CN113974495B

CN113974495B - Intelligent floor sweeping robot accurate in positioning based on Internet of things

Info

Publication number: CN113974495B
Application number: CN202111306155.4A
Authority: CN
Inventors: 夏志杰; 张志胜
Original assignee: Jiangsu Nangao Intelligent Equipment Innovation Center Co ltd
Current assignee: Jiangsu Nangao Intelligent Equipment Innovation Center Co ltd
Priority date: 2021-11-05
Filing date: 2021-11-05
Publication date: 2022-09-06
Anticipated expiration: 2041-11-05
Also published as: CN113974495A

Abstract

The invention relates to an intelligent floor sweeping robot with accurate positioning based on the Internet of things, which comprises a main body, a plurality of cameras, a cleaning mechanism and a cleaning mechanism, wherein each camera is uniformly arranged on the main body, the cleaning mechanism comprises a brush, a moving component and a limiting component, the cleaning mechanism comprises two cleaning components, each cleaning component comprises a box body, a water tank and a water spraying unit, the intelligent floor sweeping robot with accurate positioning based on the Internet of things realizes the cleaning of the ground through the main body, the surrounding environment is monitored through each camera, so that the movement of the main body is accurately positioned, the lens of the camera is cleaned through the cleaning mechanism, the brush is cleaned through the cleaning mechanism, the device realizes the operation of the cleaning mechanism and the cleaning mechanism through one output end, saves energy, and realizes the online cleaning of the brush through linkage, meanwhile, the linkage adopts a pure mechanical structure, so that the stability of the device is improved and the service life of the device is prolonged.

Description

Intelligent floor sweeping robot accurate in positioning based on Internet of things

Technical Field

The invention relates to an intelligent floor sweeping robot with accurate positioning based on the Internet of things.

Background

The floor sweeping robot is one of intelligent household appliances, can rely on certain artificial intelligence, accomplish floor cleaning work in the room automatically, generally adopts brush and sweep and vacuum mode, absorbs the rubbish receiver that gets into oneself with ground debris earlier to accomplish the function of ground cleaning, generally speaking, will accomplish the robot that cleans, the dust absorption, wipe ground work, also unify and return to the robot of sweeping the floor.

The intelligence robot of sweeping floor is in order to realize the automation, use the appearance of making a video recording to carry out real-time supervision to the surrounding environment through needs, and the device is when using, subaerial dust can be raised and is infected with on the lens of appearance of making a video recording, and the current robot of sweeping floor does not generally set up better dust removal mechanism, the dust can influence the definition that the picture was shot to the appearance of making a video recording, thereby influence PLC's recognition effect, thereby influence the location of device, not use precision positioning, the current robot of sweeping floor that has camera lens dust removal function simultaneously, its dust removal mechanism generally realizes the cleanness of camera lens through the brush, the brush is after clean a period, the brush will be dirtier, influence clean effect.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: in order to overcome the defects in the prior art, the intelligent floor sweeping robot based on the Internet of things is accurate in positioning.

The technical scheme adopted by the invention for solving the technical problems is as follows: an intelligent floor sweeping robot capable of achieving accurate positioning based on the Internet of things comprises a main body, a plurality of cameras, a plurality of cleaning mechanisms and cleaning mechanisms, wherein the cameras are uniformly arranged on the main body;

the cleaning mechanism comprises a brush, a moving assembly and a limiting assembly, the moving assembly comprises a motor, a belt and two transmission units, the motor is arranged above the camera, the number of the transmission units is two, the two transmission units are respectively arranged on two sides of the camera, the transmission units comprise rotating shafts and rotating wheels, the two rotating shafts are respectively arranged at two ends of the camera, the number of the rotating wheels is two, the two rotating wheels are respectively sleeved on the two rotating shafts, the two rotating wheels are respectively connected with the two rotating shaft keys, the belt is sleeved on the four rotating wheels of the two transmission units, the four rotating wheels are connected through belt transmission, one rotating shaft is arranged on the motor, the limiting assembly comprises fixing rods, limiting columns and limiting wheels, the number of the fixing rods is two, the two fixing rods are respectively arranged on two sides of the camera, the limiting rods are arranged between the two fixing rods, the fixing rods are provided with sliding grooves, two ends of the limiting rod are respectively positioned in the two sliding grooves of the two fixing rods, the limiting rod is connected with the sliding grooves in a sliding mode, the limiting column is arranged on the belt, the limiting wheel is sleeved on the limiting column, the limiting wheel is in key connection with the limiting column, the limiting rod is provided with a limiting groove, the limiting wheel is positioned in the limiting groove, the limiting wheel is in rolling connection with the limiting groove, the hairbrush is arranged on the limiting rod, and the hairbrush is abutted to the camera;

the cleaning mechanism comprises two cleaning components which are respectively arranged at two sides of the camera, the cleaning components comprise a box body, a water tank and a water spraying unit, the box body is arranged on the camera, the water tank is arranged at the top of the camera, the water spraying unit comprises a sleeve, a piston rod, a first spring, a connecting rod, a push rod, a water inlet pipe, a water outlet pipe and a spray head, the sleeve is arranged on the camera, one end of the piston rod is positioned in the sleeve, the other end of the piston rod extends out of the sleeve, the piston of the piston rod is hermetically connected with the sleeve, the first spring is arranged in the sleeve, one end of the first spring is connected with the piston of the piston rod, the other end of the first spring is connected with the sleeve, the connecting rod is arranged at one end of the piston rod, which is positioned outside the sleeve, the push rod is arranged at one end of the connecting rod, which is far away from the piston rod, one push rod is abutted against the limiting column, the utility model discloses a shower nozzle, including the casing, the casing is equipped with the opening on the box, oral siphon and outlet pipe all set up in the sleeve pipe bottom, the sleeve pipe passes through oral siphon and the inside intercommunication of water tank, be equipped with the opening on the box, opening and gag lever post correspond the setting, and one of them gag lever post stretches into in the box, the shower nozzle sets up in the box, shower nozzle and brush are just to setting up, the shower nozzle passes through outlet pipe and the intraductal intercommunication of sleeve pipe.

In order to realize the automatic tightening of belt, be equipped with the unit of tightening on the belt, the unit of tightening includes locating piece, locating lever, fixed block, locating wheel and second spring, the fixed block sets up on the appearance of making a video recording, the locating lever passes the fixed block, locating lever and fixed block sliding connection, locating piece and locating wheel set up the both ends at the locating lever respectively, the locating wheel is located between two runners, the locating wheel supports with the belt and leans on.

In order to enable water to enter the sleeve only through the water inlet pipe and then to be discharged through the water outlet pipe, a one-way valve is arranged at the joint of the water inlet pipe and the sleeve, and a one-way valve is arranged at the joint of the water outlet pipe and the sleeve.

In order to realize better cleaning effect, the shower nozzle has a plurality of, and each shower nozzle evenly sets up on the outlet pipe.

In order to realize automation, be equipped with PLC in the main part, motor and appearance of making a video recording all are connected with PLC electricity.

The intelligent floor sweeping robot with the accurate positioning based on the Internet of things has the advantages that the floor is swept through the main body, the surrounding environment is monitored through the cameras, so that the movement of the main body is accurately positioned, the lens of the cameras is cleaned through the cleaning mechanism, and the hairbrush is cleaned through the cleaning mechanism.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic structural diagram of an intelligent sweeping robot with precise positioning based on the internet of things;

fig. 2 is a schematic view of a connection structure of a camera, a cleaning mechanism and a cleaning mechanism of the intelligent sweeping robot based on the internet of things and capable of accurately positioning;

fig. 3 is a schematic view of a connection structure of a camera, a cleaning mechanism and a cleaning mechanism of the intelligent sweeping robot with accurate positioning based on the internet of things;

fig. 4 is a schematic structural diagram of a cleaning mechanism of the intelligent sweeping robot based on the internet of things and capable of accurately positioning;

fig. 5 is a schematic view of a connection structure of a cleaning mechanism and a cleaning mechanism of the intelligent sweeping robot based on the internet of things and capable of accurately positioning;

FIG. 6 is an enlarged view of portion A of FIG. 3;

in the figure: 1. the automatic water level measuring device comprises a main body, a camera 2, a brush 3, a motor 4, a belt 5, a rotating shaft 6, a rotating wheel 7, a fixing rod 8, a limiting rod 9, a limiting column 10, a limiting wheel 11, a box body 12, a water tank 13, a sleeve 14, a piston rod 15, a first spring 16, a connecting rod 17, a push rod 18, a water inlet pipe 19, a water outlet pipe 20, a spray head 21, a spray head 22, a positioning block 23, a positioning rod 24, a fixing block 25, a positioning wheel 26 and a second spring.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

As shown in fig. 1, the intelligent floor sweeping robot with accurate positioning based on the internet of things comprises a main body 1, a plurality of cameras 2, a plurality of cleaning mechanisms and cleaning mechanisms, wherein the cameras 2 are uniformly arranged on the main body 1, the cleaning mechanisms are respectively arranged on the cameras 2, the cleaning mechanisms are respectively arranged, and the cleaning mechanisms are respectively arranged corresponding to the cleaning mechanisms;

when the device uses, realize cleaning on ground through main part 1, monitor the environment on every side through each appearance 2 of making a video recording to carry out accurate location to the removal of main part 1, clean the camera lens of appearance 2 through clean mechanism, wash clean mechanism through wiper mechanism, thereby realize better clean effect.

As shown in fig. 2-4, the cleaning mechanism comprises a brush 3, a moving assembly and a limiting assembly, the moving assembly comprises a motor 4, a belt 5 and two transmission units, the motor 4 is arranged above the camera 2, the number of the transmission units is two, the two transmission units are respectively arranged at two sides of the camera 2, the transmission units comprise two rotating shafts 6 and two rotating wheels 7, the number of the rotating shafts 6 is two, the two rotating shafts 6 are respectively arranged at two ends of the camera 2, the number of the rotating wheels 7 is two, the two rotating wheels 7 are respectively sleeved on the two rotating shafts 6, the two rotating wheels 7 are respectively in key connection with the two rotating shafts 6, the belt 5 is sleeved on four rotating wheels 7 of the two transmission units, the four rotating wheels 7 are in transmission connection through the belt 5, one rotating shaft 6 is arranged on the motor 4, the limiting assembly comprises a fixing rod 8, a limiting rod 9, a limiting column 10 and a limiting wheel 11, the number of the fixing rods 8 is two, the two fixing rods 8 are respectively arranged on two sides of the camera 2, the limiting rod 9 is arranged between the two fixing rods 8, a sliding groove is formed in each fixing rod 8, two ends of each limiting rod 9 are respectively located in the two sliding grooves of the two fixing rods 8, the limiting rod 9 is in sliding connection with the sliding grooves, the limiting column 10 is arranged on the belt 5, the limiting wheel 11 is sleeved on the limiting column 10, the limiting wheel 11 is in key connection with the limiting column 10, a limiting groove is formed in each limiting rod 9, the limiting wheel 11 is located in the limiting groove, the limiting wheel 11 is in rolling connection with the limiting groove, the brush 3 is arranged on the limiting rods 9, and the brush 3 is abutted to the camera 2;

the running motor 4, the motor 4 drives the rotating shaft 6 connected with the motor to rotate, the rotating shaft 6 drives the rotating wheels 7 connected with the rotating shaft to rotate, the four rotating wheels 7 tension the belt 5, thereby driving the belt 5 to move under the action of friction force, the belt 5 drives the limiting column 10 to move, the limiting column 10 drives the limiting wheel 11 to move, here, the four rotating wheels 7 form a rectangle, thereby enabling the belt 5 to form a rectangle, thereby enabling the limiting wheel 11 to form a rectangular moving track, when the limiting wheel 11 moves on the long edge of the rectangular track, the limiting wheel 11 moves left and right, thereby enabling the limiting wheel 11 to drive the limiting rod 9 to move left and right, the limiting rod 9 drives the hairbrush 3 to move left and right, thereby enabling the hairbrush 3 to clean the lens of the camera 2, thereby avoiding dust from accumulating on the lens, thereby realizing better monitoring effect, thereby realizing better positioning effect, when spacing wheel 11 removed on the width edge of rectangle orbit, spacing post 10 reciprocated, spacing post 10 drive spacing wheel 11 reciprocated, thereby make spacing wheel 11 reciprocate at the spacing inslot, thereby make gag lever post 9 keep the stationary state, thereby make gag lever post 9 translation one end distance clean appearance 2 of making a video recording, then remove to shower nozzle 21 department and dwell a period, wash brush 3, then continue the translation, clean appearance 2 of making a video recording once more.

As shown in fig. 5, the cleaning mechanism includes two cleaning assemblies, the two cleaning assemblies are respectively disposed at two sides of the camera 2, the cleaning assembly includes a box 12, a water tank 13 and a water spraying unit, the box 12 is disposed on the camera 2, the water tank 13 is disposed at the top of the camera 2, the water spraying unit includes a sleeve 14, a piston rod 15, a first spring 16, a connecting rod 17, a push rod 18, an inlet pipe 19, an outlet pipe 20 and a nozzle 21, the sleeve 14 is disposed on the camera 2, one end of the piston rod 15 is located in the sleeve 14, the other end of the piston rod 15 extends out of the sleeve 14, the piston of the piston rod 15 is hermetically connected to the sleeve 14, the first spring 16 is disposed in the sleeve 14, one end of the first spring 16 is connected to the piston of the piston rod 15, the other end of the first spring 16 is connected to the sleeve 14, the connecting rod 17 is disposed at one end of the piston rod 15 located outside the sleeve 14, the push rod 18 sets up the one end of keeping away from piston rod 15 at connecting rod 17, and one of them push rod 18 supports with spacing post 10 and leans on, oral siphon 19 and outlet pipe 20 all set up in the sleeve pipe 14 bottom, sleeve pipe 14 passes through oral siphon 19 and the inside intercommunication of water tank 13, be equipped with the opening on the box 12, the opening corresponds the setting with gag lever post 9, and one of them gag lever post 9 stretches into in the box 12, shower nozzle 21 sets up in the box 12, shower nozzle 21 is just to setting up with brush 3, shower nozzle 21 passes through outlet pipe 20 and the inside intercommunication of sleeve pipe 14.

When the limit post 10 moves from the long side of the rectangular track to the wide side, the limit post 10 abuts against the push rod 18, at this time, the limit rod 9 and the brush 3 move into the box body 12 at the position, along with the movement of the limit post 10, the limit post 10 pushes the push rod 18 to move, the push rod 18 drives the connecting rod 17 to move, the connecting rod 17 drives the piston rod 15 to move, so that the space of a sealed cavity formed by the piston of the piston rod 15 and the sleeve 14 is reduced, water in the sealed cavity is pressed out through the water outlet pipe 20 and then is sprayed out through the spray head 21, the sprayed water impacts the brush 3 to wash dust on the brush 3, so as to clean the brush 3, along with the movement of the limit post 10, when the limit post 10 moves from the wide side to the long side, the limit post 10 moves away from the push rod 18, the push rod 18 is not blocked, at this time, the first spring 16 is in a deformation state, and the restoring force of the first spring 16 generates reverse thrust to the piston rod 15, thereby making the piston rod 15 move reversely to the initial position, thereby increasing the space of the sealed cavity, thereby making the water in the water tank 13 flow into the sealed cavity for supplement through the water inlet pipe 19, thereby preparing for next cleaning, along with the movement of the limit post 10, the limit post 10 moves from the long side of the lower part to another wide side, thereby making the limit rod 9 and the brush 3 move to the box body 12 of the other side, then the limit post 10 pushes another push rod 18 to move upwards, thereby making the water in another sleeve 14 spray out through the spray head 21, cleaning the brush 3 again, thereby making the brush 3 move on the lens of the camera 2 in a reciprocating way, cleaning the lens in a reciprocating way, and after cleaning the lens at every time, cleaning the brush 3, making the brush 3 keep clean all the time, thereby realizing better cleaning effect to the lens of the camera 2, thereby make the picture that 2 shoots at every turn of making a video recording keep clear to make PLC better carry out the analysis to surrounding environment, thereby realize accurate location to main part 1.

As shown in fig. 6, in order to achieve automatic tightening of the belt 5, a tightening unit is arranged on the belt 5, the tightening unit includes a positioning block 22, a positioning rod 23, a fixing block 24, a positioning wheel 25 and a second spring 26, the fixing block 24 is arranged on the camera 2, the positioning rod 23 passes through the fixing block 24, the positioning rod 23 is slidably connected with the fixing block 24, the positioning block 22 and the positioning wheel 25 are respectively arranged at two ends of the positioning rod 23, the positioning wheel 25 is located between the two rotating wheels 7, and the positioning wheel 25 abuts against the belt 5.

Here second spring 26 is in deformation state, and the restoring force of second spring 26 produces outside thrust to locating piece 22, and locating piece 22 produces the pulling force to locating rod 23, and locating rod 23 produces the pulling force to locating wheel 25, and locating wheel 25 produces the pulling force to belt 5 to make belt 5 between two runners 7 move towards fixed block 24 direction, thereby tighten belt 5 all the time, realize better belt 5 drive effect.

In order to enable water to enter the sleeve 14 only through the water inlet pipe 19 and then be discharged through the water outlet pipe 20, a one-way valve is arranged at the joint of the water inlet pipe 19 and the sleeve 14, and a one-way valve is arranged at the joint of the water outlet pipe 20 and the sleeve 14.

In order to achieve better cleaning effect, the spray heads 21 are provided with a plurality of spray heads 21, and each spray head 21 is uniformly arranged on the water outlet pipe 20.

In order to realize automation, a PLC is arranged in the main body 1, and the main body 1, the motor 4 and the camera 2 are electrically connected with the PLC.

When the device is used, the main body 1 is operated to clean the ground, the cameras 2 are operated to shoot the surrounding environment through the cameras 2, then the shot pictures are converted into electric signals to be sent to the PLC, the PLC analyzes the pictures to accurately position the position of the main body 1, when the main body 1 is operated, dust on the ground rises and remains on the lens of the cameras 2 to cause that the shot pictures of the cameras 2 are unclear, at the moment, the motor 4 is operated, the motor 4 drives the rotating shaft 6 connected with the motor to rotate, the rotating shaft 6 drives the rotating wheels 7 connected with the rotating shaft to rotate, the four rotating wheels 7 tension the belt 5, so that the belt 5 is driven to move under the action of friction force, the second spring 26 is in a deformation state, the restoring force of the second spring 26 generates outward thrust to the positioning block 22, the positioning block 22 generates tensile force to the positioning block 23, the positioning rod 23 generates a pulling force on the positioning wheel 25, the positioning wheel 25 generates a pulling force on the belt 5, so that the belt 5 between the two rotating wheels 7 moves towards the direction of the fixing block 24, thereby tightening the belt 5 all the time, and realizing a better driving effect of the belt 5, the belt 5 drives the limiting column 10 to move, the limiting column 10 drives the limiting wheel 11 to move, here, the four rotating wheels 7 form a rectangle, so that the belt 5 forms a rectangle, so that the limiting wheel 11 forms a rectangular moving track, when the limiting wheel 11 moves on the long edge of the rectangular track, the limiting wheel 11 moves left and right, so that the limiting wheel 11 drives the limiting rod 9 to move left and right, the limiting rod 9 drives the hairbrush 3 to move left and right, so that the hairbrush 3 cleans the lens of the camera 2, thereby avoiding dust from accumulating on the lens, thereby realizing a better monitoring effect, and realizing a better positioning effect, when the limiting wheel 11 moves on the wide side of the rectangular track, the limiting column 10 moves up and down, the limiting column 10 drives the limiting wheel 11 to move up and down, so that the limiting wheel 11 moves up and down in the limiting groove, so that the limiting rod 9 is kept in a fixed state, so that the distance from the translation end of the limiting rod 9 to clean the camera 2 is kept, then the limiting column 10 moves to the position of the spray head 21 to stay for a period of time, the brush 3 is cleaned, then the camera 2 is continuously moved to clean the camera again, when the limiting column 10 moves from the long side of the rectangular track to the wide side, the limiting column 10 is abutted against the push rod 18, at the moment, the limiting rod 9 and the brush 3 move to the box body 12 at the position, along with the movement of the limiting column 10, the limiting column 10 pushes the push rod 18 to move, the push rod 18 drives the connecting rod 17 to move, the connecting rod 17 drives the piston rod 15 to move, so that the space of a sealed cavity formed by the piston of the piston rod 15 and the sleeve 14 is reduced, so that the water in the sealed cavity is pressed out through the water outlet pipe 20 and then sprayed out through the spray head 21, the sprayed water impacts the brush 3 to wash down dust on the brush 3, thereby cleaning the brush 3, when the limit post 10 moves from a wide side to a long side along with the movement of the limit post 10, the limit post 10 is moved away from the push rod 18, the push rod 18 is not blocked, at the moment, the first spring 16 is in a deformation state, the restoring force of the first spring 16 generates reverse thrust on the piston rod 15, thereby enabling the piston rod 15 to move reversely to an initial position, thereby enabling the space of the sealed cavity to be enlarged, further enabling the water in the water tank 13 to flow into the sealed cavity for supplement through the water inlet pipe 19, thereby preparing for next cleaning, along with the movement of the limit post 10, the limit post 10 moves from the long side below to another wide side, thereby enabling the limit rod 9 and the brush 3 to move to the box body 12 at the other side, then spacing post 10 promotes another push rod 18 rebound, thereby make the water in another sleeve pipe 14 pass through shower nozzle 21 blowout, wash brush 3 once more, thereby make brush 3 reciprocating motion on the camera lens of appearance 2 of making a video recording, reciprocal clean the lens, and clean the back to the lens at every turn, all wash brush 3, make brush 3 remain clean all the time, thereby realize better clean effect to the camera lens of appearance 2 of making a video recording, thereby make the picture of 2 at every turn shootings of appearance keep clear, thereby make PLC better carry out the analysis to the surrounding environment, thereby realize accurate location to main part 1.

Compared with the prior art, this accurate intelligence in location robot of sweeping floor based on thing networking, realize cleaning on ground through main part 1, the environment around is kept watch on through each appearance 2 of making a video recording, thereby carry out accurate location to the removal of main part 1, clean the camera lens of appearance 2 of making a video recording through clean mechanism, wash brush 3 through wiper mechanism, compare with current cleaning device, the device has realized the operation of clean mechanism and wiper mechanism through an output, the energy has been saved, and the linkage through clean mechanism and wiper mechanism, the online cleaning of brush 3 has been realized, this linkage adopts pure mechanical structure simultaneously, the stability and the life of device have been improved.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. The intelligent floor sweeping robot is accurately positioned based on the Internet of things and is characterized by comprising a main body (1), a plurality of cameras (2), a plurality of cleaning mechanisms and cleaning mechanisms, wherein the cameras (2) are uniformly arranged on the main body (1), the cleaning mechanisms are respectively arranged on the cameras (2), and the cleaning mechanisms are respectively arranged corresponding to the cleaning mechanisms;

the cleaning mechanism comprises a brush (3), a moving assembly and a limiting assembly, the moving assembly comprises a motor (4), a belt (5) and conveying units, the motor (4) is arranged above the camera (2), the conveying units are two, the two conveying units are respectively arranged at two sides of the camera (2), the conveying units comprise a rotating shaft (6) and rotating wheels (7), the rotating shaft (6) is two, the two rotating shafts (6) are respectively arranged at two ends of the camera (2), the rotating wheels (7) are two, the two rotating wheels (7) are respectively sleeved on the two rotating shafts (6), the two rotating wheels (7) are respectively in key connection with the two rotating shafts (6), the belt (5) is sleeved on the four rotating wheels (7) of the two conveying units, the four rotating wheels (7) are in transmission connection through the belt (5), one rotating shaft (6) is arranged on the motor (4), the limiting component comprises two fixing rods (8), two limiting rods (9), a limiting column (10) and a limiting wheel (11), the two fixing rods (8) are respectively arranged at two sides of the camera (2), the limiting rod (9) is arranged between the two fixing rods (8), a sliding groove is arranged on the fixing rod (8), two ends of the limiting rod (9) are respectively positioned in the two sliding grooves of the two fixing rods (8), the limiting rod (9) is in sliding connection with the sliding groove, the limiting column (10) is arranged on the belt (5), the limiting wheel (11) is sleeved on the limiting column (10), the limiting wheel (11) is in key connection with the limiting column (10), a limiting groove is arranged on the limiting rod (9), the limiting wheel (11) is positioned in the limiting groove, the limiting wheel (11) is in rolling connection with the limiting groove, the brush (3) is arranged on the limiting rod (9), the brush (3) is abutted against the camera (2);

the cleaning mechanism comprises two cleaning components which are respectively arranged at two sides of the camera (2), the cleaning components comprise a box body (12), a water tank (13) and a water spraying unit, the box body (12) is arranged on the camera (2), the water tank (13) is arranged at the top of the camera (2), the water spraying unit comprises a sleeve (14), a piston rod (15), a first spring (16), a connecting rod (17), a push rod (18), a water inlet pipe (19), a water outlet pipe (20) and a spray head (21), the sleeve (14) is arranged on the camera (2), one end of the piston rod (15) is positioned in the sleeve (14), the other end of the piston rod (15) extends out of the sleeve (14), the piston of the piston rod (15) is in sealing connection with the sleeve (14), the first spring (16) is arranged in the sleeve (14), one end of the first spring (16) is connected with a piston of the piston rod (15), the other end of the first spring (16) is connected with the sleeve (14), the connecting rod (17) is arranged at one end of the piston rod (15) which is positioned outside the sleeve (14), the push rod (18) is arranged at one end of the connecting rod (17) far away from the piston rod (15), one push rod (18) abuts against the limiting column (10), the water inlet pipe (19) and the water outlet pipe (20) are both arranged at the bottom of the sleeve (14), the sleeve (14) is communicated with the inside of the water tank (13) through the water inlet pipe (19), an opening is arranged on the box body (12), the opening is arranged corresponding to the limiting rod (9), one limiting rod (9) extends into the box body (12), the spray head (21) is arranged in the box body (12), and the spray head (21) is arranged right opposite to the brush (3), the spray head (21) is communicated with the interior of the sleeve (14) through a water outlet pipe (20).

2. The intelligent robot cleaner capable of achieving accurate positioning based on the internet of things according to claim 1, wherein a tightening unit is arranged on the belt (5), the tightening unit comprises a positioning block (22), a positioning rod (23), a fixing block (24), a positioning wheel (25) and a second spring (26), the fixing block (24) is arranged on the camera (2), the positioning rod (23) penetrates through the fixing block (24), the positioning rod (23) is slidably connected with the fixing block (24), the positioning block (22) and the positioning wheel (25) are respectively arranged at two ends of the positioning rod (23), the positioning wheel (25) is located between the two rotating wheels (7), and the positioning wheel (25) abuts against the belt (5).

3. The intelligent robot cleaner with accurate positioning based on the internet of things as claimed in claim 1, wherein a one-way valve is arranged at the joint of the water inlet pipe (19) and the sleeve (14), and a one-way valve is arranged at the joint of the water outlet pipe (20) and the sleeve (14).

4. The intelligent robot cleaner with accurate positioning based on the internet of things of claim 3, wherein the number of the spray heads (21) is several, and each spray head (21) is uniformly arranged on the water outlet pipe (20).

5. The intelligent robot for sweeping the floor in accurate positioning based on the internet of things according to claim 1, wherein a PLC is arranged in the main body (1), and the main body (1), the motor (4) and the camera (2) are electrically connected with the PLC.