Gecko-bionic cleaning robot

Abstract

The invention provides a bionic gecko cleaning robot. The bionic gecko cleaning robot comprises a moving unit, a cleaning unit and a control unit. The bionic gecko cleaning robot can walk on glass and clean the glass, the trunk assembly of the bionic gecko cleaning robot can bear all functional units, the trunk assembly is provided with a plurality of supporting leg assemblies, and the bottom ends of the supporting leg assemblies are provided with vacuum suction cups; the vacuum suction cup can be vacuumized through the air pump assembly so as to be adsorbed to glass, then the bionic gecko cleaning robot can be fixed to the glass, and the supporting leg assembly can lift the vacuum suction cup away from the glass and rotate in the direction parallel to the glass in the state that the air pump assembly stops vacuumizing the vacuum suction cup. The walking of the bionic gecko cleaning robot can be realized through the cooperative movement of the plurality of supporting leg assemblies.

Description

Technical Field

[0001] The invention relates to the technical field of vehicles, and in particular to a bionic gecko cleaning robot. Background Art

[0002] This section merely provides background information related to the present disclosure and is not necessarily prior art.

[0003] Glass is widely used in modern building window design and exterior decoration as a light-transmitting, wind and rain-shielding building material. During long-term use, it is inevitably polluted by the influence of air and rain, resulting in poor light transmittance, which seriously affects the appearance and living experience. However, the traditional manual cleaning method requires workers to be suspended at high altitudes, which has problems such as low efficiency, high cost, and poor safety factor, and can easily lead to life safety issues. Automated cleaning of building outer glass has become an inevitable trend. Summary of the invention

[0004] The purpose of the present invention is to at least solve the technical problem that the cleaning of the outer glass of existing buildings is difficult and dangerous. This purpose is achieved through the following technical solutions:

[0005] The present invention provides a bionic gecko cleaning robot, comprising:

[0006] A mobile unit, comprising an air pump assembly, a trunk assembly, a plurality of leg assemblies and a plurality of vacuum suction cups, wherein a portion of the leg assemblies are provided on both sides of the trunk assembly along the width direction of the trunk assembly, and the top of the leg assembly is connected to the trunk assembly along the height direction of the trunk assembly, and the vacuum suction cup is provided at the bottom of the leg assembly, and the vacuum suction cup is communicated with the air pump assembly, the air pump assembly is used to fix the leg assembly to the surface to be cleaned by vacuuming the vacuum suction cup, and the leg assembly unit is used to drive the trunk assembly to walk on the surface to be cleaned;

[0007] A cleaning unit, disposed on the trunk assembly and used to clean the surface to be cleaned;

[0008] The control unit is electrically connected to the moving unit and the cleaning unit respectively, and controls the moving unit to move the bionic gecko cleaning robot.

[0009] The bionic gecko cleaning robot proposed in the present invention can walk on the glass and clean the glass. The trunk component of the bionic gecko cleaning robot can carry various functional units. A plurality of leg components are arranged on the trunk component. A vacuum suction cup is arranged at the bottom end of the leg component. The vacuum suction cup can be evacuated by an air pump component to be adsorbed on the glass, thereby fixing the bionic gecko cleaning robot on the glass. The leg component can also lift the vacuum suction cup away from the glass and rotate in a direction parallel to the glass when the air pump component stops evacuating the vacuum suction cup. The leg component can realize the walking of the bionic gecko cleaning robot through the coordinated movement of the plurality of leg components.

[0010] In addition, the bionic gecko cleaning robot according to the present invention may also have the following additional technical features:

[0011] In some embodiments of the present invention, the trunk assembly includes a steering drive unit, a front body unit and a rear body unit, the front body unit is rotatably connected to the rear body unit, the steering drive unit is used to drive the front body unit to rotate in a direction parallel to the surface to be cleaned, the number of the leg assemblies is four, and along the width direction of the trunk assembly, two of the leg assemblies are respectively provided on opposite sides of the front body unit, and two of the leg assemblies are respectively provided on opposite sides of the rear body unit, and the four leg assemblies are arranged in a centrally symmetrical manner.

[0012] In some embodiments of the present invention, the leg assembly includes a first rotation driving unit and a second rotation driving unit, the first rotation driving unit is installed on the front body part or the rear body part, the second rotation driving unit is transmission connected to the first rotation driving unit, the first rotation driving unit can drive the second rotation driving unit to rotate in a direction parallel to the surface to be cleaned, and the vacuum suction cup can rotate relative to the second rotation driving unit, the vacuum suction cup is transmission connected to the second rotation driving unit, and the second rotation driving unit is used to drive the vacuum suction cup to rotate in a direction perpendicular to the surface to be cleaned.

[0013] In some embodiments of the present invention, the first rotation driving unit includes a first servo and a first rotating bracket, the first servo is installed on the front body part or the rear body part, the first rotating bracket is fixedly connected to the rotating shaft of the first servo, the second rotation driving unit includes a second servo and a second rotating bracket, the second servo is installed on the first rotating bracket, the first servo drives the second servo to rotate in a direction parallel to the surface to be cleaned by driving the first rotating bracket, the second rotating bracket is fixedly connected to the output end of the second servo, the vacuum suction cup is rotatably installed on the second rotating bracket, and the second servo drives the vacuum suction cup to rotate in a direction perpendicular to the surface to be cleaned by driving the second rotating bracket.

[0014] In some embodiments of the present invention, the bionic gecko cleaning robot also includes a tail assembly, which includes a third rotation drive unit, a tail body and a scraper. The third rotation drive unit is installed at one end of the rear body portion away from the front body portion, the tail body is transmission-connected to the third rotation drive unit, and the tail body extends away from the rear body portion. Along the height direction of the torso assembly, the scraper is arranged on the bottom side of the tail body, and the scraper is arranged parallel to the tail body. The third rotation drive unit is used to drive the tail body to rotate in a direction parallel to the surface to be cleaned, so that the scraper scrapes the surface to be cleaned.

[0015] In some embodiments of the present invention, the cleaning unit includes a rotating brush, a water tank and a water spray assembly. Along the height direction of the body assembly, the rotating brush is rotatably arranged at the bottom end of the front body portion, and the rotating brush is used to rotate and clean the surface to be cleaned. The water tank and the water spray assembly are both installed on the body assembly. The water spray assembly is connected to the water tank and is used to spray water onto the surface to be cleaned.

[0016] In some embodiments of the present invention, the water spray assembly includes a water pump and a nozzle, the nozzle is arranged on the trunk assembly or the rotating brush, the nozzle is connected to the water pump, the spray direction of the nozzle is configured to be toward the surface to be cleaned, the water pump is arranged in the water tank, and is used to pump the liquid in the water tank to the nozzle for spraying.

[0017] In some embodiments of the present invention, the cleaning unit also includes a water suction pipe and a filter element, one end of the water suction pipe is located on the tail body, and the other end of the water suction pipe is connected to the water tank. The water pump is also used to suck the liquid near the scraper into the water tank through the water suction pipe. The filter element is arranged in the water tank and is used to filter the liquid in the water tank.

[0018] In some embodiments of the present invention, the control unit includes a control module, a battery and a solar panel, the battery is electrically connected to the mobile unit, the cleaning unit, the solar panel and the control module, respectively, the solar panel is arranged on the trunk assembly, and is used to convert solar energy into electrical energy to supplement the battery, and the control module is electrically connected to the mobile unit and the cleaning unit, respectively.

[0019] In some embodiments of the present invention, the bionic gecko cleaning robot also includes a navigation unit electrically connected to the control unit, the navigation unit is installed at one end of the front body portion away from the rear body portion, the navigation unit includes an RGB camera and / or a structured light camera, the RGB camera is used to capture color images of the surrounding environment of the bionic gecko cleaning robot, and the structured light camera is used to capture structured light images of the surrounding environment of the bionic gecko cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By reading the detailed description of the preferred embodiment below, various other advantages and benefits will become clear to those of ordinary skill in the art. The accompanying drawings are only used for the purpose of illustrating the preferred embodiment and are not considered to be limitations of the present invention. Moreover, the same reference numerals are used to represent the same components throughout the accompanying drawings.

[0021] In the attached picture:

[0022] Figure 1 A schematic diagram of the structure of a bionic gecko cleaning robot from a first perspective according to an embodiment of the present invention is schematically shown;

[0023] Figure 2 A schematic diagram of the structure of a bionic gecko cleaning robot from a second viewing angle according to an embodiment of the present invention is schematically shown;

[0024] Figure 3 A schematic diagram of a partial structure of a steering drive unit of a bionic gecko cleaning robot according to an embodiment of the present invention is schematically shown;

[0025] Figure 4 The schematic diagram of the structure of the bionic gecko cleaning robot from a third perspective according to an embodiment of the present invention is schematically shown;

[0026] The reference numerals are as follows:

[0027] 100. Bionic gecko cleaning robot;

[0028] 10. Air pump; 11. Solenoid valve;

[0029] 20. Trunk assembly; 21. Front trunk; 22. Rear trunk; 23. Steering drive unit; 231. Connecting plate; 232. First motor; 233. First bevel gear; 234. Second bevel gear;

[0030] 30. Leg assembly; 31. First steering gear; 32. First rotating bracket; 33. Second steering gear; 34. Second rotating bracket;

[0031] 40. Vacuum suction cup;

[0032] 50. Cleaning unit; 51. Rotating brush; 511. Driving gear; 52. Water tank; 53. Water pump; 54. Water suction pipe; 55. Second motor; 56. Output gear;

[0033] 60. tail assembly; 61. third steering gear; 62. tail body; 63. scraper; 64. through hole;

[0034] 70. Solar panels; 71. Batteries;

[0035] 80. Navigation unit; 81. RGB camera; 82. Structured light camera; 83. Fourth servo. DETAILED DESCRIPTION

[0036] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0037] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0038] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0039] For ease of description, spatial relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, then the elements described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include both upper and lower orientations. The device can be oriented otherwise (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.

[0040] like Figures 1 to 4 As shown, the present invention proposes a bionic gecko cleaning robot 100, comprising:

[0041] The mobile unit includes an air pump assembly, a trunk assembly 20, a plurality of leg assemblies 30 and a plurality of vacuum suction cups 40. Along the width direction of the trunk assembly 20, a certain number of leg assemblies 30 are arranged on both sides of the trunk assembly 20. Along the height direction of the trunk assembly 20, the top of the leg assembly 30 is connected to the trunk assembly 20. The vacuum suction cup 40 is arranged at the bottom of the leg assembly 30. The vacuum suction cup 40 is connected to the air pump assembly. The air pump assembly is used to fix the leg assembly 30 to the surface to be cleaned by vacuuming the vacuum suction cup 40. The leg assembly 30 unit is used to drive the trunk assembly 20 to walk on the surface to be cleaned.

[0042] A cleaning unit 50 is provided on the trunk assembly 20 and is used to clean the surface to be cleaned;

[0043] The control unit is electrically connected to the moving unit and the cleaning unit 50 , respectively, and controls the moving unit to move the bionic gecko cleaning robot 100 .

[0044] It is understandable that the trunk assembly 20 includes a chassis in a long plate structure or a long box structure, and the chassis is used to install various units of the bionic gecko cleaning robot 100. The air pump assembly includes an air pump 10 and a solenoid valve 11. The air pump 10 can be installed on the chassis by snap-on or embedded or bolted, and is connected to the vacuum suction cup 40 through an air pipe, and is used to create negative pressure at the vacuum suction cup 40, so that the bionic gecko cleaning robot 100 is adsorbed on the glass. The air pipe is provided with a solenoid valve 11, which is used to control the opening and closing of the air pipe. The leg assembly 30 can be arranged on both sides of the trunk assembly 20 along its width direction, for example, two leg assemblies 30 are arranged on both sides of the chassis to form a gecko-like appearance. The leg assembly 30 can realize the freedom of rotation parallel to the surface to be cleaned and the freedom of rotation perpendicular to the surface to be cleaned by means of a bracket and a motor, or can realize swinging in a direction perpendicular to the surface to be cleaned by a motor, and then cooperate with the lifting of the chassis or the leg assembly 30, the forward walking of the bionic gecko cleaning robot 100 can also be realized. The vacuum suction cup 40 is arranged at one end of the leg assembly 30 that contacts the surface to be cleaned, that is, the bottom end of the leg assembly 30. Negative pressure is created at the vacuum suction cup 40 by the air pump assembly, so that the leg assembly 30 can be fixed to the surface to be cleaned, and the bionic gecko cleaning robot 100 is suspended on the glass. The cleaning unit 50 is installed on the chassis. The cleaning unit 50 can be a structure of water spraying and rotating friction cleaning, which includes a water spraying assembly and a rotating brush 51. The cleaning effect is achieved by spraying detergent on the glass and rotating the brush 51 to clean the glass by rotation and friction. It can also be a structure of water spraying and rolling friction cleaning, which includes a roller brush and a water spraying assembly. The roller brush rotates on the glass, and the water spraying assembly sprays detergent on the glass to achieve a cleaning effect. The control unit is the control center of the bionic gecko cleaning robot 100. By receiving a movement signal from the user, the control unit controls the movement of the leg assembly 30 according to the received movement signal, and then the bionic gecko cleaning robot 100 moves. Or the bionic gecko cleaning robot 100 is equipped with a camera. According to the acquisition signal of the camera, the control unit controls the movement of the leg assembly 30, and then drives the bionic gecko cleaning robot 100 to move.

[0045] The bionic gecko cleaning robot 100 proposed by the present invention can walk on the glass and clean the glass. The trunk component 20 of the bionic gecko cleaning robot 100 can carry various functional units. The trunk component 20 is provided with a plurality of leg components 30. The bottom end of the leg component 30 is provided with a vacuum suction cup 40. The vacuum suction cup 40 can be vacuumed by the air pump component to be adsorbed on the glass, so that the bionic gecko cleaning robot 100 can be fixed on the glass. The leg component 30 can also be in a state where the air pump component stops vacuuming the vacuum suction cup 40. The vacuum suction cup 40 is lifted off the glass and rotates in a direction parallel to the glass. Through the coordinated movement of multiple leg assemblies 30, the bionic gecko cleaning robot 100 can be moved. For example, the two leg assemblies 30 located at the diagonal position of the trunk assembly 20 are controlled to first lift off the glass, and then rotate forward in a direction parallel to the glass, and then the two leg assemblies 30 at the other diagonal position are controlled to drive the trunk unit forward. The two pairs of leg assemblies 30 on the two diagonals perform the above actions alternately, and the forward movement of the bionic gecko cleaning robot 100 can be achieved. When the bionic gecko cleaning robot 100 needs to turn, the leg assemblies 30 on both sides of the trunk assembly 20 can be controlled to drive the vacuum suction cup 40 to move forward at different amplitudes, so as to achieve the turning.

[0046] In some embodiments of the present invention, the trunk assembly 20 includes a steering drive unit 23, a front body unit 21 and a rear body unit 22. The front body unit 21 is rotatably connected to the rear body unit 22. The steering drive unit 23 is used to drive the front body unit 21 to rotate in a direction parallel to the surface to be cleaned. There are four leg assemblies 30. Along the width direction of the trunk assembly 20, two leg assemblies 30 are respectively provided on opposite sides of the front body unit 21, and two leg assemblies 30 are respectively provided on opposite sides of the rear body unit 22, and the four leg assemblies 30 are arranged in a centrally symmetrical manner.

[0047] It can be understood that the steering drive unit 23 can be a motor in combination with a gear set. The front body 21 and the rear body 22 can both be flat plate structures. One end of the front body 21 along its own length direction is rotatably connected with one end of the rear body 22 along its own length direction through a rotating shaft. A first bevel gear 233 is provided on the rotating shaft. The first motor 232 of the steering drive unit 23 can be provided on the rear body 22. Since the first bevel gear 233 is located higher than the front body 21, in order to ensure that the front body 21 and the rear body 22 are in the same position, the first bevel gear 233 is provided on the rear body 22. At the same height, a connecting plate 231 can be set on the rear body part 22 to raise the first motor 232. The output shaft of the first motor 232 is parallel to the front body part 21 and the rear body part 22. The output shaft of the first motor 232 is provided with a second bevel gear 234 meshing with the first bevel gear 233. When the bionic gecko cleaning robot 100 needs to turn, the first motor 232 drives the second bevel gear 234 to rotate, thereby driving the first bevel gear 233 to rotate, thereby driving the rotating shaft to rotate, and finally driving the front body part 21 to rotate. In order to balance the overall structure, two leg assemblies 30 are respectively provided on the opposite sides of the front body part 21, and two leg assemblies 30 are respectively provided on the opposite sides of the rear body part 22, and the four leg assemblies 30 are arranged in a central symmetric manner, so that the overall structure is balanced.

[0048] In some embodiments of the present invention, the leg assembly 30 includes a first rotating drive unit and a second rotating drive unit, the first rotating drive unit is installed on the front body portion 21 or the rear body portion 22, the second rotating drive unit is transmission-connected to the first rotating drive unit, the first rotating drive unit can drive the second rotating drive unit to rotate in a direction parallel to the surface to be cleaned, and the vacuum suction cup 40 can rotate relative to the second rotating drive unit, the vacuum suction cup 40 is transmission-connected to the second rotating drive unit, and the second rotating drive unit is used to drive the vacuum suction cup 40 to rotate in a direction perpendicular to the surface to be cleaned.

[0049] It can be understood that both the first rotation drive unit and the second rotation drive unit can be servos, and the shell of the second rotation drive unit is fixedly connected to the driving end of the first rotation drive unit. When the first rotation drive unit is output, it can drive the second rotation drive unit to rotate in a direction parallel to the surface to be cleaned. The vacuum suction cup 40 is rotatably connected in the sleeve, and the sleeve is transmission-connected to the driving end of the second rotation drive unit, so that when the second rotation drive unit is output, it drives the sleeve to rotate in a direction perpendicular to the surface to be cleaned, and at the same time drives the vacuum suction cup 40 to rotate in a direction perpendicular to the surface to be cleaned. Since the vacuum suction cup 40 is rotatably connected in the sleeve, the vacuum suction cup 40 can rotate relative to the second rotation drive unit, thereby providing freedom when the leg assembly 30 drives the bionic gecko cleaning robot 100 to walk.

[0050] In some embodiments of the present invention, the first rotation driving unit includes a first servo 31 and a first rotating bracket 32, the first servo 31 is installed on the front body 21 or the rear body 22, the first rotating bracket 32 ​​is fixedly connected to the rotating shaft of the first servo 31, the second rotation driving unit includes a second servo 33 and a second rotating bracket 34, the second servo 33 is installed on the first rotating bracket 32, the first servo 31 drives the second servo 33 to rotate in a direction parallel to the surface to be cleaned by driving the first rotating bracket 32, the second rotating bracket 34 is fixedly connected to the output end of the second servo 33, the vacuum suction cup 40 is rotatably installed on the second rotating bracket 34, the second servo 33 drives the vacuum suction cup 40 to rotate in a direction perpendicular to the surface to be cleaned by driving the second rotating bracket 34.

[0051] It can be understood that the first steering gear 31 is mounted on the front body 21 or the rear body 22, and the mounting method can be a snap connection or a bolt fixed connection. The first steering gear 31 has two output shafts, and both are arranged in a direction perpendicular to the surface to be cleaned. The first rotating bracket 32 ​​can be U-shaped or L-shaped. The two ends of the first rotating bracket 32 ​​are respectively connected to the two output shafts of the first steering gear 31, so that the first steering gear 31 drives the first bracket to rotate in a direction parallel to the surface to be cleaned when it is running. The second steering gear 33 is fixedly mounted on the first rotating bracket 32, and the mounting method can be a snap connection or a bolt fixed connection. The second steering gear 33 has two output shafts, and both are arranged in a direction parallel to the surface to be cleaned. The second rotating bracket 34 can be U-shaped or L-shaped. The two ends of the second rotating bracket 34 are respectively connected to the two output shafts of the second steering gear, so that the second steering gear 33 drives the second rotating bracket 34 to rotate in a direction perpendicular to the surface to be cleaned when it is running, thereby driving the sleeve and the vacuum suction cup 40 to rotate in a direction perpendicular to the surface to be cleaned, so as to realize that the vacuum suction cup 40 is lifted off or pressed down on the surface to be cleaned.

[0052] In some embodiments of the present invention, the bionic gecko cleaning robot 100 also includes a tail assembly 60, which includes a third rotation drive unit, a tail body 62 and a scraper 63. The third rotation drive unit is installed at one end of the rear body 22 away from the front body 21. The tail body 62 is transmission-connected to the third rotation drive unit, and the tail body 62 extends away from the rear body 22. Along the height direction of the trunk assembly 20, the scraper 63 is arranged on the bottom side of the tail body 62, and the scraper 63 is arranged parallel to the tail body 62. The third rotation drive unit is used to drive the tail body 62 to rotate in a direction parallel to the surface to be cleaned, so that the scraper 63 scrapes the surface to be cleaned.

[0053] It can be understood that a tail assembly 60 for scraping off sewage after cleaning is provided at the tail of the bionic gecko cleaning robot 100, that is, the tail of the rear body 22. The tail assembly 60 is set to imitate the tail of the gecko, the tail body 62 is in an elongated shape, and can be a long plate-type structure, and the tail body 62 is provided with a plurality of weight-reducing through holes 64, the third driving part can be a third steering engine 61, the third steering engine 61 is installed on the rear body 22, the tail body 62 is arranged perpendicular to the surface to be cleaned, and the end of the tail body 62 is provided with a third rotating bracket, the third rotating bracket is connected to the output shaft of the third steering engine 61, and the output shaft of the third steering engine 61 is arranged parallel to the surface to be cleaned, so that when the output shaft of the third steering engine 61 rotates, the third rotating bracket can be driven to rotate in a direction parallel to the surface to be cleaned, thereby driving the tail body 62 to rotate, so that the scraper 63 on the tail body 62 swings and hangs water on the surface to be cleaned.

[0054] In some embodiments of the present invention, the cleaning unit 50 includes a rotating brush 51, a water tank 52 and a water spray assembly. Along the height direction of the body assembly, the rotating brush 51 is rotatably arranged at the bottom end of the front body portion 21. The rotating brush 51 is used to rotate and clean the surface to be cleaned. The water tank 52 and the water spray assembly are both installed on the body assembly. The water spray assembly is connected to the water tank 52 and is used to spray water onto the surface to be cleaned.

[0055] It can be understood that the rotating brush 51 is arranged at the bottom of the trunk unit, and two rotating brushes 51 can be arranged. The two rotating brushes 51 are arranged at intervals at the bottom of the connecting plate 231 along the width direction of the trunk unit. A second motor 55 is also installed on the trunk unit. The second motor 55 can be installed on the connecting plate 231 and is located between the two rotating brushes 51. The axial direction of the second motor 55 is parallel to the direction perpendicular to the surface to be cleaned. The output gear 56 on the output shaft of the second motor 55 is respectively engaged with the driving gears 511 on the two rotating brushes 51, so that the second motor 55 drives the rotating brush 51 to rotate to clean the surface to be cleaned. The water tank 52 can be arranged on the trunk unit, and the water spray assembly can be arranged at the axis of the rotating brush 51. The water spray assembly includes a water spray pipe and a water pump 53. The water spray pipe extends in a direction perpendicular to the surface to be cleaned and is passed through the rotating brush 51 and the driving gear 511. The rotating brush 51 and the driving gear 511 can rotate around the water spray pipe. The water pump 53 pumps the water in the water tank 52 out and sprays it from the end of the water spray pipe onto the surface to be cleaned, thereby improving the cleaning effect.

[0056] In some embodiments of the present invention, the water spray assembly includes a water pump 53 and a nozzle. The nozzle is disposed on the trunk assembly 20 or the rotating brush 51. The nozzle is connected to the water pump 53. The spray direction of the nozzle is configured to be toward the surface to be cleaned. The water pump 53 is disposed in the water tank 52 and is used to pump the liquid in the water tank 52 to the nozzle for spraying.

[0057] It can be understood that the water pump 53 can be set in the water tank 52 or on the water spray pipe. The nozzle is set at the end of the water spray pipe away from the water tank 52. The nozzle is used to expand the water spray area and increase the water spray pressure. The nozzle is located at the center of the rotating brush 51, so that the cleaning range of the rotating brush 51 is covered by the spray range of the nozzle.

[0058] In some embodiments of the present invention, the cleaning unit 50 also includes a water suction pipe 54 and a filter element. One end of the water suction pipe 54 is located on the tail body 62, and the other end of the water suction pipe 54 is connected to the water tank 52. The water pump 53 is also used to suck the liquid near the scraper 63 into the water tank 52 through the water suction pipe 54. The filter element is arranged in the water tank 52 and is used to filter the liquid in the water tank 52.

[0059] It can be understood that a suction pipe 54 is also provided at the tail of the bionic gecko cleaning robot 100, which is used to suck the sewage after the scraper 63 hangs water into the water tank 52. After the scraper 63 scrapes off the sewage, the suction pipe 54 located near the scraper 63 contacts the sewage. At this time, the water pump 53 runs to create negative pressure and sucks the sewage into the water tank 52 along the suction pipe 54. In addition, a filter is also provided in the suction pipe 54 or in the water tank 52 for filtering the sewage to improve the water utilization efficiency and extend the endurance of the bionic gecko cleaning robot 100. The filter can refer to the existing sewage filtration structure.

[0060] In some embodiments of the present invention, the control unit includes a control module, a battery 71 and a solar panel 70. The battery 71 is electrically connected to the mobile unit, the cleaning unit 50, the solar panel 70 and the control module, respectively. The solar panel 70 is arranged on the trunk assembly 20 and is used to convert solar energy into electrical energy to supplement the battery 71. The control module is electrically connected to the mobile unit and the cleaning unit 50, respectively.

[0061] It is understandable that the control module is mounted on the trunk assembly 20, and is used to control the trunk assembly 20 to walk according to the signal of the navigation unit 80. The battery 71 is mounted on the trunk assembly 20, and can be mounted on the rear body 22, and its fixing method can be selected by clamping or fixing by bolts. The solar panel 70 can be arranged above the trunk unit, so that the solar panel 70 can receive sunlight, convert light energy into electrical energy and store it in the battery 71, so as to improve the endurance of the bionic gecko cleaning robot 100.

[0062] In some embodiments of the present invention, the bionic gecko cleaning robot 100 also includes a navigation unit 80 electrically connected to the control unit. The navigation unit 80 is installed at one end of the front body 21 away from the rear body 22. The navigation unit 80 includes an RGB camera 81 and / or a structured light camera 82. The RGB camera 81 is used to capture color images of the environment surrounding the bionic gecko cleaning robot 100, and the structured light camera 82 is used to capture structured light images of the environment surrounding the bionic gecko cleaning robot 100.

[0063] It can be understood that the navigation unit 80 is installed at the head position of the front body, that is, the front end of the bionic gecko cleaning robot 100. The navigation unit 80 can realize the rotation function through the fourth servo 83 arranged on the front body 21, so that the navigation unit 80 can collect multi-angle and multi-directional environmental signals. The RGB camera 81 is used to collect color images around the bionic gecko cleaning robot 100. Specifically, the existing RGB camera 81 can be used. The structured light camera 82 is used to project active structural information such as laser stripes, Gray code, sinusoidal stripes, etc. onto the surface of the object to be measured through a projector; then, a single or multiple cameras are used to photograph the surface to be measured. finally, based on the triangulation principle, three-dimensional image analysis and calculation are performed to realize three-dimensional reconstruction, and the surrounding environment signal of the bionic gecko cleaning robot 100 is generated in combination with the color image collected by the RGB camera 81. The surrounding environment signal can determine the surrounding environment picture and the relative position between the bionic gecko cleaning robot 100 and the entities in the surrounding environment, so that the bionic gecko cleaning robot 100 can generate a navigation signal according to the surrounding environment signal, or the user can control the moving path of the bionic gecko cleaning robot 100 according to the surrounding environment signal, so as to realize the walking function of the bionic gecko cleaning robot 100 on the surface to be cleaned.

[0064] The control method of the bionic gecko cleaning robot 100 of the present invention is implemented according to the bionic gecko cleaning robot 100 proposed in the first aspect of the present invention, taking the bionic gecko cleaning robot 100 having four leg assemblies 30 arranged in a central symmetric manner as an example, comprising the following steps:

[0065] receiving a moving direction signal and a cleaning signal from the navigation unit 80;

[0066] According to the moving direction signal being a turning signal, the air pump assembly is controlled to stop the vacuum suction cup 40 on the front body part 21 from pumping air, and the first motor 232 drives the second bevel gear 234 to rotate, thereby driving the first bevel gear 233 to rotate, thereby driving the rotating shaft to rotate, and finally driving the front body part 21 to rotate, thereby realizing the rotation of the front body part relative to the rear body part 22, thereby realizing the turning of the bionic gecko cleaning robot 100;

[0067] According to the moving direction signal being a forward signal, the vacuum suction cups 40 on the two diagonally arranged leg assemblies 30 of the front body part 21 and the rear body part 22 are controlled to stop pumping air, and the second servo 33 of the leg assembly 30 is controlled to drive the vacuum suction cup 40 to lift off the surface to be cleaned, and then the first servo 31 of the leg assembly 30 is controlled to drive the leg assembly 30 to rotate forward. During the rotation process, the first servo 31 of the remaining two diagonally arranged leg assemblies 30 is controlled to drive the body unit to move forward. After the leg assembly 30 rotates forward to the right position, the second servo 33 of the leg assembly 30 is controlled to drive the vacuum suction cup 40 to fit with the surface to be cleaned, and the air pump assembly is controlled to make the vacuum suction cup 40 adsorbed on the surface to be cleaned, and then the two leg assemblies 30 on the other diagonal line are controlled to repeat the above steps, and the two pairs of leg assemblies 30 on the two diagonals perform the above steps alternately, so that the bionic gecko cleaning robot 100 moves forward.

[0068] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A bionic gecko cleaning robot, characterized in that: include: A mobile unit, comprising an air pump assembly, a trunk assembly, a plurality of leg assemblies and a plurality of vacuum suction cups, wherein a portion of the leg assemblies are provided on both sides of the trunk assembly along the width direction of the trunk assembly, and the top of the leg assembly is connected to the trunk assembly along the height direction of the trunk assembly, and the vacuum suction cup is provided at the bottom of the leg assembly, and the vacuum suction cup is communicated with the air pump assembly, the air pump assembly is used to fix the leg assembly to the surface to be cleaned by vacuuming the vacuum suction cup, and the leg assembly unit is used to drive the trunk assembly to walk on the surface to be cleaned; A cleaning unit, disposed on the trunk assembly and used to clean the surface to be cleaned; The control unit is electrically connected to the moving unit and the cleaning unit respectively, and controls the moving unit to move the bionic gecko cleaning robot.

2. The bionic gecko cleaning robot according to claim 1, characterized in that: The trunk assembly includes a steering drive portion, a front body portion and a rear body portion, the front body portion being rotatably connected to the rear body portion, the steering drive portion being used to drive the front body portion to rotate in a direction parallel to the surface to be cleaned, the number of the leg assemblies being four, and along the width direction of the trunk assembly, two of the leg assemblies are respectively provided on opposite sides of the front body portion, two of the leg assemblies are respectively provided on opposite sides of the rear body portion, and the four leg assemblies are arranged in a centrally symmetrical manner.

3. The bionic gecko cleaning robot according to claim 2, characterized in that: The leg assembly includes a first rotation driving part and a second rotation driving part, the first rotation driving part is installed on the front body part or the rear body part, the second rotation driving part is transmission-connected with the first rotation driving part, the first rotation driving part can drive the second rotation driving part to rotate along a direction parallel to the surface to be cleaned, the vacuum suction cup is transmission-connected with the second rotation driving part, and the vacuum suction cup can rotate relative to the second rotation driving part, and the second rotation driving part is used to drive the vacuum suction cup to rotate along a direction perpendicular to the surface to be cleaned.

4. The bionic gecko cleaning robot according to claim 3, characterized in that: The first rotation driving unit includes a first steering gear and a first rotating bracket, the first steering gear is installed on the front body part or the rear body part, the first rotating bracket is fixedly connected to the rotating shaft of the first steering gear, the second rotation driving unit includes a second steering gear and a second rotating bracket, the second steering gear is installed on the first rotating bracket, the first steering gear drives the second steering gear to rotate in a direction parallel to the surface to be cleaned by driving the first rotating bracket, the second rotating bracket is fixedly connected to the output end of the second steering gear, the vacuum suction cup is rotatably installed on the second rotating bracket, and the second steering gear drives the vacuum suction cup to rotate in a direction perpendicular to the surface to be cleaned by driving the second rotating bracket.

5. The bionic gecko cleaning robot according to claim 4, characterized in that: The bionic gecko cleaning robot also includes a tail assembly, which includes a third rotation drive unit, a tail body and a scraper. The third rotation drive unit is installed at an end of the rear body portion away from the front body portion. The tail body is transmission-connected to the third rotation drive unit, and the tail body extends in a direction away from the rear body portion. Along the height direction of the trunk assembly, the scraper is arranged on the bottom side of the tail body, and the scraper is arranged parallel to the tail body. The third rotation drive unit is used to drive the tail body to rotate in a direction parallel to the surface to be cleaned, so that the scraper scrapes the surface to be cleaned.

6. The bionic gecko cleaning robot according to claim 5, characterized in that: The cleaning unit includes a rotating brush, a water tank and a water spray assembly. The rotating brush is rotatably arranged at the bottom end of the front body portion along the height direction of the body assembly. The rotating brush is used to rotate and clean the surface to be cleaned. The water tank and the water spray assembly are both installed on the body assembly. The water spray assembly is connected to the water tank and is used to spray water onto the surface to be cleaned.

7. The bionic gecko cleaning robot according to claim 6, characterized in that: The water spray assembly includes a water pump and a nozzle, wherein the nozzle is arranged on the trunk assembly or the rotating brush, the nozzle is connected to the water pump, and the spray direction of the nozzle is configured to be toward the surface to be cleaned. The water pump is arranged in the water tank and is used to pump the liquid in the water tank to the nozzle for spraying.

8. The bionic gecko cleaning robot according to claim 7, characterized in that: The cleaning unit also includes a water suction pipe and a filter element. One end of the water suction pipe is located on the tail body, and the other end of the water suction pipe is connected to the water tank. The water pump is also used to suck the liquid near the scraper into the water tank through the water suction pipe. The filter element is arranged in the water tank and is used to filter the liquid in the water tank.

9. The bionic gecko cleaning robot according to any one of claims 2 to 8, characterized in that: The control unit includes a control module, a battery and a solar panel. The battery is electrically connected to the mobile unit, the cleaning unit, the solar panel and the control module respectively. The solar panel is arranged on the trunk assembly and is used to convert solar energy into electrical energy to supplement the battery. The control module is electrically connected to the mobile unit and the cleaning unit respectively.

10. The bionic gecko cleaning robot according to any one of claims 2 to 8, characterized in that: The bionic gecko cleaning robot also includes a navigation unit electrically connected to the control unit, wherein the navigation unit is installed at one end of the front body portion away from the rear body portion, and the navigation unit includes an RGB camera and / or a structured light camera, wherein the RGB camera is used to capture color images of the surrounding environment of the bionic gecko cleaning robot, and the structured light camera is used to capture structured light images of the surrounding environment of the bionic gecko cleaning robot.

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