall, the control of controller 2 the
The output of three motors 29 and the 4th motor 30, and then with mobile robot cleaning operation is carried out to other paths.This is this field skill
The readily comprehensible content of art personnel, the structure setting of specific walking mechanism can be according to the actual demand of those skilled in the art
Voluntarily set.
The sensing mechanism includes range sensor 31 and optical sensor 32, and 1 front side of housing is equipped with to be passed with distance
Sensor 31 be equipped with apart from sensing hole 33,1 top nose of housing is equipped with the light being equipped with optical sensor 32
According to sensing hole 34.
In the present invention, sensing mechanism mainly includes range sensor 31 and optical sensor 32, and range sensor 31 is used
In coordinating the distance between acquisition robot and barrier in real time apart from sensing hole 33, collision is not generated as far as possible, and illumination passes
Sensor 32 is used to coordinating with illumination sensing hole 34 obtains the region whether robot enters the operation that is not easy to carry out to keep a public place clean in real time, such as
Bed bottom, sofa bottom, under cabinet etc., if so, switching cleaning mechanism is to the corresponding pattern of the unit that mops floor, directly to corresponding region
Drag smearing operation, substitute traditional operation of sweeping the floor, avoid the difficulty that secondary cleaning band comes.
The invention further relates to a kind of control method using the ground cleaning robot, the control method include with
Lower step：
Step 1：Water storage cavity 5 fetches water, empties cavity, and installation water storage cavity 5, cavity start robot；Controller 2 controls cleaner
Unit of sweeping the floor, walking mechanism and the sensing mechanism of structure are started to work；Controller 2 controls the second motor 9 to be rotated with electric brush 10, micro-
The dust brushed lightly hairbrush 10 and swept that works of type dust catcher 12 is swept into cavity by adsorption orifice 11；
Step 2：Sensing mechanism real-time Transmission robot and the distance of sweep-out pattern front obstacle, when distance is 0, controller
2 the 3rd motors 29 of control and the 4th motor 30 carry out steering operation according to the position of barrier, and universal wheel 27 is accompanied；Sensing mechanism
The intensity of illumination of real-time Transmission robot present position；
Step 3：In units of 1 second, the difference of the intensity of illumination for the robot present position that sensing mechanism obtains is △ between adjacent 1 second
E；When △ E are more than or equal to threshold value, step 4 is carried out, otherwise keeps current working status or shutdown；
Step 4：Controller 2 controls electromagnetic disc 19 to power off demagnetization, and the unit that mops floor is started to work, and unit of sweeping the floor is closed；Returning face plate 17
It opens, cleaning part 21 lands, and controller 2 controls the first motor 8 to act on water storage cavity 5 and sprinkles water towards ground, and cleaning part 21 will sprinkle water
It cleans on ground afterwards；
Step 5：Sensing mechanism real-time Transmission robot and the distance of sweep-out pattern front obstacle, when distance is 0, controller
The 3rd motor 29 and the 4th motor 30 is controlled to carry out steering operation according to the position of barrier, universal wheel 27 is accompanied；Sensing mechanism
The intensity of illumination of real-time Transmission robot present position；Carry out step 3.
In the present invention, the initial operation mode of robot is that the dust and sundries on ground are carried out clearly using unit of sweeping the floor
It sweeps, and carries out steering operation in due course；Meanwhile the difference of the intensity of illumination of the robot present position of sensing mechanism acquisition, work as illumination
The difference of intensity is excessive until when being more than or equal to threshold value, switches to the unit that mops floor and drag smearing operation.
In the present invention, since the demand of each cleaning occasion is different, the value of threshold value is different, and under normal circumstances, threshold value takes
300Lx。
The present invention in housing 1 by setting the power supply 3 being connected with controller 2, cleaning mechanism, walking mechanism, sensing machine
Structure and charging mechanism 4, complete basic cleaning, the walking function of robot, and pass through sensing mechanism feedback information trigger controller
2；Meanwhile cleaning mechanism is arranged to separated sweep the floor unit and the unit that mops floor, and several injector heads are provided in housing 1
6 water storage cavity 5, with controller 2 by signal control the first motor 8 and then control push rod 7 by the water in water storage cavity 5 according to demand
It releases, is dragged with the unit matching completion that mops floor and smear operation, robot under the control of the controller, can complete to clean dust, sundries
Work, can also mop floor in special area, reduce ground and keep a public place clean difficulty, mitigate the burden of cleaning.
Claims (10)
1. a kind of ground cleaning robot, be equipped with including housing and arranged on the in vivo controller of shell and power supply, in the housing with
Cleaning mechanism, walking mechanism, sensing mechanism and the charging mechanism of controller connection, the cleaning mechanism, walking mechanism, charger
Structure is equipped with the power supply, it is characterised in that：The cleaning mechanism includes sweep the floor unit and the unit that mops floor；In the housing
Equipped with water storage cavity, the water storage cavity is equipped with several injector heads towards hull outside, and cooperation is described equipped with push rod in the water storage cavity
Push rod is connected by the first motor with controller；The water storage cavity and the unit matching setting that mops floor.
2. a kind of ground cleaning robot according to claim 1, it is characterised in that：The unit of sweeping the floor includes and control
The second motor of at least one of device connection, the output shaft of second motor is through housing bottom, the output shaft of the lower housing portion
Hairbrush is equipped with, cavity is equipped in the housing, the adsorption orifice of the cavity is arranged on the housing bottom of hairbrush side, the cavity
It is interior equipped with the miniature suction ventilator being connected with controller.
3. a kind of ground cleaning robot according to claim 2, it is characterised in that：The cavity includes space connection
Being sticked on the inner wall of main cavity and auxiliary cavity, the main cavity and auxiliary cavity has electrostatic paster.
4. a kind of ground cleaning robot according to claim 1, it is characterised in that：The unit that mops floor includes hingedly setting
In the returning face plate of housing bottom, the both ends of the hinged side of the returning face plate are equipped with sheet metal, the housing of the returning face plate both sides
The electromagnetic disc being connected with the controller is equipped with, the sheet metal is equipped with the electromagnetic disc；The returning face plate and shell
Gas bar is equipped between body；The bottom of the returning face plate is equipped with cleaning part；The water storage cavity is arranged in the housing on the returning face plate top.
5. a kind of ground cleaning robot according to claim 1, it is characterised in that：The walking mechanism includes universal
Wheel, the universal wheel are arranged on the housing bottom edge in the front of the unit that mops floor, the housing bottom of the unit both sides that mop floor
Portion is respectively equipped with road wheel, and the road wheel is respectively connected to the 3rd motor and the 4th motor, the 3rd motor and the 4th electricity
Machine is connected to controller.
6. a kind of ground cleaning robot according to claim 1, it is characterised in that：The push rod includes what is be sequentially arranged
Sealing, seal receptacle, the body of rod and connecting portion, the sealing are connected to first towards setting inside water storage cavity, the connecting portion
The output terminal of motor.
7. a kind of ground cleaning robot according to claim 6, it is characterised in that：Interior spiral shell is equipped in the water storage cavity
Line, the seal receptacle are equipped with external screw thread, and the internal thread and external screw thread are equipped with.
8. a kind of ground cleaning robot according to claim 1, it is characterised in that：It is equipped with and adjusts at the injector head
Valve, the regulating valve are connected with controller.
9. a kind of ground cleaning robot according to claim 1, it is characterised in that：The sensing mechanism includes distance and passes
Sensor and optical sensor, be equipped on front side of the housing with range sensor be equipped with apart from sensing hole, the housing top
Portion front end is equipped with the illumination sensing hole being equipped with optical sensor.
10. a kind of control method of ground cleaning robot using described in one of claim 1 ~ 9, it is characterised in that：It is described
Control method comprises the following steps：
Step 1：Water storage cavity water intaking empties cavity, and installation water storage cavity, cavity start robot；Controller control cleaning mechanism
Sweep the floor unit, walking mechanism and sensing mechanism is started to work；Controller controls the second motor band electric brush to rotate, micro-cleaner
Hairbrush is brushed lightly the dust swept and is swept into cavity by adsorption orifice by work；
Step 2：Sensing mechanism real-time Transmission robot and the distance of sweep-out pattern front obstacle, when distance is 0, controller
The 3rd motor and the 4th motor is controlled to carry out steering operation, universal wheel retinue according to the position of barrier；Sensing mechanism passes in real time
The intensity of illumination of defeated robot present position；
Step 3：In units of 1 second, the difference of the intensity of illumination for the robot present position that sensing mechanism obtains is △ between adjacent 1 second
E；When △ E are more than or equal to threshold value, step 4 is carried out, otherwise keeps current working status or shutdown；
Step 4：Controller control electromagnetic disc power-off demagnetization, the unit that mops floor are started to work, and unit of sweeping the floor is closed；Returning face plate opens,
Cleaning part lands, and controller controls the first motor to act on water storage cavity and sprinkles water towards ground, and cleaning part cleans the ground after watering；
Step 5：Sensing mechanism real-time Transmission robot and the distance of sweep-out pattern front obstacle, when distance is 0, controller
The 3rd motor and the 4th motor is controlled to carry out steering operation, universal wheel retinue according to the position of barrier；Sensing mechanism passes in real time
The intensity of illumination of defeated robot present position；Carry out step 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810097121.0A CN108065870B (en) | 2018-01-31 | 2018-01-31 | Ground cleaning robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810097121.0A CN108065870B (en) | 2018-01-31 | 2018-01-31 | Ground cleaning robot and control method thereof |
Publications (2)
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| CN108065870A true CN108065870A (en) | 2018-05-25 |
| CN108065870B CN108065870B (en) | 2020-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810097121.0A Expired - Fee Related CN108065870B (en) | 2018-01-31 | 2018-01-31 | Ground cleaning robot and control method thereof |
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| Country | Link |
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| CN (1) | CN108065870B (en) |
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| CN111419123A (en) * | 2020-04-08 | 2020-07-17 | 张伟君 | Floor sweeping intelligent robot capable of providing protection during earthquake |
| WO2021027446A1 (en) * | 2019-08-14 | 2021-02-18 | 深圳市银星智能科技股份有限公司 | Fluid application method for cleaning robot and cleaning robot |
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| CN112971620A (en) * | 2021-03-01 | 2021-06-18 | 深圳市无限动力发展有限公司 | Method and device for detecting whether furniture is at bottom or not |
| CN114224255A (en) * | 2021-12-22 | 2022-03-25 | 哈尔滨珍宇科技有限公司 | Dry-wet dual-purpose cleaning device |
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|---|---|
| CN108065870B (en) | 2020-06-26 |
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