4471results about "Floor sweeping machines" patented technology

The invention belongs to the technical field of household cleaning, and particularly relates to a rolling brush, cleaning equipment and a cleaning system. The rolling brush is rotatably connected to the cleaning equipment, a cutting groove and protection teeth are arranged on the peripheral side of a brush body of the rolling brush, two cutter bodies are connected to the peripheral side of the brush body and arranged on at least part of the outer side of a notch of the cutting groove, and at least part of cutting edges arranged in the brush body and on the peripheral sides of the two cutter bodies protrude out of the cutting groove and are located in the protection teeth. And the two cutter bodies rotate relative to the brush body. According to the rolling brush provided by the invention, the two cutter bodies rotate relative to the brush body, so that entanglements possibly wound on the rolling brush are cut, the entanglements on the surface of the rolling brush are reduced, the cleanliness of the surface of the rolling brush is improved, the running resistance of the rolling brush is reduced, the running of the rolling brush is prevented from being influenced, and meanwhile, the cleaning efficiency of the rolling brush is also improved; therefore, the cleaning effect of the cleaning equipment is improved, and the practicability is good.

The application discloses a cover plate assembly and a scrubber. The cover plate assembly is arranged on a cleaning head shell of the scrubber. The cover plate assembly comprises a cover plate and a base. The cover plate is arranged on the garbage box opening of the cleaning head shell and surrounds a first accommodating cavity of a cleaning roller arranged in the cleaning head shell. The base comprises a left side plate, a right side plate, a front side plate, a rear side plate and a guide plate arranged on a rectangular frame. The left side plate, the right side plate, the front side plate and the rear side plate extend downward from the cover plate and surround the rectangular frame. The guide plate surrounds a second accommodating cavity. The first accommodating cavity and the second accommodating cavity are connected with each other to form an accommodating space for accommodating cleaning components. The cover plate assembly is separated from the cleaning head shell directly, and the efficiency of disassembling and assembling internal components of the cleaning head shell is improved. The scrubber with the cover plate assembly is easier to maintain.

The utility model provides a shell assembly and cleaning equipment. The shell assembly comprises a base body, the base body is provided with a mounting bin, a mechanical arm of the cleaning equipment can be folded and stored in the mounting bin, the mounting bin is provided with a bin opening, and the base body is further provided with a mounting groove used for mounting a driving wheel assembly of the cleaning equipment; the door body can move relative to the base body so as to open or close the bin opening. Therefore, after the bin opening is closed by the door body, the mounting bin is relatively closed, the possibility that the mechanical arm in the mounting bin is polluted by dust in the external environment and wetted by liquid can be reduced, the service life of the mechanical arm is prolonged, and the overall reliability of the cleaning equipment is improved.

The invention discloses an intelligent navigation system of a sweeping robot, which relates to the technical field of household intelligent equipment and comprises a multi-source sensor array, a dynamic environment modeling module, a path planning engine, a multi-mode positioning module, an autonomous decision controller, a cloud collaborative optimization unit and a fault degradation processing module. Omnibearing environment perception is provided through a multi-source sensor array, data are fused in real time through a dynamic environment modeling module, a grid map is updated in an incremental mode, obstacle semantic information is marked, an improved A * algorithm and a dynamic window method are fused through a path planning engine, and an optimized path giving consideration to global efficiency and local dynamic obstacle avoidance is generated. The multi-modal positioning module fuses SLAM resolving and IMU data through tight coupling to achieve centimeter-level high-precision and high-robustness positioning, and the autonomous decision controller intelligently and dynamically adjusts the cleaning priority, the advancing speed and the exception handling strategy according to the path, environment state and pose information, so that the cleaning behavior better meets the requirement.

The utility model provides a cleaning device. The cleaning equipment comprises a machine body, an arm bin is formed in the machine body, and a bin opening is formed in the arm bin; the mechanical arm is connected with the machine main body through the connecting structure and can extend out of or be stored in the arm bin through the bin opening; the touch assembly is arranged on the machine body and located on the peripheral side of the bin opening, and the touch assembly is configured to receive mechanical stress to send signals. Therefore, a human hand or a foreign matter near the bin opening makes contact with or collides with the touch assembly, the touch assembly is subjected to mechanical stress to send a signal, the mechanical arm makes corresponding actions according to the signal, for example, the mechanical arm stops moving, the problem that the human hand or the foreign matter is clamped at the bin opening in the moving process of the mechanical arm can be solved, and the use safety of the mechanical arm can be improved. And the use satisfaction degree of the user is improved.

The embodiment of the utility model discloses cleaning equipment and a cleaning system.The cleaning equipment comprises a cleaning equipment body, a grabbing part, a function adjusting module and an emergency stop module, the cleaning equipment is provided with the function adjusting module and the emergency stop module, and the operation mode of the cleaning equipment body can be adjusted through the function adjusting module; the control of the cleaning equipment main body is more convenient, and when the cleaning equipment is in an abnormal working state, the grabbing piece can be directly controlled to execute the safe operation mode through the emergency stop module, so that the danger caused by the fact that the cleaning equipment main body carries the grabbing piece is prevented. The scram module and the function adjusting module of the cleaning equipment are arranged at an interval, that is, a certain distance exists between the scram module and the function adjusting module, a user can recognize the scram module at the first time, the grabbing part can be immediately controlled to stop working through the scram module, the scram response efficiency can be improved, especially wrong control is avoided, and the user experience is improved. And the cleaning equipment can be used more safely.

The utility model discloses a cleaning rolling brush, cleaning equipment and a cleaning system, and belongs to the technical field of electrical equipment. The cleaning rolling brush comprises a shell, a cleaning strip, a first cutting piece and a second cutting piece, and the first cutting piece and the second cutting piece extend on the outer surface of the shell; the cleaning strip protrudes out of the outer surface of the shell; wherein a cleaning strip is arranged in a gap between the first cutting piece and the second cutting piece, so that the cutting force on entanglements wound on the cleaning strip can be improved, the entanglements can be cut off, the entanglements are prevented from being wound on the shell as much as possible, the influence of the entanglements on the cleaning rolling brush is reduced, and the working effect of the cleaning rolling brush is improved; and the service life of the cleaning rolling brush is prolonged.

The embodiment of the utility model provides a cleaning base station for a cleaning robot, the cleaning robot comprises a roller, a scraping strip assembly and a dirt collecting box, the scraping strip assembly scrapes and cleans the roller, and the cleaning base station comprises a cleaning tank and a water inlet channel. When the cleaning robot is in butt joint with the cleaning base station, the roller abuts against the cleaning tank, and when the cleaning base station conducts self-cleaning on the cleaning robot through the cleaning tank, in the rotating direction of the cleaning roller, cleaning fluid makes contact with the cleaning roller through the water inlet channel so as to wet the cleaning roller, and the cleaning fluid on the cleaning roller is scraped into the dirt collecting box by the scraping strip assembly; therefore, the dirt collecting box is cleaned. In the self-cleaning process of the cleaning roller, the base station provides the cleaning fluid for the cleaning roller through the water inlet channel, so that the cleaning water consumption of the cleaning roller in the self-cleaning process is guaranteed, and the cleaning effect on the roller is guaranteed.

A cleaning module includes: a first rolling brush including first brushes; and a second rolling brush arranged substantially side by side with the first rolling brush and including second brushes, wherein when the first rolling brush and the second rolling brush rotate, a first outer contour formed by a trajectory of outer ends of the first brushes and a second outer contour formed by a trajectory of outer ends of the second brushes at least partially interfere with each other, and the first brushes are not in contact with the second brushes.

According to the cleaning equipment and the cleaning system, a grabbing assembly of the cleaning equipment is connected to the bottom of a shell and arranged among a plurality of wheel bodies, the gravity center of the grabbing assembly can be lowered by connecting the grabbing assembly to the bottom of the shell, and particularly, when the grabbing assembly is in a storage state, the gravity center of the grabbing assembly can be lowered, so that the cleaning efficiency is improved. The gravity center of the grabbing assembly can coincide with the gravity center of the cleaning equipment or the gravity centers of the grabbing assembly and the gravity center of the cleaning equipment can be close to each other, so that the cleaning equipment is smoother to cross, obstacle or climb, the influence of the grabbing assembly on the moving flexibility of the cleaning equipment can be reduced or avoided, and the probability that the grabbing assembly topples over is reduced; the cleaning equipment main body is safer to use, and the user experience can be improved.

The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot which comprises a robot body and an advancing assembly, the advancing assembly comprises a driving wheel, a supporting unit and an obstacle crossing wheel, the obstacle crossing wheel is arranged on the supporting unit, the supporting unit can rotate around the driving wheel, and the obstacle crossing wheel is arranged on the robot body. The driving wheels are arranged on the machine body so that the advancing assembly can be switched between an advancing state and an obstacle crossing state, and when the advancing assembly is in the advancing state, the driving wheels abut against the ground so as to drive the machine body to advance; when the advancing assembly is in the obstacle crossing state, the supporting units drive the obstacle crossing wheels to make contact with the ground, the driving wheels are made to break away from the ground, the obstacle crossing wheels drive the robot body to advance, and the obstacle crossing capacity of the cleaning robot is improved.

The invention discloses cleaning equipment and a cleaning system, relates to the technical field of cleaning robots, and aims to improve the utilization rate of the space in a shell of the cleaning equipment so as to ensure the miniaturization of the size of the cleaning equipment. The cleaning equipment comprises a shell, a cleaning assembly and a liquid storage tank, and a containing space is formed in the shell. The cleaning assembly is arranged in the containing space, the cleaning assembly at least comprises a mop driving module, and the mop driving module is used for being connected with a mop outside the containing space and controlling the mop to move so as to clean the face to be cleaned. The liquid storage tank is arranged in the containing space, and at least part of the liquid storage tank is located below the cleaning assembly. The cleaning equipment is used for cleaning a to-be-cleaned surface.

The invention discloses a cleaning robot control method, a storage medium and related equipment, and relates to the field of cleaning robot control, and the method comprises the steps: responding to a pet search instruction sent by a target user, and obtaining the activity thermodynamic information of a target pet, the target pet activity thermodynamic information is distribution information of activity frequencies in different areas obtained based on historical activity information of a target pet; and controlling the cleaning robot to move according to the activity thermodynamic information of the target pet so as to search for the target pet.

The invention provides a cleaning method and device of a cleaning robot, the cleaning robot, equipment and a medium, and relates to the technical field of cleaning equipment. Comprising the steps that in the process that a cleaning robot cleans a to-be-cleaned area, under the condition that it is detected that a heavily-polluted area exists, the smudginess area of the heavily-polluted area is determined; if the dirty area is larger than the preset threshold value, the robot is controlled to advance in an advancing mode so as to clean at least part of the heavily-dirty area through a mop assembly; if the dirty area is smaller than or equal to the preset threshold value, the robot is controlled to advance in a backward mode so as to clean at least part of the heavily-dirty area through the mop assembly, and the robot can push dirt out of the heavily-dirty area and pollute the adjacent area when the robot moves backward for cleaning, so that the large-area heavily-dirty area is cleaned in the previous mode, and the cleaning efficiency is greatly improved. Dirt is prevented from being pushed to an uncleaned area, pollution diffusion is prevented, small-area heavily-polluted areas are cleaned in a reverse advancing mode, driving wheels are prevented from making contact with the dirt or diffusion, and the cleaning effect is improved.

The invention discloses a sweeping robot control method and system, and the method comprises the steps: calling a pre-established fault feature library according to a fault type outputted by an abnormality recognition module, and carrying out the matching of corresponding abnormality feature data, and obtaining a preliminary abnormality confirmation result; according to the action recovery instruction, an execution unit of the sweeping robot is driven to adjust the wheel rotating speed or reversely rotate a brush, state feedback data after execution is obtained, and whether the recovery action is completed or not is judged; a new cleaning path scheme is generated according to the condition that the current obstacle avoidance capability is insufficient through a path adjustment demand, and the feasibility of an alternative path is determined; through real-time state data in a task execution process, cleaning efficiency and frequent fault problems are continuously monitored, a feature library is circulated, and operation stability is judged.

A sweeping robot includes: a main body, a first cleaning mechanism, and a second cleaning mechanism. The first cleaning mechanism is connected to the main body and is located below the main body, and the first cleaning mechanism is configured to clean a floor. The second cleaning mechanism is rotatably connected to the main body, and has a first state and a second state. In the first state, the second cleaning mechanism retracts relative to a side of the main body, and in the second state, the second cleaning mechanism protrudes relative to the side of the main body, and the second cleaning mechanism is configured to clean a wall.

The invention relates to the technical field of robots, and discloses a humanoid robot capable of sweeping a floor and a control system thereof, and the humanoid robot comprises a cleaning module with a biped walking capability, a multi-degree-of-freedom joint humanoid body, an integrated dust collection device, a rolling brush, a mop and an automatic switching mechanism, a sensing system comprising a laser radar and the like, and a navigation and path planning system based on an SLAM algorithm. And human-computer interaction interfaces such as voice interaction are supported. The control system comprises an embedded processor, a task scheduling unit, a state monitoring unit, a fault processing module and an energy consumption management unit, and can coordinate the work of each module. The robot has the advantages that the problem that an existing sweeping robot is limited in cleaning capacity, and a humanoid robot lacks a cleaning function is solved, organic combination of flexible movement and efficient cleaning is achieved, and the intelligent cleaning requirement under the complex indoor environment is met.

The utility model provides a base station and a cleaning system, the base station comprises a base station main body and a dust collection module, and the base station main body comprises a cleaning tank; the dust collection module comprises a dust collection fan; a dust collecting opening and a first air outlet are formed in the inner wall, opposite to the opening, of the cleaning tank, the dust collecting opening can be in butt joint with a second dust discharging opening in a machine body of the cleaning equipment, and the first air outlet can be in butt joint with a second air discharging opening in the machine body; under the action of the dust collecting fan, after garbage in a dust box of the cleaning equipment sequentially passes through the second dust discharging opening and the dust collecting opening along with airflow and enters the air channel of the base station, the airflow at least flows out of the air channel through the first air outlet, and the airflow flowing out of the first air outlet is blown to a first filtering piece of the cleaning equipment through the second air discharging opening; garbage on the first filter part is blown into the dust box; when the cleaning equipment is used for cleaning the surface to be cleaned, the first filtering piece is used for filtering airflow flowing from the dust inlet of the dust box to the second exhaust outlet. According to the base station, the first filtering part can be self-cleaned under the action of the dust collection fan of the base station, and the use experience is improved.

The utility model relates to the technical field of cleaning equipment, and discloses a cleaning device and a cleaning system.The cleaning device comprises a shell, a plurality of cleaning parts and a driving mechanism, and the cleaning parts are all installed on the shell; the driving mechanism is in direct or transmission connection with the cleaning parts and used for driving the cleaning parts to move relative to the shell. According to the cleaning device, the multiple cleaning pieces are arranged, the effective cleaning area of the cleaning pieces can be increased, and the cleaning effect of the cleaning pieces is improved; according to the cleaning device, a small number of driving pieces drive a large number of cleaning pieces to move relative to the shell, the number of the driving pieces can be reduced, and therefore the space occupied by the driving pieces is reduced, the layout of the cleaning device is more compact, and the size of the cleaning device is reduced to the maximum extent; a small number of driving pieces are adopted to drive a large number of cleaning pieces, the total weight of the driving pieces can be reduced, and movement of the cleaning device is facilitated.

The invention discloses a cleaning equipment control method and device, a program product, a medium and cleaning equipment, the cleaning equipment comprises a mechanical arm, the end, away from a chassis of the cleaning equipment, of the mechanical arm is used for clamping a cleaning piece, and the method comprises the steps that the first spatial position of the cleaning equipment or a to-be-cleaned device on a base station of the cleaning equipment is determined; and according to the first spatial position, the pose of a cleaning piece clamped by the mechanical arm is adjusted, so that the to-be-cleaned device is cleaned through the cleaning piece. Through the technical scheme provided by the invention, the cleaning efficiency of the cleaning equipment or the to-be-cleaned device on the base station of the cleaning equipment can be improved.

The invention discloses a cleaning equipment control method and device, a program product, a medium and cleaning equipment, the cleaning equipment comprises a mechanical arm, the mechanical arm is used for grabbing an object so as to carry the object, and the method comprises the steps that if the cleaning equipment encounters an obstacle to be crossed in the process of carrying a target object, the robot is started to move; if yes, the cleaning equipment is controlled to place the target object grabbed by the mechanical arm on the ground; after the cleaning equipment places a target object grabbed by a mechanical arm on the ground, the cleaning equipment is controlled to cross the obstacle in a no-load state; and after the cleaning equipment crosses the obstacle, the cleaning equipment is controlled to grab the target object again through the mechanical arm so as to continue carrying the target object. According to the technical scheme, the object carrying stability of the cleaning equipment can be improved.

The utility model provides a cleaning assembly and cleaning equipment, and relates to the technical field of cleaning equipment. The cleaning assembly comprises a shell, a shielding piece and a driving mechanism. A dust collection cavity is formed in the shell, and an opening is formed in the bottom of the dust collection cavity; the shielding piece is movably installed on the shell and provided with a first position and a second position, and the shielding piece covers part of the opening when located at the first position so that the ventilation area of the opening can be smaller than the ventilation area of the shielding piece when located at the second position; the driving mechanism drives the shielding piece to move between the first position and the second position. The position of the shielding piece is adjusted according to the needs of scenes, then the air inlet area of the opening is changed, the suction force of the opening is adjusted, the dirt cleaning needs in various scenes are met, and the cleaning effect is improved.

A driving mechanism, comprising: a main support body (100); a first transmission member (200), the first transmission member (200) comprising a first end portion and a second end portion, and the second end portion being used for being connected to a cleaning member (500); a second transmission member (300), the first transmission member (200) and the second transmission member (300) being movably connected, the second transmission member (300) being movably connected to the main support body (100), and a first friction force being provided between the second transmission member (300) and the main support body (100); a power assembly (400), the power assembly (400) being transmittingly connected to the first end portion, and the power assembly (400) being used for driving the first transmission member (200) to rotate, such that the first transmission member (200) interacts with the second transmission member (300) so as to drive the first transmission member (200) to drive the cleaning member (500) to ascend or descend.

The present disclosure relates to a cleaning assembly and a smart cleaning device. The cleaning assembly is capable of being mounted on a machine body of a smart cleaning device and includes a connecting plate and a soft cleaning body, wherein the connecting plate and the soft cleaning body are detachably connected through a slide assembly, the slide assembly includes a mounting groove and a guide bar which are mutually matched, the mounting groove is provided on one of the connecting plate and the soft cleaning body, and the guide bar is disposed on the other one of the connecting plate and the soft cleaning body.

The invention provides a control method and system of a sweeping robot, and the method comprises the steps: obtaining image data, three-dimensional space data and sound data of a surrounding environment, and extracting object attribute features, space features and sound attribute features in the environment; fusing the object attribute feature, the spatial feature and the sound attribute feature to obtain an identification result; based on an identification result, executing hierarchical scene adaptive planning and executing a cleaning task by adopting a self-adaptive variational cleaning strategy; after the cleaning task is completed, second image data of the cleaned area are collected; recognizing residual stains on the ground according to the second image data and a preset cleaning effect recognition model; and if the area of the residual stain exceeds a preset area threshold value, triggering a re-cleaning program, and automatically switching a corresponding cleaning mode according to the type of the residual stain. According to the scheme, when the sweeping robot encounters the obstacles in the sweeping area, the sweeping robot can intelligently take accurate countermeasures, and an excellent sweeping effect is achieved.

The invention discloses an object detection method, a cleaning equipment control method and device and cleaning equipment, the object detection method is applied to the cleaning equipment, the cleaning equipment comprises a mechanical arm and a clamping jaw, the clamping jaw is arranged at the end, away from a cleaning equipment body, of the mechanical arm, and the mechanical arm is used for being matched with the clamping jaw to grab an object. The object detection method comprises the following steps: acquiring a target image including the clamping jaw; and on the basis of the target image, whether a grabbed target object exists in the clamping jaw or not is detected. Through the technical scheme provided by the invention, the detection accuracy of the cleaning equipment on the grabbed object can be improved.

The invention belongs to the technical field of electrical equipment, and particularly relates to a cleaning robot and a cleaning system. A cleaning robot comprises a main body and a walking wheel assembly, the walking wheel assembly is connected with the main body, the walking wheel assembly guides movement of the main body, the walking wheel assembly comprises a main wheel, a rotating arm assembly and an auxiliary wheel, and the main wheel is connected with the main body through a first shaft and guides movement of the main body in a first state; the rotating arm assembly comprises a first end and a second end, the first end of the rotating arm assembly is connected with the second shaft arranged on the main wheel, the rotating arm assembly is connected with the second shaft, and the auxiliary wheel is connected with the second end of the rotating arm; the second end of the rotating arm assembly rotates to the position below the main wheel, the auxiliary wheel makes contact with the cleaning face and lifts the front side of the body, and the auxiliary wheel guides the body to move in the second state. The obstacle crossing ability of the cleaning robot can be improved, and the application range of the cleaning robot is wider.

The invention relates to a sweeping robot intelligent cleaning method based on image recognition, and the method comprises the steps: obtaining an RGB image and depth sensor data through an image sensor, extracting a texture feature, a color transition feature and a depth mutation feature, and generating a first multi-mode feature set; fusing the first multi-modal feature set by adopting a multi-head attention mechanism, and generating a second multi-modal feature set according to the illumination intensity distribution and the material reflectivity distribution; processing the drop risk label set through time sequence analysis, and fusing the illumination change characteristics to generate stable drop risk distribution; extracting a high-risk area from the stabilized drop risk distribution, generating an obstacle distribution diagram, and generating a motion control instruction set based on a path planning algorithm; and executing navigation adjustment according to the motion control instruction set, fusing the material boundary characteristics to correct the depth deviation, and generating an avoidance path.

The invention provides an obstacle crossing mechanism, a trigger assembly, a clutch assembly, a walking module and cleaning equipment. The obstacle crossing mechanism comprises a mounting shell, a trigger assembly, a clutch assembly and an obstacle crossing piece. The trigger assembly is elastically hinged to the installation shell and comprises a trigger piece and a joint control piece, the trigger piece extends out of the lower side of the installation shell, and the joint control piece is fixedly connected to the trigger piece. The clutch assembly comprises a transmission shaft, a driving part and a clutch part, the transmission shaft is rotationally connected to the mounting shell, and the driving part is rotationally connected to the transmission shaft. The clutch piece is fixedly connected with the transmission shaft in the circumferential direction of the transmission shaft and movably connected with the transmission shaft in the circumferential direction of the transmission shaft. The obstacle crossing piece is fixedly connected to the transmission shaft. When an obstacle pushes the trigger piece, the trigger piece drives the joint control piece to rotate forwards, so that the joint control piece pushes the clutch piece to be in transmission connection with the driving piece. Therefore, the cost is reduced, and the stable obstacle crossing effect is guaranteed.