CN111685660A

CN111685660A - Intelligent floor washing robot control system and working method

Info

Publication number: CN111685660A
Application number: CN202010379369.3A
Authority: CN
Inventors: 张小毛; 邹立伟; 黄东川
Original assignee: Suzhou Pinkun Intelligent Technology Co ltd
Current assignee: Suzhou Pinkun Intelligent Technology Co ltd
Priority date: 2020-05-07
Filing date: 2020-05-07
Publication date: 2020-09-22
Anticipated expiration: 2040-05-07
Also published as: CN111685660B

Abstract

The invention discloses an intelligent floor washing robot control system, which is characterized in that: the method comprises the following steps: robot control mechanism, clean control mechanism, washing control mechanism, rubbish classification retrieve control mechanism, avoid barrier control mechanism, rubbish detection control mechanism and controller, be equipped with walking control module, wireless transmission control module, electric quantity among the robot control mechanism and remind control module and robot controller, clean controller, washing controller, rubbish classification controller, keep away the barrier controller and all be connected with total controller, and total controller passes through wireless network and is connected with client terminal. The garbage collection and cleaning device can realize remote control on the garbage collection and cleaning device through a wireless network, provides convenience for users, integrates the functions of garbage detection, cleaning, classification, recovery and ground cleaning, realizes complete automation and intellectualization, completely frees both hands and realizes real intellectualization without any manual treatment on the garbage.

Description

Intelligent floor washing robot control system and working method

Technical Field

The invention belongs to the technical field of intelligent control systems, and particularly relates to an intelligent floor washing robot control system, a working method and a robot.

Background

In recent years, with the rapid development of social economy, various industries are continuously improved, the living standard and the living quality of people are continuously improved, people can not come out of a closed door any more, and people can often go in and out of large-scale venues, commodities or transportation hub distribution centers such as bus stations, railway stations, airports and the like no matter the working needs or the living needs at ordinary times, so that the flow of people is large, the generated garbage is large, and the influence on the environment is large.

Most of the existing garbage disposal is that the garbage cleaning vehicle is pushed by a worker to continuously clean, the garbage is sorted after being cleaned, and the garbage is placed in a specified garbage can, the workload in the whole working process is large, a large amount of manpower, material resources and time need to be consumed, and the various garbage in direct contact with the worker can cause certain damage to the body per se, so that the existing ground is timely to be further improved.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects, the invention aims to provide the intelligent floor washing robot control system which is simple in structure, reasonable in design, easy to produce, high in automation degree, capable of reducing the amount of manual labor, improving the working efficiency, enabling the ground to be cleaned to be truly automated and intelligentized, and capable of being used remotely at any time according to the needs of users.

The technical scheme is as follows: in order to achieve the above object, the present invention provides an intelligent floor washing robot control system, which is characterized in that: the method comprises the following steps: the garbage sorting and recycling system comprises a robot control mechanism, a cleaning control mechanism, a garbage sorting and recycling control mechanism, an obstacle avoiding control mechanism, a garbage detecting control mechanism and a controller, wherein a walking control module, a wireless transmission control module, an electric quantity reminding control module and a robot controller are arranged in the robot control mechanism; the walking control module, the wireless transmission control module and the electric quantity reminding control module are all connected with the robot controller, and the garbage detection control mechanism is connected with the detection mechanism;

the cleaning control mechanism is internally provided with a garbage form detection control module, a solid garbage treatment control module, a liquid garbage treatment control module, a dust collection treatment control module and a cleaning controller, the garbage form detection control module is connected with a garbage detection sensor, the solid garbage treatment control module is connected with a solid garbage cleaning mechanism, the liquid garbage treatment control module is connected with a liquid garbage cleaning mechanism, the dust collection treatment control module is connected with a dust collection mechanism, and the garbage form detection control module, the solid garbage treatment control module, the liquid garbage treatment control module and the dust collection treatment control module are all connected with the cleaning controller;

the cleaning control mechanism is internally provided with a dirt detection control module, a cleaning control module, a water supply control module and a cleaning controller, the dirt detection control module is connected with the dirt detection mechanism, the cleaning control module is connected with the cleaning mechanism, the water supply control module is connected with the water supply mechanism, and the dirt detection control module, the cleaning control module and the water supply control module are all connected with the cleaning controller;

the garbage classification and recovery control mechanism is internally provided with a dry and wet garbage classification detection control module, an extrusion control module, a transmission control module, a sorting control module, a garbage bin control module and a garbage classification controller, wherein the dry and wet garbage classification detection control module is connected with the garbage detection mechanism, the extrusion control module is connected with the garbage extrusion mechanism, the transmission control module is connected with a garbage transmission mechanism, the sorting control module is connected with the sorting mechanism, the garbage bin control module is connected with the garbage recovery bin, and the dry and wet garbage classification detection control module, the extrusion control module, the transmission control module, the sorting control module and the garbage bin control module are all connected with the garbage classification controller;

the obstacle avoidance control mechanism is internally provided with an obstacle detection control module, a path planning control module and an obstacle avoidance controller, the obstacle detection control module is connected with the infrared detector, and the obstacle detection control module and the path planning control module are both connected with the obstacle avoidance controller;

the robot controller, the cleaning controller, the garbage classification controller and the obstacle avoidance controller are all connected with a master controller, and the master controller is connected with the client terminal through a wireless network.

The working method of the intelligent floor washing robot comprises the following specific working methods:

1): the garbage detection method comprises the following steps that firstly, the position of garbage is detected by a detection mechanism for detecting the garbage position, detected information is transmitted to a controller, the controller analyzes the position of the garbage according to the received information, and the information is transmitted to a robot controller;

2): a data processor in the robot controller plans an optimal path according to the garbage and the position of the robot;

3): after the path is planned in the previous step, the robot controller commands the walking control module to start working through the driving control module, commands the walking driving mechanism to start driving the walking wheels to start walking through the walking control module, and waits for the robot to walk to the position of the garbage;

4): the garbage detection sensor starts to work, the garbage detection sensor detects the form of the ground garbage and transmits the detected data to the cleaning controller, and a data processing center in the cleaning controller analyzes the form of the garbage according to the received data and transmits the analyzed result to the cleaning controller again;

if solid garbage is detected, the cleaning controller commands the solid garbage cleaning mechanism to start working through the solid garbage treatment control module, namely the cleaning brush control unit controls the cleaning brush to clean the garbage, after the garbage is cleaned, the recovery shovel control unit drives the air cylinder to start telescopic working through the air cylinder driving module, and drives the recovery shovel to move back and forth under the driving of the air cylinder, so that the recovery shovel is matched with the cleaning brush to shovel away the cleaned garbage; if the liquid garbage is in the liquid state, the cleaning controller commands the liquid garbage cleaning mechanism to start working through the liquid garbage treatment control module, namely commands the water scraping plate driving mechanism to start driving the water scraping plate fixing frame to start working through the water scraping plate driving module, the water scraping plate is driven by the water scraping plate fixing frame to perform centralized treatment on the liquid garbage, after the liquid garbage is centralized, the liquid garbage is shoveled away through back-and-forth movement of the recovery shovel, in the process, the recovery shovel is matched with the cleaning brush, the garbage quickly and accurately enters the recovery shovel, namely the cleaning brush follows the recovery shovel to move back and forth, and the garbage is continuously swept into the recovery shovel;

5): after the garbage enters the recovery shovel, the dust collection processing control module commands a fan in the dust collection mechanism to start working, the garbage on the recovery shovel is sucked and recovered, and the sucked garbage enters the garbage recovery device through the conveying pipe;

6): when garbage enters a feeding hole in a recovery frame, the dry and wet types of the garbage are detected by a garbage detection mechanism, the detection result is transmitted to a garbage recovery controller, the garbage recovery controller transmits the detection result to a general controller, the general data analysis center analyzes data, after the analysis result is obtained, the general controller issues a corresponding command to the garbage recovery controller according to the result, the garbage falls onto a garbage bearing plate, the recovery controller commands a garbage extrusion mechanism to start working through an extrusion control module, the extrusion driving control unit drives the extrusion driving mechanism to drive the extrusion plate to extrude the garbage, and in the extrusion process, a prick needle pricks a garbage bag or other packaging bags to extrude and discharge water in the garbage while extruding the garbage; then the overturning driving mechanism overturns the driving garbage bearing plate and overturns the garbage to the garbage conveying mechanism;

7): then the garbage is conveyed by a garbage conveying mechanism, on a conveying belt, the sorting mechanism conveys the garbage to a corresponding garbage recycling box through a sorting shifting plate according to the results of the dry and wet garbage detected in the prior art, when the garbage enters a specified garbage recycling box, a garbage detection sensor on the cover body of the garbage recycling box carries out secondary detection on the type of the garbage, the detected result is transmitted to a garbage recycling controller and is transmitted to a general controller by the garbage recycling controller, a general data analysis center analyzes the data, if the type of the garbage is consistent with the type detected in the previous step, the cover body of the garbage recycling box is opened, and the shifting plate garbage is conveyed into the corresponding garbage recycling box;

8): in the working process, if the dirt detection mechanism detects that dirt exists in a certain place, the controller commands the cleaning controller to start working, the cleaning controller commands a spray header in the water supply mechanism to start spraying water, namely the cleaning rod is driven by the cleaning rod telescopic driving mechanism to extend to the ground, then the cleaning rod in the cleaning mechanism is driven by the cleaning driving mechanism to start rotating, the cleaning head is driven by the cleaning rod to rotate continuously, the ground is cleaned continuously in the rotating process, and the steps 4 to 6 are repeated after cleaning to treat the cleaned dirt through the cleaning device;

9): in the working process of the robot, if the infrared detector detects that an obstacle exists nearby, the infrared detector sends position information and volume information of the obstacle to the controller, a data processing center in the controller processes received data, an optimal path for avoiding the obstacle to walk is given according to an analyzed data result, and then the controller commands the obstacle avoidance controller to change a walking route of the robot according to the optimal path planning so as to carry out subsequent operation.

The invention discloses an intelligent floor washing robot, which is characterized in that: robot housing, cleaning device, belt cleaning device, rubbish recovery unit, a set of detection mechanism that is used for rubbish to detect the rubbish position and a set of infrared detector that is used for detecting the peripheral barrier of robot, wherein, be equipped with casing and base in the robot housing, the casing is located on the base, the below of robot housing is all located to cleaning device and belt cleaning device, the inside of robot housing is located to rubbish recovery unit, detection mechanism and infrared detector locate around the base, just cleaning device, belt cleaning device, rubbish recovery unit, detection mechanism and infrared detector all are connected with robot control device, robot control device passes through the network and is connected with client terminal.

The cleaning device is provided with a solid garbage cleaning mechanism, a liquid garbage cleaning mechanism and a garbage detection sensor for detecting garbage forms, a cleaning brush and a recovery shovel are arranged in the fixed garbage cleaning mechanism, the cleaning brush and the recovery shovel are both arranged below the base and are in lifting connection, the recovery shovel is connected with the inner wall of the base through a fixing plate, a sliding rail is arranged on the fixing plate, the recovery shovel is in sliding connection with the sliding rail through a sliding block, and one side of the fixing plate is connected with a driving cylinder; the garbage detection sensor is arranged at the lower part of the base, a dust collection mechanism is arranged above the recovery shovel in the shell, and the dust collection mechanism is connected with the garbage recovery device;

the liquid garbage cleaning mechanism is provided with a wiper blade, a wiper blade fixing frame and a wiper blade driving mechanism, the wiper blade fixing frame is arranged below the base, the wiper blade is arranged below the wiper blade fixing frame and detachably connected with the wiper blade fixing frame, the wiper blade fixing frame is connected with the base in a lifting mode, and the wiper blade driving mechanism is connected with the wiper blade fixing frame.

The cleaning device is provided with a dirt detection mechanism, a cleaning mechanism, a water supply mechanism and a cleaning driving mechanism, wherein the dirt detection mechanism is arranged at the lower part of the base, the cleaning mechanism is arranged on the base, the water supply mechanism is arranged in the shell, the base is provided with a water outlet matched with the water supply mechanism, the cleaning driving mechanism is arranged above the base, and the output end of the cleaning driving mechanism is connected with the cleaning mechanism.

The cleaning mechanism is internally provided with a cleaning rod and a cleaning head, one end of the cleaning rod is connected with the cleaning driving mechanism, and the other end of the cleaning rod is rotatably connected with the cleaning head.

The ball joint cleaning device is characterized in that a ball joint piece is arranged at one end, located at the cleaning head, of the cleaning rod, an installation clamping groove is formed in the ball joint piece, installation convex blocks are arranged on the periphery of the cleaning head fixing frame, and the installation convex blocks are clamped in the installation clamping groove of the ball joint piece. The ball joint component is a plastic component, wherein a ball head body is arranged, the mounting clamping grooves are formed in the periphery of the ball joint component, and protrusions are arranged on two sides of the mounting convex block and inserted into the mounting clamping grooves and clamped through the protrusions.

The water supply mechanism is internally provided with a spray head, a water supply pipe and a liquid storage box, the spray head is arranged on the base, the water supply pipe is arranged inside the shell, two ends of the water supply pipe are respectively connected with the spray head and the liquid storage box, the liquid storage box is arranged on one side of the shell, and a water inlet and a cleaning agent inlet are formed in the liquid storage box.

The garbage recycling device is characterized in that a recycling frame is arranged in the garbage recycling device, a feeding hole is formed in the recycling frame, a garbage detection mechanism and a garbage transmission mechanism which are used for detecting garbage types are arranged below the feeding hole, sorting mechanisms which are used for sorting garbage are arranged on frames on two sides of the garbage transmission mechanism, a group of garbage recycling boxes which are matched with the sorting mechanisms and used for containing different types of garbage are arranged on two sides of the garbage transmission mechanism, and the garbage detection mechanism, the garbage transmission mechanism, the sorting mechanisms and the garbage recycling boxes are all connected with a garbage recycling control device.

According to the garbage collection device, a garbage bearing plate is arranged below a feed port on a recovery frame, one end of the garbage bearing plate is rotatably connected with the recovery frame through a rotating shaft, one side of the garbage bearing plate is connected with a driving mechanism for driving overturning, garbage extrusion mechanisms are arranged on two sides of the garbage bearing plate, a group of extrusion plates which are arranged oppositely are arranged in the garbage extrusion mechanisms, one side of each extrusion plate is connected with the corresponding extrusion driving mechanism, and a pricking needle is arranged at the lower part of each extrusion plate.

The dust collection mechanism is internally provided with a dust collection pipe, one end of the dust collection pipe is provided with a dust collection nozzle, the other end of the dust collection pipe is arranged on the upper part of the shell and is connected with a dust collection power mechanism, the dust collection power mechanism is arranged at the top of the shell, and the output end of the dust collection pipe is connected with the feed inlet of the recovery frame.

The technical scheme shows that the invention has the following beneficial effects:

1. according to the intelligent floor washing robot control system, the floor washing robot is intelligently connected with the client terminal through the wireless network, so that remote control can be realized, convenience is provided for a user, the functions of garbage detection, cleaning, classification, recovery and ground cleaning are integrated, complete automation and intellectualization are realized, manual garbage treatment is not needed, hands are completely liberated, true intellectualization is realized, and the intelligent floor washing robot control system can better meet the use requirements of various malls, supermarkets, stations, airports, large venues and even families.

2. The positions of the cleaning device and the cleaning device can be adjusted, when the cleaning device is used, the cleaning device is descended below the base and is retracted into the base when not used, so that the cleaning device and the cleaning device are protected while cleaning and cleaning are met, and inconvenience brought to normal operation of the robot by the fact that the cleaning device and the cleaning device are always outside the base is avoided.

3. The garbage recycling device is also provided with a garbage sorting function, so that the garbage recycling device can automatically sort garbage according to the cleaned garbage, and sort different garbage into corresponding garbage recycling boxes through the sorting mechanism, meanwhile, the lower part of each garbage recycling box is in sliding connection with the screw rod of the servo motor through the sliding plate, and when the door of the shell is opened, the screw rod drives the garbage recycling boxes to move outwards, so that the garbage in the garbage recycling boxes can be collected, the problem of manual garbage sorting at present is well solved, and the problem of garbage treatment of the sweeping robot at present is also well solved.

Drawings

FIG. 1 is a flow chart of the operation of the present invention;

FIG. 2 is a flow chart of the operation of the cleaning mechanism of the present invention;

FIG. 3 is a schematic structural view of a robot according to the present invention;

FIG. 4 is a schematic structural view of a garbage compressing mechanism according to the present invention;

FIG. 5 is a schematic view of the construction of the garbage carrier plate of the present invention;

FIG. 6 is a schematic view of the cleaning mechanism of the present invention;

FIG. 7 is a schematic view of a robot housing according to the present invention;

FIG. 8 is a schematic view of the dust suction mechanism of the present invention;

fig. 9 is a schematic structural view of the sorting mechanism of the present invention.

Detailed Description

The invention is further elucidated with reference to the drawings and the embodiments.

Examples

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Example 1

In this embodiment, an intelligent floor washing robot control system includes: the garbage sorting and recycling system comprises a robot control mechanism, a cleaning control mechanism, a garbage sorting and recycling control mechanism, an obstacle avoiding control mechanism, a garbage detecting control mechanism and a controller, wherein a walking control module, a wireless transmission control module, an electric quantity reminding control module and a robot controller are arranged in the robot control mechanism; the walking control module, the wireless transmission control module and the electric quantity reminding control module are all connected with the robot controller, and the garbage detection control mechanism is connected with the detection mechanism 5;

the cleaning control mechanism is internally provided with a garbage form detection control module, a solid garbage treatment control module, a liquid garbage treatment control module, a dust collection treatment control module and a cleaning controller, the garbage form detection control module is connected with a garbage detection sensor 24, the solid garbage treatment control module is connected with a solid garbage cleaning mechanism 21, the liquid garbage treatment control module is connected with a liquid garbage cleaning mechanism 22, the dust collection treatment control module is connected with a dust collection mechanism 25, and the garbage form detection control module, the solid garbage treatment control module, the liquid garbage treatment control module and the dust collection treatment control module are all connected with the cleaning controller;

the cleaning control mechanism is internally provided with a dirt detection control module, a cleaning control module, a water supply control module and a cleaning controller, the dirt detection control module is connected with the dirt detection mechanism 31, the cleaning control module is connected with the cleaning mechanism 32, the water supply control module is connected with the water supply mechanism 33, and the dirt detection control module, the cleaning control module and the water supply control module are all connected with the cleaning controller;

the garbage classification and recovery control mechanism is internally provided with a dry and wet garbage classification detection control module, an extrusion control module, a transmission control module, a sorting control module, a garbage bin control module and a garbage classification controller, wherein the dry and wet garbage classification detection control module is connected with a garbage detection mechanism 41, the extrusion control module is connected with a garbage extrusion mechanism 46, the transmission control module is connected with a garbage transmission mechanism 42, the sorting control module is connected with a sorting mechanism 43, the garbage bin control module is connected with a garbage recovery bin 44, and the dry and wet garbage classification detection control module, the extrusion control module, the transmission control module, the sorting control module and the garbage bin control module are all connected with the garbage classification controller;

the obstacle avoidance control mechanism is internally provided with an obstacle detection control module, a path planning control module and an obstacle avoidance controller, the obstacle detection control module is connected with the infrared detector 6, and the obstacle detection control module and the path planning control module are both connected with the obstacle avoidance controller;

Example 2

As shown in fig. 2 and 3, the working method of the intelligent floor washing robot includes the following specific working methods:

1: firstly, detecting the position of garbage by a detection mechanism 5 for detecting the position of the garbage, transmitting the detected information to a controller, analyzing the position of the garbage by the controller according to the received information, and transmitting the information to a robot controller;

2: meanwhile, the infrared detector 6 detects whether an obstacle exists near the robot or not and transmits detected data to the controller, and the controller plans an optimal path according to the position of the detected obstacle and the position of the robot according to garbage and the position of the robot in a data processor in the robot controller;

3: after the path is planned in the previous step, the robot controller commands the walking control module to start working through the driving control module, commands the walking driving mechanism to start driving the walking wheels to start walking through the walking control module, and waits for the robot to walk to the position of the garbage;

4: the garbage detection sensor 24 starts to work, the garbage detection sensor 24 detects the form of the ground garbage and transmits the detected data to the cleaning controller, and a data processing center in the cleaning controller analyzes the form of the garbage according to the received data and transmits the analyzed result to the cleaning controller again;

if solid garbage is detected, the cleaning controller commands the solid garbage cleaning mechanism 21 to start working through the solid garbage treatment control module, namely the cleaning brush control unit controls the cleaning brush to clean the garbage, after the garbage is cleaned, the recovery shovel control unit drives the air cylinder to start telescopic working through the air cylinder driving module, and drives the recovery shovel 212 to move back and forth under the driving of the air cylinder, so that the recovery shovel is matched with the cleaning brush 211 to shovel away the cleaned garbage; if the garbage is liquid garbage, the cleaning controller commands the liquid garbage cleaning mechanism 22 to start working through the liquid garbage treatment control module, namely commands the water scraping plate driving mechanism 223 to start driving the water scraping plate fixing frame 222 to start working through the water scraping plate driving module, the water scraping plate is driven by the water scraping plate fixing frame 222 to perform centralized treatment on the liquid garbage, after the liquid garbage is centralized, the liquid garbage is shoveled away through the forward and backward movement of the recovery shovel 212, in the process, the recovery shovel 212 is matched with the cleaning brush 211, the garbage can rapidly and accurately enter the recovery shovel, namely the cleaning brush moves back and forth along with the recovery shovel 212, and the garbage is continuously swept into the recovery shovel 212;

5: after the garbage enters the recovery shovel 212, the dust collection processing control module instructs a fan in the dust collection mechanism 25 to start working, so that the garbage on the recovery shovel 212 is sucked and recovered, and the sucked garbage enters the garbage recovery device 4 through a conveying pipe;

6: when garbage enters a feeding hole in a recovery frame, the dry and wet types of the garbage are detected by a garbage detection mechanism 41, the detection result is transmitted to a garbage recovery controller, the garbage recovery controller transmits the detection result to a general controller, a general data analysis center analyzes data, after the result is obtained by analysis, the general controller issues a corresponding instruction to the garbage recovery controller according to the result and then the instruction falls onto a garbage bearing plate 45, the recovery controller instructs a garbage extrusion mechanism 46 to start working through an extrusion control module, the extrusion driving control unit drives an extrusion driving mechanism to extrude the garbage, and in the extrusion process, a needle pricks the garbage bag or other packaging bags to squeeze the garbage and discharge moisture in the garbage; then the overturning driving mechanism overturns the driving garbage carrying plate 45, and the garbage is overturned to the garbage transmission mechanism 42;

7: then the garbage is conveyed by the garbage conveying mechanism 42, on the conveying belt, the sorting mechanism 43 conveys the garbage to the corresponding garbage recycling bin 44 by a sorting shifting plate according to the results of the dry and wet garbage detected in the previous step, when the garbage enters the specified garbage recycling bin 44, the garbage detection sensor on the cover body of the garbage recycling bin 44 can carry out secondary detection on the type of the garbage, the detected result is transmitted to the garbage recycling controller, the garbage recycling controller transmits the detected result to the general controller, the general data analysis center analyzes the data, if the detected result is consistent with the type detected in the previous step, the cover body of the garbage recycling bin 44 is opened, and the garbage shifting plate is transmitted into the corresponding garbage recycling bin 44;

8: in the working process, if the dirt detection mechanism 31 detects that dirt exists in a certain place, the controller instructs the cleaning controller to start working, the cleaning controller instructs the spray head 331 in the water supply mechanism 33 to start spraying water, namely the cleaning rod is driven by the cleaning rod telescopic driving mechanism to extend to the ground, then the cleaning rod 321 in the cleaning mechanism 32 is driven by the cleaning driving mechanism 34 to start rotating, the cleaning rod 321 drives the cleaning head 322 to continuously rotate, the ground is continuously cleaned in the rotating process, and the steps 4 to 6 are repeated after cleaning to treat the cleaned dirt through the cleaning device 2;

9: in the working process of the robot, if the infrared detector 6 detects that an obstacle exists nearby, the position information and the volume information of the obstacle are sent to the controller, the data processing center in the controller processes received data, an optimal path for avoiding the obstacle to walk is given according to an analyzed data result, and then the controller commands the obstacle avoidance controller to change the walking route of the robot according to the optimal path planning so as to carry out subsequent operation.

Example 3

As shown in fig. 3 to 8, the intelligent floor cleaning robot comprises a robot shell 1, a cleaning device 2, a cleaning device 3, a garbage recycling device 4, a group of detection mechanisms 5 for detecting garbage positions, and a group of infrared detectors 6 for detecting obstacles around the robot, wherein, a shell 11 and a base 12 are arranged in the robot shell 1, the shell 11 is arranged on the base 12, the cleaning device 2 and the cleaning device 3 are arranged below the robot shell 1, the garbage recycling device 4 is arranged inside the robot shell 1, the detection mechanism 5 and the infrared detector 6 are arranged around the base 12, and the cleaning device 2, the cleaning device 3, the garbage recycling device 4, the detection mechanism 5 and the infrared detector 6 are all connected with a robot control device, and the robot control device is connected with a client terminal through a network.

In this embodiment, the cleaning device 2 is provided with a solid waste cleaning mechanism 21, a liquid waste cleaning mechanism 22 and a waste detection sensor 24 for detecting the form of waste, the fixed waste cleaning mechanism 21 is provided with a cleaning brush 211 and a recovery shovel 212, the cleaning brush 211 and the recovery shovel 212 are both arranged below the base 12 and are connected in a lifting manner, the recovery shovel 212 is connected with the inner wall of the base 12 through a fixing plate 23, the fixing plate 23 is provided with a slide rail, the recovery shovel 212 is connected with the slide rail in a sliding manner through a slide block, and one side of the fixing plate 23 is connected with a driving cylinder; the garbage detection sensor 24 is arranged at the lower part of the base 12, a dust suction mechanism 25 is arranged above the recovery shovel 212 in the shell 11, and the dust suction mechanism 25 is connected with the garbage recovery device 4; the fixing plate penetrates through a screw rod at the output end of the servo motor and is arranged in an inner cavity of the drive plate, and one side of the drive plate is connected with a drive cylinder used for driving the recovery shovel to reciprocate back and forth.

The liquid waste cleaning mechanism 22 is provided with a wiper 221, a wiper fixing frame 222 and a wiper driving mechanism 223, the wiper fixing frame 222 is arranged below the base 12, the wiper 221 is arranged below the wiper fixing frame 222 and detachably connected with the wiper fixing frame 222, the wiper fixing frame 222 is connected with the base 12 in a lifting manner, and the wiper driving mechanism 223 is connected with the wiper fixing frame 222.

In this embodiment, the cleaning device 3 is provided with a dirt detection mechanism 31, a cleaning mechanism 32, a water supply mechanism 33 and a cleaning driving mechanism 34, the dirt detection mechanism 31 is disposed at the lower part of the base 12, the cleaning mechanism 32 is disposed on the base 12, the water supply mechanism 33 is disposed in the housing 11, the base 12 is provided with a water outlet matched with the water supply mechanism 33, the cleaning driving mechanism 34 is mounted above the base 12, and the output end of the cleaning driving mechanism 34 is connected with the cleaning mechanism 32.

In this embodiment, the cleaning mechanism 32 is provided with a cleaning rod 321 and a cleaning head 322, one end of the cleaning rod 321 is connected with the cleaning driving mechanism 34, and the other end is rotatably connected with the cleaning head 322.

The one end that is located cleaning head 322 of cleaning rod 321 is equipped with bulb joint spare, be equipped with the installation draw-in groove on the bulb joint spare, the fixed frame of cleaning head 322 is equipped with the installation lug all around, the installation lug card is in the installation draw-in groove of bulb joint spare. The ball joint component is a plastic component, wherein a ball head body is arranged, the mounting clamping grooves are formed in the periphery of the ball joint component, and protrusions are arranged on two sides of the mounting convex block and inserted into the mounting clamping grooves and clamped through the protrusions. In the specification

And the cleaning rod is provided with a connecting block, one side of the connecting block is connected with a screw rod of the servo motor, so that the position of the cleaning head can be conveniently adjusted, and the lifting of the cleaning head is realized.

In this embodiment, the water supply mechanism 33 is provided with a spray head 331, a water supply pipe 332 and a liquid storage box 333, the spray head 331 is mounted on the base 12, the water supply pipe 332 is disposed inside the housing 11, two ends of the water supply pipe are respectively connected with the spray head 331 and the liquid storage box 333, the liquid storage box 333 is disposed on one side of the housing 11, and a water inlet and a cleaning agent inlet are disposed thereon.

In this embodiment be equipped with the recovery frame among the rubbish recovery unit 4, be equipped with the feed inlet on the recovery frame, the below that is located the feed inlet is equipped with rubbish detection mechanism 41 and the rubbish transmission device 42 that are used for detecting rubbish classification, be equipped with the letter sorting mechanism 43 that is used for sorting rubbish on the both sides frame of rubbish transmission device 42, and the both sides that are located rubbish transmission device 42 are equipped with a set of rubbish collection box 44 that is used for holding different kind rubbish with letter sorting mechanism 43 matched with, rubbish detection mechanism 41, rubbish transmission device 42, letter sorting mechanism 43 and rubbish collection box 44 all are connected with rubbish recovery controlling means.

In this embodiment the below that is located the feed inlet on the recovery frame is equipped with rubbish loading board 45, but rubbish loading board 45's one end is connected through pivot and recovery frame rotation, one side of rubbish loading board 45 is connected with the actuating mechanism of drive upset, and the both sides that are located rubbish loading board 45 are equipped with rubbish extrusion mechanism 46, be equipped with the stripper plate 461 of a set of relative setting in the rubbish extrusion mechanism 46, one side and the extrusion actuating mechanism of stripper plate 461 are connected, just the lower part of stripper plate 461 is equipped with pricks the needle.

In this embodiment, the dust suction mechanism 25 is provided with a dust suction pipe 251, one end of the dust suction pipe 251 is provided with a dust suction nozzle 252, the other end of the dust suction pipe 251 is installed at the upper part of the housing 11 and connected with a dust suction power mechanism 253, the dust suction power mechanism 253 is arranged at the top of the housing 11, and the output end of the dust suction pipe 251 is connected with the feed port of the recycling rack.

Example 4

The lower part of the garbage recycling bin 44 is connected with a screw rod of a servo motor through a sliding plate, the garbage recycling bin 44 is moved to the opening position of the shell through driving the screw rod, and then the garbage in the garbage recycling bin 44 can be taken out by opening the door.

Example 2

The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.

Claims

1. The utility model provides an intelligent floor cleaning robot control system which characterized in that: the method comprises the following steps: the garbage sorting and recycling system comprises a robot control mechanism, a cleaning control mechanism, a garbage sorting and recycling control mechanism, an obstacle avoiding control mechanism, a garbage detecting control mechanism and a controller, wherein a walking control module, a wireless transmission control module, an electric quantity reminding control module and a robot controller are arranged in the robot control mechanism; the walking control module, the wireless transmission control module and the electric quantity reminding control module are all connected with the robot controller, and the garbage detection control mechanism is connected with the detection mechanism (5);

the cleaning control mechanism is internally provided with a garbage form detection control module, a solid garbage treatment control module, a liquid garbage treatment control module, a dust collection treatment control module and a cleaning controller, the garbage form detection control module is connected with a garbage detection sensor (24), the solid garbage treatment control module is connected with a solid garbage cleaning mechanism (21), the liquid garbage treatment control module is connected with a liquid garbage cleaning mechanism (22), the dust collection treatment control module is connected with a dust collection mechanism (25), and the garbage form detection control module, the solid garbage treatment control module, the liquid garbage treatment control module and the dust collection treatment control module are all connected with the cleaning controller;

the cleaning control mechanism is internally provided with a dirt detection control module, a cleaning control module, a water supply control module and a cleaning controller, the dirt detection control module is connected with the dirt detection mechanism (31), the cleaning control module is connected with the cleaning mechanism (32), the water supply control module is connected with the water supply mechanism (33), and the dirt detection control module, the cleaning control module and the water supply control module are all connected with the cleaning controller;

the garbage classification and recovery control mechanism is internally provided with a dry and wet garbage classification detection control module, an extrusion control module, a transmission control module, a sorting control module, a garbage can control module and a garbage classification controller, the dry and wet garbage classification detection control module is connected with a garbage detection mechanism (41), the extrusion control module is connected with a garbage extrusion mechanism (46), the transmission control module is connected with a garbage transmission mechanism (42), the sorting control module is connected with a sorting mechanism (43), the garbage can control module is connected with a garbage recovery box (44), and the dry and wet garbage classification detection control module, the extrusion control module, the transmission control module, the sorting control module and a garbage can control module are all connected with the garbage classification controller;

the obstacle avoidance control mechanism is internally provided with an obstacle detection control module, a path planning control module and an obstacle avoidance controller, the obstacle detection control module is connected with an infrared detector (6), and the obstacle detection control module and the path planning control module are both connected with the obstacle avoidance controller;

2. A working method of an intelligent floor washing robot is characterized in that: the specific working method is as follows:

1): the garbage detection method comprises the following steps that firstly, the position of garbage is detected by a detection mechanism (5) for detecting the garbage position, detected information is transmitted to a controller, the controller analyzes the position of the garbage according to the received information, and the information is transmitted to a robot controller;

4): the garbage detection sensor (24) starts to work, the garbage detection sensor (24) detects the form of the ground garbage and transmits the detected data to the cleaning controller, and a data processing center in the cleaning controller analyzes the form of the garbage according to the received data and transmits the analyzed result to the cleaning controller again;

if solid garbage is detected, the cleaning controller commands the solid garbage cleaning mechanism (21) to start working through the solid garbage treatment control module, namely the cleaning brush control unit controls the cleaning brush to clean the garbage, after the garbage is cleaned, the recovery shovel control unit drives the air cylinder to start telescopic working through the air cylinder driving module, and drives the recovery shovel (212) to move back and forth under the driving of the air cylinder, so that the recovery shovel is matched with the cleaning brush (211) to shovel away the cleaned garbage; if the garbage is liquid garbage, the cleaning controller commands the liquid garbage cleaning mechanism (22) to start working through the liquid garbage treatment control module, namely commands the water scraping plate driving mechanism (223) to start driving the water scraping plate fixing frame (222) to start working through the water scraping plate driving module, the water scraping plate is driven by the water scraping plate fixing frame (222) to perform centralized treatment on the liquid garbage, after the liquid garbage is centralized, the liquid garbage is shoveled away through the front-and-back movement of the recycling shovel (212), in the process, the recycling shovel (212) is matched with the cleaning brush (211), the garbage can rapidly and accurately enter the recycling shovel, namely the cleaning brush moves back and forth along with the recycling shovel (212), and the garbage is continuously swept into the recycling shovel (212);

5): after the garbage enters the recovery shovel (212), the dust collection processing control module commands a fan in the dust collection mechanism (25) to start working, the garbage on the recovery shovel (212) is sucked and recovered, and the sucked garbage enters the garbage recovery device (4) through a conveying pipe;

6): when the garbage enters the feeding hole on the recovery frame, the dry and wet types of the garbage are detected by a garbage detection mechanism (41), the detected result is transmitted to a garbage recovery controller, the garbage recovery controller transmits the detected result to a general controller, a general data analysis center analyzes the data, after the result is obtained by analysis, the general controller issues a corresponding instruction to the garbage recovery controller according to the result, then falls onto the garbage bearing plate (45), then the recovery controller commands the garbage extrusion mechanism (46) to start working through the extrusion control module, the extrusion driving control unit drives the extrusion driving mechanism to drive the extrusion plate to extrude the garbage, in the process of extrusion, the needles prick the garbage bag or other packaging bags so as to extrude and discharge the moisture in the garbage while extruding the garbage; then the overturning driving mechanism overturns the driving garbage carrying plate (45) and overturns the garbage to the garbage transmission mechanism (42);

7): then the garbage is conveyed by a garbage conveying mechanism (42), on a conveying belt, a sorting mechanism (43) sorts and conveys the garbage into a corresponding garbage recycling box (44) through a sorting shifting plate according to the results of dry and wet garbage detected in the prior art, when the garbage enters a specified garbage recycling box (44), a garbage detection sensor on the cover body of the garbage recycling box (44) can carry out secondary detection on the type of the garbage, the detected result is transmitted to a garbage recycling controller, the garbage recycling controller transmits the detected result to a general controller, a general data analysis center analyzes data, if the detected type is consistent with the type detected in the previous step, the cover body of the garbage recycling box (44) is opened, and the shifting plate garbage is transmitted into the corresponding garbage recycling box (44);

8): in the working process, if the dirt detection mechanism (31) detects that dirt exists in a certain place, the controller instructs the cleaning controller to start working, the cleaning controller instructs the spray head (331) in the water supply mechanism (33) to start spraying water, namely the cleaning rod is driven by the cleaning rod telescopic driving mechanism to extend to the ground, then the cleaning rod (321) in the cleaning mechanism (32) is driven by the cleaning driving mechanism (34) to start rotating, the cleaning head (322) is driven by the cleaning rod (321) to continuously rotate, the ground is continuously cleaned in the rotating process, and the steps 4 to 6 are repeated after cleaning to treat the cleaned dirt through the cleaning device (2);

9): in the working process of the robot, if the infrared detector (6) detects that an obstacle exists nearby, the position information and the volume information of the obstacle are sent to the controller, a data processing center in the controller processes received data, an optimal path for avoiding the obstacle to walk is given according to an analyzed data result, and then the controller commands the obstacle avoidance controller to change the walking route of the robot according to the optimal path plan so as to carry out subsequent operation.

3. The utility model provides an intelligent floor cleaning robot which characterized in that: the robot comprises a robot shell (1), a cleaning device (2), a cleaning device (3), a garbage recovery device (4), a group of detection mechanisms (5) for detecting garbage positions and a group of infrared detectors (6) for detecting peripheral obstacles of the robot, wherein the robot shell (1) is internally provided with a shell (11) and a base (12), the shell (11) is arranged on the base (12), the cleaning device (2) and the cleaning device (3) are arranged below the robot shell (1), the garbage recovery device (4) is arranged inside the robot shell (1), the detection mechanisms (5) and the infrared detectors (6) are arranged around the base (12), and the cleaning device (2), the cleaning device (3), the garbage recovery device (4), the detection mechanisms (5) and the infrared detectors (6) are all connected with a robot control device, the robot control device is connected with the client terminal through a network.

4. The intelligent floor washing robot of claim 2, wherein: the cleaning device (2) is internally provided with a solid garbage cleaning mechanism (21), a liquid garbage cleaning mechanism (22) and a garbage detection sensor (24) for detecting garbage forms, a cleaning brush (211) and a recovery shovel (212) are arranged in the fixed garbage cleaning mechanism (21), the cleaning brush (211) and the recovery shovel (212) are both arranged below the base (12) and are in lifting connection, the recovery shovel (212) is connected with the inner wall of the base (12) through a fixing plate (23), a sliding rail is arranged on the fixing plate (23), the recovery shovel (212) is in sliding connection with the sliding rail through a sliding block, and one side of the fixing plate (23) is connected with a driving cylinder; the garbage detection sensor (24) is arranged at the lower part of the base (12), a dust collection mechanism (25) is arranged above the recovery shovel (212) in the shell (11), and the dust collection mechanism (25) is connected with the garbage recovery device (4);

be equipped with wiper blade (221), wiper blade mount (222) and wiper blade actuating mechanism (223) in liquid rubbish clearance mechanism (22), the below of base (12) is located in wiper blade mount (222), wiper blade (221) are installed in the below of wiper blade mount (222), and both are detachable connection, just wiper blade mount (222) are the over-and-under type with base (12) and are connected, wiper blade actuating mechanism (223) are connected with wiper blade mount (222).

5. The intelligent floor washing robot of claim 2, wherein: be equipped with dirty detection mechanism (31), clean mechanism (32), water supply mechanism (33) and wash actuating mechanism (34) in belt cleaning device (3), the lower part of base (12) is located in dirty detection mechanism (31), clean mechanism (32) are located on base (12), casing (11) are located in water supply mechanism (33), base (12) are equipped with the delivery port with water supply mechanism (33) matched with, wash actuating mechanism (34) and install in the top of base (12), and its output is connected with clean mechanism (32).

6. The intelligent floor washing robot of claim 5, wherein: the cleaning mechanism (32) is internally provided with a cleaning rod (321) and a cleaning head (322), one end of the cleaning rod (321) is connected with the cleaning driving mechanism (34), and the other end of the cleaning rod is rotatably connected with the cleaning head (322).

7. The intelligent floor washing robot of claim 5, wherein: the cleaning device is characterized in that a spray head (331), a water supply pipe (332) and a liquid storage box (333) are arranged in the water supply mechanism (33), the spray head (331) is installed on the base (12), the water supply pipe (332) is arranged inside the shell (11), two ends of the water supply pipe are respectively connected with the spray head (331) and the liquid storage box (333), the liquid storage box (333) is arranged on one side of the shell (11), and a water inlet and a cleaning agent inlet are formed in the liquid storage box (333).

8. The intelligent floor washing robot of claim 2, wherein: be equipped with the recovery frame in rubbish recovery unit (4), be equipped with the feed inlet on the recovery frame, the below that is located the feed inlet is equipped with rubbish detection mechanism (41) and rubbish transmission device (42) that are used for detecting rubbish classification, be equipped with letter sorting mechanism (43) that are used for letter sorting rubbish on the both sides frame of rubbish transmission device (42), and the both sides that are located rubbish transmission device (42) are equipped with and sort mechanism (43) matched with a set of rubbish collection box (44) that are used for holding different kind rubbish, rubbish detection mechanism (41), rubbish transmission device (42), letter sorting mechanism (43) and rubbish collection box (44) all are connected with rubbish recovery controlling means.

9. The intelligent floor washing robot of claim 8, wherein: the utility model discloses a garbage collection rack, including retrieve frame, be equipped with rubbish loading board (45) in the below that lies in the feed inlet on retrieving the frame, the rotatable formula of being connected is done with retrieving the frame to the one end of rubbish loading board (45) through the pivot, one side of rubbish loading board (45) is connected with the actuating mechanism that drives the upset, and the both sides that lie in rubbish loading board (45) are equipped with rubbish extrusion mechanism (46), be equipped with stripper plate (461) of a set of relative setting in rubbish extrusion mechanism (46), one side and the extrusion actuating mechanism of stripper plate (461) are connected, just the lower part of stripper plate (461) is equipped with pricks.

10. The intelligent floor washing robot of claim 4, wherein: a dust suction pipe (251) is arranged in the dust suction mechanism (25), a dust suction nozzle (252) is arranged at one end of the dust suction pipe (251), the other end of the dust suction pipe (251) is arranged at the upper part of the shell (11) and is connected with a dust suction power mechanism (252), the dust suction power mechanism (252) is arranged at the top of the shell (11), and the output end of the dust suction pipe (251) is connected with the feeding hole of the recovery frame.