CN115137254B - Floor sweeping robot application system based on voice control - Google Patents
Floor sweeping robot application system based on voice control Download PDFInfo
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- CN115137254B CN115137254B CN202210746707.1A CN202210746707A CN115137254B CN 115137254 B CN115137254 B CN 115137254B CN 202210746707 A CN202210746707 A CN 202210746707A CN 115137254 B CN115137254 B CN 115137254B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 37
- 238000013016 damping Methods 0.000 claims abstract description 47
- 238000001514 detection method Methods 0.000 claims abstract description 44
- 230000003993 interaction Effects 0.000 claims abstract description 17
- 239000000428 dust Substances 0.000 claims abstract description 14
- 238000006073 displacement reaction Methods 0.000 claims description 32
- 238000007599 discharging Methods 0.000 claims description 27
- 241001417527 Pempheridae Species 0.000 claims description 14
- 238000009795 derivation Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 9
- 238000004140 cleaning Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000005381 potential energy Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Human Computer Interaction (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Health & Medical Sciences (AREA)
- Multimedia (AREA)
- Computational Linguistics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a sweeping robot application system based on voice control, and relates to the technical field of sweeping application systems. The invention comprises a main control MCU, a voice interaction module, a WIFI module, a storage module, a collision detection module and a wall detection module. According to the invention, through the design of a plurality of modules at the inner side of the system, the voice interaction module is used for forming the application of the sweeping robot with high intelligent degree, the operation is simple and convenient, the dust removal effect is good, and through voice prompt, a user can better know the real-time working state of the sweeping robot, and through the matching design of the collision detection module, the wall detection module and the matched descending damping protection module, the device is convenient for enabling the contact damping protection module to be overturned and descended to a proper angle and deduced to a proper position when detecting an object or a wall close to the collision, and then the prepared anti-collision protection at the outer side of the sweeping robot is formed, so that the protection application of the sweeping robot is improved, and the device is recovered to the initial position after being separated.
Description
Technical Field
The invention relates to the technical field of sweeping application systems, in particular to a sweeping robot application system based on voice control.
Background
With the acceleration of the life rhythm of people, the role played by the sweeping robot in the actual life is more and more important, and the sweeping machine is an emerging household device and is well-appreciated by people;
as the sweeping robot is used as movable household intelligent terminal equipment, the interaction between the sweeping robot and people is more and more along with the upgrading of intelligent functions, and therefore higher requirements are put forward for improving interaction experience;
when the distance between the sweeper and a person is too far or too close, the interaction between the robot and the person can be greatly influenced, for example, when the distance is too far, the person must speak loudly to be heard by the sweeper, and the correct recognition rate of the language can be reduced, so that bad use experience can be brought to the user;
and lack a design to prepare for protection after a potential collision is identified.
Disclosure of Invention
The invention aims to provide a sweeping robot application system based on voice control, which aims to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the floor sweeping robot application system based on voice control comprises a main control MCU, a voice interaction module, a WIFI module, a storage module, a collision detection module, a wall detection module, a ground detection module, a power management module and a motor driving module, wherein the outer side of the main control MCU is electrically connected with the voice interaction module, the WIFI module, the storage module, the collision detection module, the wall detection module, the ground detection module, the power management module and the motor driving module;
the control end of the collision detection module and the control end of the wall detection module are respectively provided with a matched descending damping protection module;
the WIFI module is used for wireless network connection, sends an instruction to the MCU through the mobile phone APP, and controls the sweeping robot to move and turn, selects a sweeping mode, timing, online OTA, suction size adjustment and the like;
the storage module is used for storing maps, cleaning data and languages;
the collision detection module is used for detecting short and long obstacles by the sweeping robot so that the sweeping robot bypasses the obstacles;
the ground detection module is used for detecting the ground flatness, so that the sweeper bypasses a step which cannot be crossed;
the wall surface detection module is used for detecting the distance between the machine and a wall surface or an obstacle, so that the obstacle in a cleaning environment is effectively avoided when the sweeper works;
the power management module is used for supplying power to the motor driving module and the adjustment descending damping protection module.
Preferably, the voice interaction module comprises a voice receiver, a processing CPU, a voice amplifier and a loudspeaker, wherein the voice receiver is connected with the processing CPU, the voice receiver is used for receiving control voice of a human end, the processing CPU is used for intelligently reducing noise of the voice received by the voice receiver and interactively processing the voice with the MCU, the voice amplifier is used for amplifying the voice, and the loudspeaker is used for emitting the voice of the sweeper.
Preferably, the motor driving module is used for controlling a rolling brush motor, a dust collection motor, a driving wheel motor and an edge brush motor, the rolling brush motor is used for driving the rolling brush to clean the ground stubborn garbage, the dust collection motor is used for driving the fan to suck dust into the dust collection box, the driving wheel motor is used for driving the left wheel and the right wheel to enable the sweeper to move, and the edge brush motor is used for driving the edge brush to clean the edge and corner garbage.
Preferably, the distribution descending damping protection module comprises an angle distribution driving module, a deduction distribution protection distance module and a contact damping protection module, wherein the top end of the sweeping robot is provided with the angle distribution driving module arranged in two opposite directions, one end of the angle distribution driving module is provided with the deduction distribution protection distance module, and one end of the deduction distribution protection distance module is provided with the contact damping protection module.
Preferably, the angle adjustment driving module comprises a carrying locating frame, a first motor, a first linkage shaft and an angle adjustment carrying rod, wherein the first motor is fixedly connected to the outer side of the carrying locating frame through a screw, the first linkage shaft is fixedly connected to the output end of the first motor, the first linkage shaft is rotatably connected with the inner side of the carrying locating frame, and the angle adjustment carrying rod is fixedly connected to the outer sides of the two sides of the first linkage shaft.
Preferably, the deriving, adjusting and protecting distance module comprises a guiding travel frame module and a moving guide transmission module, wherein the moving guide transmission module is arranged on the inner side of the guiding travel frame module.
Preferably, the guiding travel frame module comprises an assembling positioning frame, an assembling guiding frame, a guiding groove, rollers, a second linkage shaft, a stress carrier and a force unloading carrying base, wherein one end of the angle adjusting carrier rod is fixedly connected with the assembling positioning frame, two sides of the bottom end of the assembling positioning frame far away from one end of the angle adjusting carrier rod are fixedly connected with the assembling guiding frame, the guiding groove is formed in the inner side of the assembling guiding frame, the rollers are movably connected with the inner side of the guiding groove, the second linkage shaft is fixedly connected with the inner side of the rollers, the stress carrier is fixedly connected with the outer side of the second linkage shaft, and the force unloading carrying base is fixedly connected with the top end of the stress carrier.
Preferably, the dynamic guide transmission module further comprises a positioning loading plate, a bearing base, a second motor, a threaded rod, a polished rod, a first linkage displacement block, a first deducing connecting rod, a guide rod base, a second linkage displacement block, an auxiliary carrier block and a second deducing connecting rod, one side of the positioning frame is fixedly connected with the positioning loading plate and the bearing base, the other side of the positioning frame is fixedly connected with the guide rod base, one side of the guide rod base is fixedly connected with the auxiliary carrier block, one side of the positioning loading plate is fixedly connected with the second motor through a screw, the output end of the second motor is fixedly connected with the threaded rod, the threaded rod is used for rotating and connecting the inner side of the bottom end of the bearing base, one side of the threaded rod, far away from the second motor, is connected with the auxiliary carrier block in a rotating way, the polished rod is welded between the second motor and the auxiliary carrier block, the polished rod is located at one end, the outer side of the threaded rod is connected with the first linkage displacement block through threads, the inner side of the first linkage displacement block is in sliding connection with the polished rod, one end of the first displacement block is rotationally connected with the auxiliary carrier block, one end of the second linkage displacement block is rotationally connected with the first end of the second linkage displacement block, and the second linkage displacement block is rotationally connected with the second end of the second linkage displacement block.
Preferably, the contact damping protection module comprises a spring, a force guide push rod, a force distribution and discharging seat, a folding force discharging rod, a carrying and assembling frame and a damping hoop, wherein one end of the force discharging and carrying base is fixedly connected with the force distribution and discharging seat, two sides of the force discharging and carrying base are fixedly connected with an inner force discharging pipe, the inner side of the inner force discharging pipe is provided with the spring and the force guide push rod, one side of the spring is welded with the inner side of the inner force discharging pipe, the other side of the spring is welded with the force guide push rod, the force guide push rod is in sliding connection with the inner side of the inner force discharging pipe, two sides of the force distribution and discharging seat are rotationally connected with the folding force discharging rod, one end of the folding force discharging rod, which is far away from the force distribution and discharging seat, is rotationally connected with the carrying and assembling frame, the bottom end of the carrying and assembling frame is fixedly connected with the damping hoop, and the damping hoop is made of damping rubber.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention forms the application of the sweeping robot with high intelligent degree, simple operation and good dust removal effect through the design of a plurality of modules at the inner side of the system and the voice interaction module, and enables a user to better know the real-time working state of the sweeping robot through voice prompt;
2. according to the invention, through the matching design of the collision detection module, the wall surface detection module and the matched descending damping protection module, the device is convenient for enabling the contact damping protection module to be overturned and descended to a proper angle and deduced to a proper position when a collision object or a wall surface is detected, and then the contact damping protection module forms the preliminary anti-collision protection on the outer side of the sweeping robot, so that the protection application of the sweeping robot is improved, and the contact damping protection module is recovered to the initial position after being separated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall system of the present invention;
FIG. 2 is a schematic diagram of a partial structure of the adjustment descent damping protection module according to the present invention;
FIG. 3 is a top view of the present invention configured descent damping protection module;
FIG. 4 is a schematic diagram of a partial structure of an angle adjusting driving module according to the present invention;
FIG. 5 is a schematic diagram of a partial structure of a deriving and adjusting distance module according to the present invention;
FIG. 6 is a schematic view of a partial structure of a guide frame module according to the present invention;
FIG. 7 is a schematic diagram of a partial structure of a motion-guiding and transferring module according to the present invention;
fig. 8 is a schematic view of a partial structure of the contact damping protection module according to the present invention.
In the figure: 1. the angle adjustment driving module; 2. deriving a distribution protection distance module; 3. a contact damping protection module; 4. carrying a positioning frame; 5. a first motor; 6. a first linkage shaft; 7. an angle adjusting carrying rod; 8. a guide stroke frame module; 9. a dynamic guide transmission module; 10. assembling a positioning frame; 11. adjusting a guide frame; 12. a guide groove; 13. a roller; 14. a linkage shaft; 15. a force-bearing carrier; 16. a force-unloading carrying base; 17. positioning a loading plate; 18. a bearing base; 19. a second motor; 20. a threaded rod; 21. a polish rod; 22. a first linkage displacement block; 23. a first deriving link; 24. a guide rod base; 25. a second linkage displacement block; 26. an auxiliary carrier block; 27. a second deriving link; 28. a force discharging pipe is arranged in the device; 29. a spring; 30. a force-guiding push rod; 31. a force separating and discharging seat; 32. a folding and unfolding force rod; 33. carrying a mounting frame; 34. damping hoops.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-8, a sweeping robot application system based on voice control includes a main control MCU, a voice interaction module, a WIFI module, a storage module, a collision detection module, a wall detection module, a ground detection module, a power management module, and a motor driving module, where the outside of the main control MCU is electrically connected with the voice interaction module, the WIFI module, the storage module, the collision detection module, the wall detection module, the ground detection module, the power management module, and the motor driving module;
the control end of the collision detection module and the control end of the wall detection module are respectively provided with a matched descending damping protection module;
the WIFI module is used for wireless network connection, sends an instruction to the MCU through the mobile phone APP, and controls the sweeping robot to move and turn, selects a sweeping mode, and adjusts timing, online OTA, suction force and the like;
the storage module is used for storing maps, cleaning data and languages;
the collision detection module is used for detecting short and long obstacles by the sweeping robot so that the sweeping robot bypasses the obstacles;
the ground detection module adopts an infrared sensor or a TOF sensor in the embodiment, and can be other sensors in other embodiments for detecting the ground flatness, so that the sweeper bypasses a step which cannot be crossed;
the wall surface detection module adopts an infrared sensor or a TOF sensor in the embodiment, and can be other sensors in other embodiments, and the wall surface detection module is used for detecting the distance between a machine and a wall surface or an obstacle, so that the obstacle in a cleaning environment is effectively avoided when the sweeper works;
the power management module is used for supplying power to the motor driving module and the adjustment descending damping protection module.
The voice interaction module comprises a voice receiver, a processing CPU, a voice amplifier and a loudspeaker, wherein the voice receiver is connected with the processing CPU, the voice receiver is used for receiving control voice of a human end, the processing CPU is used for intelligently reducing noise of the voice received by the voice receiver and carrying out interaction processing with the MCU, the voice amplifier is used for amplifying the voice, and the loudspeaker is used for releasing the voice of the sweeper;
the motor driving module is used for controlling the rolling brush motor, the dust collection motor, the driving wheel motor and the side brush motor, the rolling brush motor is used for driving the rolling brush to clean the ground stubborn garbage, the dust collection motor is used for driving the fan to suck the dust into the dust collection box, the driving wheel motor is used for driving the left wheel and the right wheel to enable the sweeper to move, and the side brush motor is used for driving the side brush to clean the side and corner garbage;
the distribution descending damping protection module comprises an angle distribution driving module 1, a deduction distribution protection distance module 2 and a contact damping protection module 3, wherein the top end of the sweeping robot is provided with the two opposite-direction angle distribution driving modules 1, one end of each angle distribution driving module 1 is provided with the deduction distribution protection distance module 2, and one end of each deduction distribution protection distance module 2 is provided with the contact damping protection module 3;
the angle adjustment driving module 1 comprises a carrying and positioning frame 4, a first motor 5, a first linkage shaft 6 and an angle adjustment carrying rod 7, wherein the first motor 5 is fixedly connected to the outer side of the carrying and positioning frame 4 through a screw, the first linkage shaft 6 is fixedly connected to the output end of the first motor 5, the first linkage shaft 6 is rotatably connected with the inner side of the carrying and positioning frame 4, and the angle adjustment carrying rod 7 is fixedly connected to the outer sides of two sides of the first linkage shaft 6;
the deriving, adjusting and protecting distance module 2 comprises a guiding travel frame module 8 and a moving guide transmission module 9, wherein the moving guide transmission module 9 is arranged on the inner side of the guiding travel frame module 8;
the guiding travel frame module 8 comprises an assembling and positioning frame 10, an assembling and adjusting guiding frame 11, a guiding groove 12, a roller 13, a second linkage shaft 14, a stressed carrier 15 and a unloading carrying base 16, wherein one end of the angle adjusting carrier 7 is fixedly connected with the assembling and positioning frame 10, two sides of the bottom end of the assembling and positioning frame 10 far away from one end of the angle adjusting carrier 7 are fixedly connected with the assembling and adjusting guiding frame 11, the guiding groove 12 is formed in the inner side of the assembling and adjusting guiding frame 11, the roller 13 is movably connected with the inner side of the guiding groove 12, the second linkage shaft 14 is fixedly connected with the inner side of the roller 13, the stressed carrier 15 is fixedly connected with the outer side of the second linkage shaft 14, and the unloading carrying base 16 is fixedly connected with the top end of the stressed carrier 15;
the dynamic guide transmission module 9 further comprises a positioning and loading plate 17, a bearing base 18, a second motor 19, a threaded rod 20, a polished rod 21, a first linkage displacement block 22, a first deducing connecting rod 23, a guide rod base 24, a second linkage displacement block 25, an auxiliary loading block 26 and a second deducing connecting rod 27, wherein one side of the positioning and loading frame 10 is fixedly connected with the positioning and loading plate 17 and the bearing base 18, the other side of the positioning and loading frame 10 is fixedly connected with the guide rod base 24, one side of the guide rod base 24 is fixedly connected with the auxiliary loading block 26, one side of the positioning and loading plate 17 is fixedly connected with the second motor 19 through a screw, the output end of the second motor 19 is fixedly connected with the threaded rod 20, the threaded rod 20 is used for rotating connection with the inner side of the bottom end of the bearing base 18, one side of the threaded rod 20 far away from the second motor 19 is in rotating connection with the auxiliary loading block 26, the polished rod 21 is welded between the second motor 19 and the auxiliary loading block 26, the outer side of the threaded rod 21 is positioned at one end of the threaded rod 20, the first linkage displacement block 22 is in sliding connection with the inner side of the polished rod 21, one end of the first linkage displacement block 22 is in sliding connection with the second end 25 far away from the second linkage displacement block 25, and the second linkage displacement block 25 is in sliding connection with the second end 25 of the second linkage displacement block 25 is in rotating and far away from the second end 25 of the second linkage displacement block 25 is in sliding connection with the second end 25;
the contact damping protection module 3 comprises a spring 29, a force guide push rod 30, a separate force guide and discharge seat 31, a folding force discharge rod 32, a carrying and assembling frame 33 and a damping hoop 34, wherein one end of the force discharge carrying base 16 is fixedly connected with the separate force guide and discharge seat 31, both sides of the force discharge carrying base 16 are fixedly connected with an inner force discharge pipe 28, the inner side of the inner force discharge pipe 28 is provided with the spring 29 and the force guide push rod 30, one side of the spring 29 is welded with the inner side of the inner force discharge pipe 28, the other side of the spring 29 is welded with the force guide push rod 30, the force guide push rod 30 is in sliding connection with the inner side of the inner force discharge pipe 28, both sides of the separate force guide and discharge seat 31 are rotationally connected with the folding force discharge rod 32, one side of the folding force discharge rod 32 rotates with the force guide push rod 30, one end of the folding force discharge rod 32 far away from the separate force guide and discharge seat 31 is rotationally connected with the carrying and assembling frame 33, the bottom end of the carrying and assembling frame 33 is fixedly connected with the damping hoop 34, and the damping hoop 34 is made of damping rubber.
When the wall surface detection module and the collision detection module detect the danger of possible contact, the first motor 5 is controlled to drive the first linkage shaft 6 to complete rotation, the first linkage shaft 6 is used to drive the angle adjustment carrier rod 7 to complete angle adjustment, so that the damping hoops 34 are unfolded downwards towards the two sides of the sweeping robot, at the moment, the second motor 19 is controlled to drive the threaded rods 20 to complete rotation, the threaded rods 20 are used for connecting with the threads of the first linkage displacement block 22, the first linkage displacement block 22 obtains torque, the first linkage displacement block 22 is used for sliding connection with the polished rod 21, the torque at the first linkage displacement block 22 is limited to form sliding displacement, the first derivation connecting rod 23 is used for driving the first derivation connecting rod 23 to form angle adjustment, the connection of the first derivation connecting rod 23, the second derivation connecting rod 27 and the stressed carrier 15 is used, under the derivation of the angle adjustment of the first deriving connecting rod 23, the second linkage shaft 14 drives the roller 13 to slide and displace under the guidance of the guide groove 12, so that the unloading force carrying base 16 drives the damping hoop 34 to laterally derive and displace, the application lateral distance of the damping hoop 34 is adjusted, at the moment, when the special situation is impacted, the impact force generated by the impact acts on the damping hoop 34, the damping performance of the damping hoop 34 is utilized to form protection, after the rest potential energy is generated, the carrying and loading frame 33 is utilized to transfer and squeeze the stress to the folding unloading rod 32, so that the folding unloading rod 32 generates component force under the stress compression to guide the stress to the guide force pushing rod 30, so that the guide force pushing rod 30 slides inside the inner loading and unloading force pipe 28, the impact force is extruded to the spring 29, the cancellation of the stress is completed by utilizing the elastic potential energy of the spring 29, and the protection is further formed;
when the wall surface detection module and the collision detection module do not detect collision danger, the second motor 19 and the first motor 5 are controlled to reversely rotate, and the folding of the matched descending damping protection module is completed.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (1)
1. The utility model provides a robot application system sweeps floor based on voice control which characterized in that: the intelligent monitoring system comprises a main control MCU, a voice interaction module, a WIFI module, a storage module, a collision detection module, a wall detection module, a ground detection module, a power management module and a motor driving module, wherein the outer side of the main control MCU is electrically connected with the voice interaction module, the WIFI module, the storage module, the collision detection module, the wall detection module, the ground detection module, the power management module and the motor driving module;
the control end of the collision detection module and the control end of the wall detection module are respectively provided with a matched descending damping protection module;
the WIFI module is used for wireless network connection, sends an instruction to the MCU through the mobile phone APP, and controls the sweeping robot to move and turn, selects a sweeping mode, and adjusts timing, on-line OTA and suction;
the storage module is used for storing maps, cleaning data and languages;
the collision detection module is used for detecting short and long obstacles by the sweeping robot so that the sweeping robot bypasses the obstacles;
the ground detection module is used for detecting the ground flatness, so that the sweeper bypasses a step which cannot be crossed;
the wall surface detection module is used for detecting the distance between the machine and a wall surface or an obstacle, so that the obstacle in a cleaning environment is effectively avoided when the sweeper works;
the power management module is used for supplying power to the motor driving module and the adjustment descending damping protection module;
the voice interaction module comprises a voice receiver, a processing CPU, a voice amplifier and a loudspeaker, wherein the voice receiver is connected with the processing CPU, the voice receiver is used for receiving control voice of a human end, the processing CPU is used for intelligently reducing noise and performing interaction processing on the voice received by the voice receiver, the voice amplifier is used for amplifying the voice, and the loudspeaker is used for emitting the voice of the sweeper;
the motor driving module is used for controlling the rolling brush motor, the dust collection motor, the driving wheel motor and the side brush motor, the rolling brush motor is used for driving the rolling brush to clean the ground stubborn garbage, the dust collection motor is used for driving the fan to suck the dust into the dust collection box, the driving wheel motor is used for driving the left wheel and the right wheel to enable the sweeper to move, and the side brush motor is used for driving the side brush to clean the side and corner garbage;
the distribution descending damping protection module comprises an angle distribution driving module (1), a deduction distribution protection distance module (2) and a contact damping protection module (3), wherein the top end of the sweeping robot is provided with the two opposite-direction angle distribution driving modules (1), one end of the angle distribution driving module (1) is provided with the deduction distribution protection distance module (2), and one end of the deduction distribution protection distance module (2) is provided with the contact damping protection module (3);
the angle adjustment driving module (1) comprises a carrying locating frame (4), a first motor (5), a first linkage shaft (6) and an angle adjustment carrying rod (7), wherein the first motor (5) is fixedly connected to the outer side of the carrying locating frame (4) through a screw, the first linkage shaft (6) is fixedly connected to the output end of the first motor (5), the first linkage shaft (6) is rotatably connected with the inner side of the carrying locating frame (4), and the angle adjustment carrying rod (7) is fixedly connected to the outer sides of two sides of the first linkage shaft (6);
the deriving, adjusting and protecting distance module (2) comprises a guiding travel frame module (8) and a moving guide transmission module (9), wherein the moving guide transmission module (9) is arranged at the inner side of the guiding travel frame module (8);
the guide travel frame module (8) comprises a fitting positioning frame (10), a fitting guide frame (11), a guide groove (12), a roller (13), a second linkage shaft (14), a stressed carrier (15) and a force unloading carrying base (16), wherein one end of the angle adjusting carrier (7) is fixedly connected with the fitting positioning frame (10), two sides of the bottom end of the fitting positioning frame (10), far away from one end of the angle adjusting carrier (7), are fixedly connected with the fitting guide frame (11), the guide groove (12) is formed in the inner side of the fitting guide frame (11), the roller (13) is movably connected with the inner side of the guide groove (12), the second linkage shaft (14) is fixedly connected with the inner side of the roller (13), the outer side of the second linkage shaft (14) is fixedly connected with the stressed carrier (15), and the force unloading carrying base (16) is fixedly connected with the top end of the stressed carrier (15).
The dynamic guide transmission module (9) further comprises a positioning and load-distributing plate (17), a bearing base (18), a second motor (19), a threaded rod (20), a polished rod (21), a first linkage displacement block (22), a first derivation connecting rod (23), a guide rod base (24), a second linkage displacement block (25), an auxiliary load block (26) and a second derivation connecting rod (27), one side of the assembly positioning frame (10) is fixedly connected with the positioning and load-distributing plate (17) and the bearing base (18), the other side of the assembly positioning frame (10) is fixedly connected with the guide rod base (24), one side of the guide rod base (24) is fixedly connected with the auxiliary load block (26), one side of the positioning and load-distributing plate (17) is fixedly connected with the second motor (19) through a screw, the output end of the second motor (19) is fixedly connected with the threaded rod (20), one side of the threaded rod (20) far away from the second motor (19) is rotatably connected with the auxiliary load block (26), one side of the threaded rod (20) is fixedly connected with the threaded rod (20) through a screw, one end of the threaded rod (21) is welded with the threaded rod (21), the inner side of the first linkage displacement block (22) is in sliding connection with the polished rod (21), one end of the first linkage displacement block (22) is rotationally connected with a first derivation connecting rod (23), the outer side of the guide rod base (24) is in sliding connection with a second linkage displacement block (25), one end of the second linkage displacement block (25) is rotationally connected with a second derivation connecting rod (27), one end of the second derivation connecting rod (27) far away from the second linkage displacement block (25) and one end of the first derivation connecting rod (23) far away from the first linkage displacement block (22) are rotationally connected with the stress carrier (15);
the contact damping protection module (3) comprises a spring (29), a force guide pushing rod (30), a separate force guide discharging seat (31), a folding force discharging rod (32), a carrying and assembling frame (33) and a damping hoop (34), one end of the force guide discharging seat (16) is fixedly connected with the separate force guide discharging seat (31), two sides of the force guide discharging seat (16) are fixedly connected with an inner force discharging tube (28), the inner side of the inner force discharging tube (28) is provided with the spring (29) and the force guide pushing rod (30), one side of the spring (29) is welded with the inner side of the inner force discharging tube (28), the other side of the spring (29) is welded with the force guide pushing rod (30), the two sides of the separate force guide discharging seat (31) are rotatably connected with the force discharging rod (32), one side of the force discharging rod (32) is rotatably connected with the force guide pushing rod (30), the inner force discharging seat (32) is far away from the folding frame (34), and the damping hoop (33) is fixedly connected with the damping hoop (33).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210746707.1A CN115137254B (en) | 2022-06-29 | 2022-06-29 | Floor sweeping robot application system based on voice control |
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| CN115137254B true CN115137254B (en) | 2023-05-26 |
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| CN106371441A (en) * | 2016-10-13 | 2017-02-01 | 安徽翔龙电气有限公司 | Intelligent sweeping robot system with voice input function |
| CN108245086A (en) * | 2018-03-19 | 2018-07-06 | 绍兴快晴贸易有限公司 | A kind of Household floor-sweeping machine device people with anti-collision |
| CN109758038B (en) * | 2018-04-27 | 2021-11-02 | 曲阜信多达智能科技有限公司 | Cleaning robot and control method thereof |
| CN108742356A (en) * | 2018-08-03 | 2018-11-06 | 葛顺英 | A kind of Multifunctional floor-sweeping machine people |
| KR102677261B1 (en) * | 2019-02-13 | 2024-06-25 | 삼성전자주식회사 | Cleaning robot and controlling method thereof |
| CN210433409U (en) * | 2019-05-22 | 2020-05-01 | 合肥师范学院 | Robot of sweeping floor with speech control |
| CN113208506A (en) * | 2021-04-30 | 2021-08-06 | 深圳市无限动力发展有限公司 | Floor sweeping robot |
| CN113500628B (en) * | 2021-07-07 | 2023-05-12 | 深圳市中经科智能科技有限公司 | Automatic standing mechanism for robot falling |
| CN114633832A (en) * | 2022-04-26 | 2022-06-17 | 天津市华拓企业管理服务有限公司 | Anti-collision device of electric bicycle |
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