CN109965779A - A kind of cleaning device and cleaning systems - Google Patents
A kind of cleaning device and cleaning systems Download PDFInfo
- Publication number
- CN109965779A CN109965779A CN201711455428.5A CN201711455428A CN109965779A CN 109965779 A CN109965779 A CN 109965779A CN 201711455428 A CN201711455428 A CN 201711455428A CN 109965779 A CN109965779 A CN 109965779A
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- China
- Prior art keywords
- replacement portion
- fixed part
- control unit
- cleaning device
- unit
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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
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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
-
- 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
- A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating 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
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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
- A47L11/4061—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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—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
- 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
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of cleaning device and cleaning systems, the cleaning device walking unit, ontology, power unit, control unit, camera unit, replacement portion and crawl section.The second accommodating area for being provided with the first accommodating area that can place the first replacement portion on the ontology and the second replacement portion capable of being placed；The crawl section includes rotation section and fixed part, and the rotation section is connect with fixed part.Control unit can control power unit according to image information and the rotation section is driven to rotate, so that fixed part locks or separates with the first replacement portion, or fixed part is made to lock or separate with the second replacement portion, quick replacement is carried out to the replacement portion of operation to realize.It is equivalent to the artificial mode for carrying out replacement operation mechanism, the present invention has many advantages, such as that easy to operate, efficiently convenient, application scenarios are extensive, reduces manual steps in the cleaning process of place, the user experience is improved.
Description
Technical field
The present invention relates to robot automation's application field more particularly to a kind of cleaning devices and cleaning systems.
Background technique
With the development of science and technology and social progress, people's lives become more and more convenient.In cleaning applications, sweeper
Device people is widely applied, but existing sweeping robot often has a single function, can only ground to place or desktop carry out
Cleaning needs artificially since the two is different to clean-up performance index request to cleaning component (such as cloth in sweeping robot
Material, vacuum cleaner etc.) it is replaced in time, complex steps, bad sensory experience is brought to user.
Summary of the invention
For this reason, it may be necessary to provide a kind of cleaning device and cleaning systems, to solve existing sweeping robot, there is function
Can single, inconvenient, poor user experience the problems such as.
To achieve the above object, a kind of cleaning device is inventor provided, described device includes walking unit, ontology, moves
Power unit, control unit, camera unit, replacement portion and crawl section；The ontology is set to above walking unit, the power list
Member is connect with walking unit, crawl section respectively, and described control unit is connect with camera unit, power unit respectively；The replacement
Portion includes the first replacement portion and the second replacement portion, be provided on the ontology the first accommodating area that can place the first replacement portion and
Second accommodating area in the second replacement portion can be placed；The crawl section includes rotation section and fixed part, the rotation section and fixation
Portion's connection；
Information, described control unit are used to generate corresponding control according to image information the camera unit used to capture images
Signal processed is sent to power unit, and drives the rotation section to rotate by control power unit, so that the fixation
Above portion's activity to the first accommodating area or the second accommodating area；The power unit is also used to that the fixed part is driven up and down reciprocatingly to transport
It is dynamic, so that fixed part locks or separates with the first replacement portion, or fixed part is made to lock or separate with the second replacement portion.
Further, first replacement portion is cleaning section, and one end of the cleaning section is provided with flexible fabric, the other end
It is flexibly connected with fixed part.
Further, described device includes vacuum pump, and the vacuum pump is connect with control unit；Second replacement portion is
Dust collecting port, one end of the dust collecting port are provided with adsorption orifice, and the other end is flexibly connected with fixed part；The adsorption orifice and vacuum pump
Connection；Described control unit is used to control the vacuum pump when dust collecting port and fixed part lock and open.
Further, described device includes third replacement portion, and third replacement portion is clamping part；It is arranged on the ontology
There is the third accommodating area that can place clamping part；One end of the clamping part is provided with fixture, and the other end and fixed part activity connect
It connects；Recycling cabinet is provided on the ontology, described control unit is also used to drive the rotation section by control power unit
It rotates, so that above the fixed part activity to the third accommodating area, and for being locked in fixed part and clamping part
Gu when, control rotation section turns to above recycling cabinet.
Further, the first limiting section is additionally provided in first accommodating area, first limiting section is used for placement
It is limited in the first replacement portion in the first accommodating area；Described control unit is used to lock in the first replacement portion and fixed part
Afterwards, by control limiting section activity so that the first replacement portion is separated with the first accommodating area.
Further, the second limiting section is additionally provided in second accommodating area, second limiting section is used for placement
It is limited in the second replacement portion in the second accommodating area；Described control unit is used to lock in the second replacement portion and fixed part
Afterwards, by control limiting section activity so that the second replacement portion is separated with the second accommodating area.
Further, three-dimensional laser sensor is additionally provided on the ontology, the three-dimensional laser sensor and control are single
Member connection.
Further, it is additionally provided with sonar sensor and two-dimensional laser sensor on the ontology, the sonar sensor,
Two-dimensional laser sensor is connect with control unit respectively.
Further, the quantity of the sonar sensor is two, including the first sonar sensor and the second sonar sensing
Device, first sonar sensor and the second sonar sensor are respectively arranged at the opposite two sides of ontology.
Inventor additionally provides a kind of cleaning systems, and the system comprises terminal and cleaning device, the cleaning device is
The control unit of previously described cleaning device, the terminal and cleaning device connects, and the terminal is for sending control instruction
To described control unit.
The present invention provides a kind of cleaning device and cleaning systems, the cleaning device walking unit, ontology, power list
Member, control unit, camera unit, replacement portion and crawl section.The first of the first replacement portion can be placed by being provided on the ontology
Accommodating area and the second accommodating area that the second replacement portion can be placed；The crawl section includes rotation section and fixed part, the rotation
Portion is connect with fixed part.Control unit can control power unit according to image information and the rotation section is driven to rotate, with
So that fixed part locks or separates with the first replacement portion, or makes fixed part lock or separate with the second replacement portion, thus real
Quick replacement now is carried out to Working mechanism.Compared to the artificial mode for carrying out replacement operation mechanism, the present invention have it is easy to operate,
The advantages that efficiently convenient, application scenarios are extensive, manual steps in the cleaning process of place are reduced, the user experience is improved.
Detailed description of the invention
Fig. 1 is the schematic diagram for the cleaning device that one embodiment of the invention is related to；
Fig. 2 is the structural schematic diagram for the cleaning systems that another embodiment of the present invention is related to；
Appended drawing reference:
1, cabinet is recycled；
2, power unit；
3, three-dimensional laser sensor；
4, camera unit；
5, rotation section；
6, fixed part；
7, third replacement portion；
8, the first replacement portion；
9, the second replacement portion；
10, two-dimensional laser sensor；
11, the first sonar sensor；
12, the second sonar sensor；
13, walking unit；
101, control unit；
102, terminal.
Specific embodiment
Technology contents, construction feature, the objects and the effects for detailed description technical solution, below in conjunction with specific reality
It applies example and attached drawing is cooperated to be explained in detail.
Referring to Fig. 1, the schematic diagram for the cleaning device being related to for one embodiment of the invention.Described device includes walking unit
13, ontology, power unit 2, control unit, camera unit 4, replacement portion and crawl section；The ontology is set to walking unit 13
Top, the power unit 2 are connect with walking unit 13, crawl section respectively, described control unit respectively with camera unit 4, dynamic
Power unit 2 connects；The replacement portion includes the first replacement portion 8 and the second replacement portion 9, and the can be placed by being provided on the ontology
First accommodating area in one replacement portion 8 and the second accommodating area that the second replacement portion 9 can be placed；The crawl section includes rotation section 5
With fixed part 6, the rotation section 5 is connect with fixed part 6.
In the present embodiment, walking unit includes 4 traveling wheels, and ontology is arranged on traveling wheel, passes through traveling wheel
Rolling is moved.Certainly, in other embodiments, the quantity of traveling wheel can be adjusted according to actual needs, such as can be with
It is 2 or 3.The power unit is used to provide power.In the present embodiment, power unit is motor and its driving machine
Structure, such as when walking unit includes 4 traveling wheels, the quantity of motor is two, and each motor is respectively used to two walkings of driving
Wheel, the steering of walking unit carry out in such a way that two-wheel is differential.
Described control unit is the electronic component with control signal sending function and data processing function, Ke Yiwei
CPU, MCU, PLC controller etc..The camera unit 4 information used to capture images.In the present embodiment, the camera unit
For smart camera, smart camera can not only be identified the dust position of ground or desktop, moreover it is possible to the position of dustbin
It is identified, and the pictorial information that will identify that is transmitted to control unit, so as to subsequent processing.Smart camera can pass through detection
The comprehensive characteristics such as color contrast, glistening intensity and robustness carry out the acquisition judgement of image information.
Described control unit is used to generate corresponding control signal according to image information and is sent to power unit, and passes through control
Brake force unit drives the rotation section to rotate, so that the fixed part activity is to the first accommodating area or the second accommodating area
Top；The power unit is also used to that the fixed part is driven to pump, so that fixed part and the first replacement portion are locked
Gu or separating, or fixed part is made to lock or separate with the second replacement portion.
In the present embodiment, external screw thread is provided on the fixed part, in first replacement portion and the second replacement portion
It is respectively arranged with internal screw thread compatible with the external screw thread.When fixed part is under power unit driving effect, move downwardly to
When being in contact with the first replacement portion, power unit at this time can again reception control unit send signal, drive fixed part edge
Axis direction rotates, so that the internal screw thread locking on the external screw thread and the first replacement portion on fixed part.
In further embodiments, the first fastener, first replacement portion and second are additionally provided on the fixed part
The second fastener is respectively arranged in replacement portion, the first fastener and the second fastener are mutually clamped cooperation.When fixed part is dynamic
It under power unit driving effect, moves downwardly to when being in contact with the first replacement portion, the first fastener and first on fixed part is more
The second fastener for changing portion is mutually clamped, so that fixed part and the first replacement portion lock.Second replacement portion and fixation
Seemingly with the first replacement category, details are not described herein again for the mode of portion's cooperation.Control unit sends different controls according to image information and believes
Number to power unit, may be implemented to carry out quick replacement to Working mechanism.Replacement operation mechanism (including the is carried out compared to artificial
One replacement portion and the second replacement portion) mode, the present invention have many advantages, such as it is easy to operate, efficiently it is convenient, application scenarios are extensive.
In certain embodiments, first replacement portion is cleaning section, and one end of the cleaning section is provided with flexible fabric,
The other end is flexibly connected with fixed part.After cleaning section and fixed part lock, control unit can be driven solid by power unit
Determine portion to move back and forth in region surface (such as desktop or ground region) to be wiped, so that cleaning section alignment ponding position is back and forth transported
It is dynamic, to reach clean purpose.What the image information that the region to be wiped can be acquired according to camera unit determined, preferably
, when the image information of camera unit acquisition includes more ponding (being more than predeterminable area range), then determine camera unit
The region for acquiring image is region to be wiped.
In certain embodiments, described device includes vacuum pump, and the vacuum pump is connect with control unit；Described second more
Changing portion is dust collecting port, and one end of the dust collecting port is provided with adsorption orifice, and the other end is flexibly connected with fixed part；The adsorption orifice with
Vacuum pump connection；Described control unit is used to control the vacuum pump when dust collecting port and fixed part lock and open.Work as dust collecting port
After fixed part locking, control unit opens vacuum pump, and drives fixed part in the region surface to dedusting by power unit
It moves back and forth, so that dust collecting port alignment ponding position moves back and forth, to achieve the purpose that dedusting.The region to dedusting can be with
It is determined according to the image information of camera unit acquisition, it is preferred that when the image information of camera unit acquisition includes more ash
When dirt (being more than default accounting in image-region accounting), then determine that the region of camera unit acquisition image is the region to dedusting.
The identification of dust can be judged according to parameters such as corresponding color contrast, glistening intensities.
In certain embodiments, described device includes third replacement portion 7, and third replacement portion 7 is clamping part；Described
The third accommodating area that can place clamping part is provided on body；One end of the clamping part is provided with fixture, the other end and fixation
Portion is flexibly connected；Recycling cabinet 1 is provided on the ontology, described control unit is also used to drive institute by control power unit
Rotation section is stated to rotate so that above the fixed part activity to the third accommodating area, and for fixed part with
When clamping part locks, control rotation section turns to 1 top of recycling cabinet.Preferably, the clamping part can be used for clamping dustbin.
When camera unit takes in image information, there are (judgment basis can be according to shape, the length, width and height etc. of dustbin when dustbin
Carry out comprehensive determination), control unit controls fixed part by power unit and clamping part locks, and clamps rubbish by clamping part
Bucket is then rotated by rotation section and the dustbin of clamping is moved to above recycling cabinet, then driven and pressed from both sides by power unit
It holds portion and tilts corresponding angle, so that the rubbish in dustbin clamped by clamping part be poured into recycling cabinet.
Cleaning device proposed by the present invention has the function of clean robot, can substitute cleaning worker and treat cleaning region
The positions such as ground, desktop wipe and clean, and indoor refuse is cleared up.Clean robot passes through power device
The rotation of driving effect and rotation section, the replacement portion (i.e. Working mechanism) that quick-replaceable is matched with fixed part.When camera shooting is single
When member is collected in image information comprising more dust, Working mechanism can be changed to dust collecting port by clean robot automatically, real
Now floor-dust is adsorbed；When it includes dustbin that camera unit, which collects in image information, clean robot can be with
Working mechanism is changed to clamping part automatically, pass through crawl dustbin and is moved to above recycling cabinet, and dustbin
Interior rubbish pours into recycling bins body, realizes and recycles to the unified of rubbish.
In further embodiments, the first replacement portion, the second replacement portion, third replacement portion selection can be according to practical need
It is adjusted, such as it can be clamping part, the second replacement portion be cleaning that third replacement portion, which can be dust collecting port, the first replacement portion,
Portion, working principle is as previously mentioned, details are not described herein again.
In certain embodiments, the first limiting section is additionally provided in first accommodating area, first limiting section is used for
The first replacement portion being placed in the first accommodating area is limited；Described control unit is used in the first replacement portion and fixed part
After locking, by control limiting section activity so that the first replacement portion is separated with the first accommodating area.It is replaced with fixed part and first
It is for being threadedly engaged, when the internal screw thread of the external screw thread of fixed part and the first replacement portion contacts with each other, to need at this time between portion
First replacement portion is limited, prevents it from moving, so that fixed part is by own rotation, so that external screw thread and internal screw thread
It cooperates.After fixed part and the first replacement portion lock (i.e. after internal screw thread and external screw thread locking), do not need at this time again to the
One replacement portion is limited, so that the first replacement portion can be moved with the movement of fixed part, thus control unit passes through control
Limiting section processed movable (no longer limiting to the first replacement portion) is so that the first replacement portion is separated with the first accommodating area.Together
Reason, is additionally provided with the second limiting section in second accommodating area, and second limiting section is used for being placed in the second accommodating area
The second replacement portion limited；Described control unit is used for behind the second replacement portion and fixed part locking, is limited by control
Portion's activity is so that the second replacement portion is separated with the second accommodating area.
Further, when cleaning device includes third replacement portion, it is additionally provided with third limiting section in third accommodating area, the
The function that three limiting sections play is similar with the first limiting section, the second limiting section, and details are not described herein again.
In certain embodiments, three-dimensional laser sensor 3, the three-dimensional laser sensor 3 are additionally provided on the ontology
It is connect with control unit.The effect of three-dimensional laser sensor 3 is to carry out stereoscan to the working environment map of clean robot,
Control unit carries out recombination to construct to the map scanned, to simulate the true environment of clean robot work.
In certain embodiments, sonar sensor and two-dimensional laser sensor 10, the sound are additionally provided on the ontology
Sensor, two-dimensional laser sensor 10 are connect with control unit respectively.Preferably, the quantity of the sonar sensor is two
It is a, including the first sonar sensor 11 and the second sonar sensor 12, first sonar sensor 11 and the second sonar sensing
Device 12 is respectively arranged at the opposite two sides of ontology.Clean robot carries out ambient enviroment by two-dimensional laser and sonar sensor
The function of avoidance in walking process is realized in perception.
As shown in Fig. 2, the system comprises terminal 102 and cleaning device, institutes the present invention also provides a kind of cleaning systems
Stating cleaning device is cleaning device as previously described, the connection of control unit 101 of the terminal and cleaning device, the terminal
102 operational orders that can be sent to described control unit 101, control unit 101 according to terminal for sending control instruction, are opened
Beginning works in specified region, simple and convenient, simplifies user's operation step, the user experience is improved.
It should be noted that being not intended to limit although the various embodiments described above have been described herein
Scope of patent protection of the invention.Therefore, it based on innovative idea of the invention, change that embodiment described herein is carried out and is repaired
Change, or using equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it directly or indirectly will be with
Upper technical solution is used in other related technical areas, is included within scope of patent protection of the invention.
Claims (10)
1. a kind of cleaning device, which is characterized in that described device includes walking unit, ontology, power unit, control unit, takes the photograph
As unit, replacement portion and crawl section；The ontology is set to above walking unit, the power unit respectively with walking unit,
Crawl section connection, described control unit are connect with camera unit, power unit respectively；The replacement portion include the first replacement portion and
Second replacement portion is provided with the first accommodating area that can place the first replacement portion on the ontology and can place the second replacement portion
The second accommodating area；The crawl section includes rotation section and fixed part, and the rotation section is connect with fixed part；
Information, described control unit are used to generate corresponding control letter according to image information the camera unit used to capture images
It number is sent to power unit, and drives the rotation section to rotate by control power unit, so that the fixed part is living
It moves to the first accommodating area or the second accommodating area；The power unit is also used to that the fixed part is driven to pump,
So that fixed part locks or separates with the first replacement portion, or fixed part is made to lock or separate with the second replacement portion.
2. cleaning device as described in claim 1, which is characterized in that first replacement portion is cleaning section, the cleaning section
One end be provided with flexible fabric, the other end is flexibly connected with fixed part.
3. cleaning device as described in claim 1, which is characterized in that described device includes vacuum pump, the vacuum pump and control
Unit connection processed；Second replacement portion is dust collecting port, and one end of the dust collecting port is provided with adsorption orifice, the other end and fixed part
It is flexibly connected；The adsorption orifice is controlled to a vacuum pump；Described control unit is used to control institute when dust collecting port and fixed part lock
State vacuum pump unlatching.
4. cleaning device as described in any one of claims 1 to 3, which is characterized in that described device includes third replacement portion, institute
Stating third replacement portion is clamping part；The third accommodating area that can place clamping part is provided on the ontology；The clamping part
One end is provided with fixture, and the other end is flexibly connected with fixed part；Recycling cabinet is provided on the ontology, described control unit is also
For driving the rotation section to rotate by control power unit, so that the fixed part activity to the third accommodates
Above area, and for when fixed part and clamping part lock, control rotation section to be turned to above recycling cabinet.
5. cleaning device as described in claim 1, which is characterized in that be additionally provided with the first limit in first accommodating area
Portion, first limiting section is for limiting the first replacement portion being placed in the first accommodating area；Described control unit is used
In behind the first replacement portion and fixed part locking, by controlling, limiting section is movable so that the first replacement portion is distinguished with the first accommodating
From.
6. cleaning device as claimed in claim 2, which is characterized in that be additionally provided with the second limit in second accommodating area
Portion, second limiting section is for limiting the second replacement portion being placed in the second accommodating area；Described control unit is used
In behind the second replacement portion and fixed part locking, by controlling, limiting section is movable so that the second replacement portion is distinguished with the second accommodating
From.
7. cleaning device as described in claim 1, which is characterized in that three-dimensional laser sensor is additionally provided on the ontology,
The three-dimensional laser sensor is connect with control unit.
8. cleaning device as described in claim 1, which is characterized in that be additionally provided with sonar sensor and two dimension on the ontology
Laser sensor, the sonar sensor, two-dimensional laser sensor are connect with control unit respectively.
9. cleaning device as claimed in claim 8, which is characterized in that the quantity of the sonar sensor is two, including the
One sonar sensor and the second sonar sensor, first sonar sensor and the second sonar sensor are respectively arranged at ontology
Opposite two sides.
10. a kind of cleaning systems, which is characterized in that the system comprises terminal and cleaning device, the cleaning device is as weighed
Benefit requires 1 to 9 described in any item cleaning devices, the control unit connection of the terminal and cleaning device, and the terminal is used for
Control instruction is sent to described control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455428.5A CN109965779B (en) | 2017-12-28 | 2017-12-28 | Cleaning device and cleaning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455428.5A CN109965779B (en) | 2017-12-28 | 2017-12-28 | Cleaning device and cleaning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109965779A true CN109965779A (en) | 2019-07-05 |
| CN109965779B CN109965779B (en) | 2021-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711455428.5A Active CN109965779B (en) | 2017-12-28 | 2017-12-28 | Cleaning device and cleaning system |
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| CN (1) | CN109965779B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114326527A (en) * | 2021-12-31 | 2022-04-12 | 深圳市杉川机器人有限公司 | Energization control system and energization control method |
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|---|---|---|---|---|
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