Cleaning robot for three-dimensional product and cleaning method of cleaning robot

Abstract

The invention discloses a cleaning robot for a three-dimensional product and a cleaning method thereof.The cleaning robot comprises a shell, a cleaning assembly, a moving assembly, a sensor assembly and a control assembly are connected to the shell, and the control assembly controls operation of the cleaning assembly and the moving assembly; in the operation process, the control assembly regulates and controls operation of the cleaning assembly and the moving assembly according to data obtained by the sensor assembly, the sensor assembly comprises a boundary recognition sensor and an obstacle recognition sensor, and the boundary recognition sensor recognizes whether the cleaning robot reaches the boundary of the cleaned three-dimensional product or not; the cleaning robot for the three-dimensional products is suitable for cleaning various three-dimensional products, the size is small, so that the occupied area is small, the robot automatically moves and cleans the three-dimensional products, the situation that the cleaned products are damaged due to the fact that large equipment is difficult to control is avoided, and the cleaning efficiency is improved. Each face of the three-dimensional product can be cleaned through the boundary recognition sensor and the obstacle recognition sensor, and the cleaning effect is good.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning robots, and more specifically, to a cleaning robot for three-dimensional products and a cleaning method thereof. Background Art

[0002] Currently, for the cleaning of three-dimensional products, either manual labor or large-scale unmanned cleaning equipment, such as fully automatic car washing equipment, is used. This not only occupies a large area, fails to clean thoroughly, but also poses high risks. Specifically, there are the following disadvantages:

[0003] 1. High technical requirements: For self-service car wash machines, the operation process is relatively complex, with certain requirements for the user's technology and knowledge. A certain learning process may be required when using it for the first time.

[0004] 2. Unstable car washing effect: Since it is operated by the car owner himself / herself, the car washing effect may be affected by personal technology and experience, and is not as stable and consistent as professional car washing services.

[0005] 3. High risk: Without professional personnel for real-time supervision, situations of improper operation or equipment failure may occur, resulting in vehicle damage or equipment failure.

[0006] 4. Poor versatility: For some special vehicles or occasions with specific car washing requirements, unmanned car wash machines may not be able to provide services that meet the needs, and still rely on professional car washing services.

[0007] 5. Incomplete cleaning: Details are not cleaned thoroughly.

[0008] Content of the Application

[0009] In view of the problems in the related art, the present application proposes a cleaning robot for three-dimensional products and a cleaning method thereof, which are applicable to the cleaning of various three-dimensional products, have a small volume and are not likely to cause damage to the products to be cleaned, and have a good cleaning effect.

[0010] To this end, the specific technical solutions adopted in the present application are as follows:

[0011] A cleaning robot for three-dimensional products includes a housing, to which a cleaning component, a moving component, a sensor component, and a control component are connected. The control component is electrically connected to the cleaning component, the moving component, and the sensor component respectively. The control component controls the operation of the cleaning component and the moving component. During the operation, the control component regulates the operation of the cleaning component and the moving component according to the data obtained by the sensor component. The sensor component includes a boundary recognition sensor and an obstacle recognition sensor. The boundary recognition sensor recognizes whether the cleaning robot reaches the boundary of the three-dimensional product to be cleaned to prevent the cleaning robot from falling off, and the obstacle recognition sensor recognizes the obstacles on the three-dimensional product to be cleaned to facilitate controlling the cleaning robot to avoid obstacles.

[0012] The cleaning robot for three-dimensional products is applicable to the cleaning of various three-dimensional products. It is small in size and thus occupies a small area. Moreover, the robot automatically moves and cleans while avoiding damage to the products being cleaned. Each surface of the three-dimensional products can be cleaned through the boundary recognition sensor and the obstacle recognition sensor, and the cleaning effect is good.

[0013] Furthermore, the cleaning component includes at least one cleaning bin. The bottom of the cleaning bin is connected to the cleaning part. An air extraction part is provided inside the cleaning bin, and an air extraction port is opened at the bottom of the cleaning bin to match the air extraction part. The cleaning bin contains the necessary components for the robot to clean. For details, refer to the existing floor cleaning robots. Since it is prior art, it will not be elaborated here. The air extraction part of the cleaning bin in this application is used to adsorb the cleaning bin on the outer surface of the product being cleaned during the cleaning process to prevent it from falling off during cleaning.

[0014] Furthermore, the cleaning part is telescopically arranged. The cleaning part includes a cleaning cloth that is detachably connected at the bottom end. The cleaning cloth is driven by a motor to rotate. The cleaning cloth is connected to a spring, and the spring pops the cleaning cloth downward to closely adhere to the surface of the product being cleaned for cleaning.

[0015] Furthermore, the cleaning component is connected to the housing through a flexible connecting part. The cleaning component can reach any part of the three-dimensional product to be cleaned away from the housing through the flexible connecting part to achieve all-round cleaning. The flexible connecting part can be a telescopic tow rope, and the tow rope cleans the parts of the three-dimensional product that are not parallel to the ground under the control of the control component.

[0016] Furthermore, the cleaning component includes a water storage tank and a spraying part. The water storage tank is arranged inside the cleaning component, and the spraying part is connected to the water storage tank.

[0017] Furthermore, the moving component is arranged at the bottom of the housing. The moving component protrudes a certain distance from the bottom of the housing, so that there is a certain space between the robot chassis and the surface of the product being cleaned, enabling the robot to move more closely to the surface of the product being cleaned. It can pass well through the irregular arcs on the surface of the product being cleaned. For example, it can also run smoothly through the junction of the front windshield and the rear windshield of a car.

[0018] Furthermore, the detection direction of the boundary recognition sensor takes the bottom of the housing as the reference plane, including a 180° range at the bottom of the housing, so that the cleaning component will not fall off during the cleaning process of the parts of the three-dimensional product that are not parallel to the ground.

[0019] Furthermore, the obstacle recognition sensor includes a touch component. The touch component is telescopically arranged. When the touch component touches an obstacle, the touch component contracts to trigger the obstacle recognition sensor to send a signal to the control component, and the control component controls the cleaning robot to avoid the obstacle.

[0020] The present application also provides a cleaning method for a cleaning robot of a three-dimensional product, which is implemented by using the cleaning robot of the three-dimensional product as described above, including:

[0021] Step 1: Obtain an external view of the three-dimensional product to be cleaned, where the external view includes a view of any one of the outer surfaces of the three-dimensional product to be cleaned;

[0022] Step 2: A number of turning points are preset on the outer surface of the external view respectively, or a number of turning points are set on the outer surface of the three-dimensional product to be cleaned in real time based on the characteristics of the external view;

[0023] Step 3: Start the cleaning robot, select any one of the outer surfaces of the three-dimensional product to be cleaned, and perform winding cleaning along the connecting line of the turning points on the outer surface, traversing each outer surface until the cleaning of all outer surfaces is completed, where the connecting line can be a broken line, an S-shaped line, or a circular line.

[0024] The beneficial effects of the present application are as follows:

[0025] 1. The cleaning robot of the three-dimensional product is applicable to the cleaning of various three-dimensional products, has a small volume and thus occupies a small area, and the robot automatically moves and cleans while avoiding damage to the product to be cleaned. Each surface of the three-dimensional product can be cleaned through the boundary recognition sensor and the obstacle recognition sensor, and the cleaning effect is good;

[0026] 2. The cleaning robot of the three-dimensional product is adsorbed on the surface of the three-dimensional product to be cleaned when cleaning a surface at a certain inclination angle through the air extraction component, without causing damage to the cleaning robot;

[0027] 3. The cleaning component of the cleaning robot of the three-dimensional product can be telescopically arranged, the cleaning component is connected to the housing through a flexible connecting piece, and the cleaning component reaches any part of the three-dimensional product to be cleaned through the flexible connecting piece to achieve all-round cleaning;

[0028] 4. The cleaning method of the cleaning robot of the three-dimensional product performs winding cleaning along the connecting line between the turning points by setting turning points on the three-dimensional product, traverses each outer surface, and completes the cleaning of all outer surfaces. Cooperating with the cleaning machine of the three-dimensional product of the present application, fine cleaning of the three-dimensional product can be completed. Description of the Drawings

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0030] Figure 1Schematic diagram of the three-dimensional structure of a cleaning robot for three-dimensional products according to Embodiment 1 of the present application from one angle;

[0031] Figure 2 Schematic diagram of the bottom view structure of a cleaning robot for three-dimensional products according to Embodiment 1 of the present application;

[0032] Figure 3 Schematic diagram of the three-dimensional structure of a cleaning robot for three-dimensional products according to Embodiment 1 of the present application from another angle;

[0033] Figure 4 One of the schematic diagrams of the state of a cleaning robot for three-dimensional products according to Embodiment 1 of the present application during the cleaning operation;

[0034] Figure 5 Two of the schematic diagrams of the state of a cleaning robot for three-dimensional products according to Embodiment 1 of the present application during the cleaning operation;

[0035] Figure 6 Three of the schematic diagrams of the state of a cleaning robot for three-dimensional products according to Embodiment 1 of the present application during the cleaning operation;

[0036] Figure 7 One of the schematic diagrams of the state of a cleaning robot for three-dimensional products according to Embodiment 2 of the present application when cleaning a car;

[0037] Figure 8 Two of the schematic diagrams of the state of a cleaning robot for three-dimensional products according to Embodiment 2 of the present application when cleaning a car;

[0038] Figure 9 Three of the schematic diagrams of the state of a cleaning robot for three-dimensional products according to Embodiment 2 of the present application when cleaning a car;

[0039] Figure 10 Four of the schematic diagrams of the state of a cleaning robot for three-dimensional products according to the present application when cleaning a car;

[0040] Figure 11 Five of the schematic diagrams of the state of a cleaning robot for three-dimensional products according to Embodiment 2 of the present application when cleaning a car;

[0041] Figure 12 Six of the schematic diagrams of the state of a cleaning robot for three-dimensional products according to Embodiment 2 of the present application when cleaning a car;

[0042] Figure 13 Seven of the schematic diagrams of the state of a cleaning robot for three-dimensional products according to Embodiment 2 of the present application when cleaning a car;

[0043] Figure 14It is the eighth state diagram of a cleaning robot for a three-dimensional product cleaning a car according to Embodiment 2 of the present application.

[0044] In the figure:

[0045] 1. Housing; 2. Cleaning assembly; 21. Cleaning part; 22. Air extraction part; 23. Air extraction port; 3. Moving assembly; 4. Boundary recognition sensor; 5. Obstacle recognition sensor; 6. Three-dimensional product. Specific implementation manners

[0046] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0047] Embodiment 1

[0048] According to an embodiment of the present application, a cleaning robot for a three-dimensional product and its cleaning method are provided. As Figures 1 - 3 shown, the cleaning robot for a three-dimensional product according to an embodiment of the present application includes a housing 1, and a cleaning assembly 2, a moving assembly 3, a sensor assembly, and a control assembly are connected to the housing 1. The control assembly is electrically connected to the cleaning assembly 2, the moving assembly 3, and the sensor assembly respectively. The control assembly controls the operation of the cleaning assembly 2 and the moving assembly 3. During the operation, the control assembly adjusts the operation of the cleaning assembly 2 and the moving assembly 3 according to the data obtained by the sensor assembly. The sensor assembly includes a boundary recognition sensor 4 and an obstacle recognition sensor 5. The boundary recognition sensor 4 recognizes whether the cleaning robot reaches the boundary of the three-dimensional product to be cleaned to prevent the cleaning robot from falling off, and the obstacle recognition sensor 5 recognizes the obstacles on the three-dimensional product to be cleaned to facilitate controlling the cleaning robot to avoid obstacles.

[0049] The detection direction of the boundary recognition sensor 4 is based on the bottom of the housing 1 as a reference plane, including a 180° range at the bottom of the housing 1. The obstacle recognition sensor 5 includes a touch component, and the touch component is telescopically arranged. When the touch component touches an obstacle, the touch component contracts to trigger the obstacle recognition sensor 5 to send a signal to the control component, and the control component controls the cleaning robot to avoid the obstacle. The cleaning component 2 includes a cleaning bin, the bottom of the cleaning bin is connected to the cleaning part 21, an air extraction part 22 is arranged inside the cleaning bin, and an air extraction port 23 is opened at the bottom of the cleaning bin to match the air extraction part 22. The cleaning component 2 is connected to the housing 1 through a flexible connector. The cleaning component 2 moves away from the housing 1 through the flexible connector to reach any part of the three-dimensional product to be cleaned to achieve all-round cleaning. The cleaning component 2 includes a water storage tank and a spraying part. The water storage tank is arranged inside the cleaning component 2, and the spraying part is connected to the water storage tank to spray water or cleaning liquid during the cleaning process.

[0050] Such as Figures 4 - 6 , other components of the cleaning robot for cleaning the three-dimensional product are similar to those of the floor cleaning robot, which will not be elaborated in this application. When the cleaning robot is used to clean the inclined surface of the three-dimensional product 6 with respect to the ground, the cleaning robot reaches the turning point between the inclined surface and the plane according to the detection signal of the boundary recognition sensor 4. The cleaning component 2 moves towards the inclined surface through the flexible connector and cleans. The cleaning air extraction part 22 is turned on so that the cleaning component 2 is adsorbed on the inclined surface without falling off.

[0051] Embodiment 2

[0052] According to an embodiment of the present application, a cleaning method for a cleaning robot of a three-dimensional product is provided. Taking a car as an example, it includes:

[0053] Step 1: Obtain the external shape diagram of the car to be cleaned. The external shape diagram includes the diagram of any external facade of the car to be cleaned. The external shape diagram can be directly transmitted into the cleaning robot after being obtained externally, or can be realized by setting a camera or other structures on the cleaning robot to scan the external shape of the car. The external shape diagram includes the views of the roof and the four sides of the car, front, rear, left, and right. Among them, the roof view includes the front hood, the front windshield, the roof surface, the rear windshield, and the trunk lid views;

[0054] Step 2: A number of turning points are preset on the external facade of the input car external shape diagram, or a number of turning points are set on the external facade of the car in real time based on the characteristics of the car external shape diagram. Specifically, a turning point is set at a certain interval at the turning points of the views of the roof and the four sides of the car, front, rear, left, and right, and a turning point is set at a certain interval at the turning points of the front hood, the front windshield, the roof surface, the rear windshield, and the trunk lid;

[0055] Step 3: Start the cleaning robot, select any outer surface of the three-dimensional product to be cleaned, and perform winding cleaning along the connection line of the turning points on the outer surface, traversing each outer surface until the cleaning of all outer surfaces is completed. Specifically, as Figures 7 - 14 shown,

[0056] At the start of cleaning, the cleaning robot is placed on the front engine hood, which can be at any position and in any orientation on the front engine hood. As Figure 7 shown, there are a total of 7 turning points in the figure. The cleaning robot moves in a straight line to reach turning point 1. At this time, the boundary sensor 4 of the cleaning robot senses that this position is the boundary through the change in the downward detection distance. This is because the boundary sensor 4 operates on the front engine hood of the car. After the boundary sensor 4 exceeds the boundary of the front engine hood, the value of the downward boundary sensor 4 will suddenly increase after exceeding the boundary. At this time, the value of the boundary sensor 4 is the distance from the sensor to the ground. On the contrary, inside the boundary, it is the distance from the sensor to the car surface, which is a small value. After reaching the position of turning point 1, it will turn to the lower right corner and then traverse in a straight line to the position of turning point 2. The boundary sensed is also the boundary sensor 4. After reaching turning point 2, it will turn to the upper right corner. At this time, it reaches the position of turning point 3, that is, the position of the front windshield and the front hood. At the position of turning point 3, because there is a gap at the junction of the front windshield and the front hood, the value of the boundary sensor 4 at this time should be between the four surrounding boundaries and inside the car surface. After reaching turning point 3, it will move to turning point 4 and then move straight up to the position of turning point 5. After reaching turning point 5, it will turn to the lower left corner and move to the place of turning point 6 (turning point 6 can be a boundary or not). After reaching turning point 6, it will move straight down to the place of turning point 7. Turning point 7 is the end position of the traversal of the front hood. During the traversal process, the cleaning bin closely adheres to the surface for surface cleaning and at the same time cooperates with water spraying to enhance the cleaning effect. After reaching the position of turning point 7, the traversal of the first side is completed, and then it moves to the right to turning point 8. Here is the junction of the front windshield and the front hood. As Figure 8 shown, after reaching turning point 8, it runs around the boundary of the front engine hood of the car for one week, and at any boundary position, the cleaning bin is lowered along the side to clean the side of the car. When cleaning the side, when the cleaning bin reaches the bottom end, the cleaning robot moves to the adjacent turning point to continue cleaning until all the turning points on the side of the front engine hood are traversed. After completing the cleaning of the side of the front engine hood, it returns to the turning point 9 of the windshield.

[0057] As Figure 9 shown, after reaching the position of turning point 9, it means that the cleaning of the front engine hood and the three sides of the front engine hood has been completed. Then it directly moves to the front windshield through turning point 9 and then performs a zigzag traversal like the front engine hood, using the boundary as the turning condition until the front windshield is cleaned and reaches the turning point 10 of the front windshield.

[0058] As Figure 10 shown, after reaching the turning point 10 of the front windshield, it goes around the front windshield for one week, from turning point 10 to turning point 11 to turning point 12 to turning point 13. In the process from turning point 10 to turning point 11 and from turning point 12 to turning point 13 in this path, the cleaning bin is put down in sequence to clean the side surfaces of the car on both sides of the windshield. After finishing, it reaches the position of turning point 13, and then directly runs to the starting point of the roof movement, turning point 14.

[0059] Starting from turning point 14, it moves in a bow shape on the roof and ends at turning point 15.

[0060] As Figure 11 shown, then starting from the roof turning point 15, it moves around the two side edges of the roof, from turning point 15 to turning point 16 to turning point 17 to turning point 18. After reaching the roof turning point 18, the cleaning task on the roof ends, and it directly moves to turning point 19 and reaches the windshield. When moving on the two paths from turning point 15 to turning point 16 and from turning point 17 to turning point 18, the cleaning bin is put down to clean the side surfaces of the car.

[0061] As Figure 12 shown, after reaching the rear windshield turning point 19, it traverses and cleans the rear windshield in a bow shape, and then reaches the end point of the rear windshield traversal cleaning.

[0062] After reaching turning point 20, it moves along the path from turning point 20 to turning point 21 to turning point 22 to turning point 23. The cleaning bin is put down on the paths from turning point 20 to turning point 21 and from turning point 22 to turning point 23 to clean the sides of the car. Then reaching turning point 23 indicates the end of the rear windshield cleaning task, and it moves to the rear cover turning point 24.

[0063] As Figure 13 shown, at the rear cover turning point 24, it moves in a bow shape. After reaching turning point 25, the traversal cleaning of the rear cover ends.

[0064] As Figure 14 shown, after the robot moves to turning point 25, it then moves to turning point 26, turning point 27, turning point 28, turning point 29. The cleaning bin is put down during the movement from turning point 26 to turning point 27, from turning point 27 to turning point 28, and from turning point 28 to turning point 29 to clean the side surfaces of the car. Then moving from turning point 29 to turning point 30 indicates that the rear cover has been cleaned.

[0065] After cleaning the car, it moves from the position of turning point 30 to turning point 31, then to turning point 32, turning point 33, turning point 34, turning point 35, turning point 36, turning point 37, and then returns to turning point 38, which is roughly the same as the position of turning point 1. This indicates that the cleaning robot has completed the cleaning task of the entire vehicle.

Claims

1. A cleaning robot for three-dimensional products, characterized in that: The invention comprises a shell (1), to which a cleaning component (2), a moving component (3), a sensor component and a control component are connected. The control component is electrically connected to the cleaning component (2), the moving component (3) and the sensor component respectively. The control component controls the operation of the cleaning component (2) and the moving component (3). During the operation, the control component regulates the operation of the cleaning component (2) and the moving component (3) according to data acquired by the sensor component. The sensor component comprises a boundary recognition sensor (4) and an obstacle recognition sensor (5). The boundary recognition sensor (4) recognizes whether the cleaning robot has reached the boundary of the three-dimensional product to be cleaned, so as to prevent the cleaning robot from falling off. The obstacle recognition sensor (5) recognizes obstacles on the three-dimensional product to be cleaned, so as to control the cleaning robot to avoid the obstacles.

2. A cleaning robot for three-dimensional products according to claim 1, characterized in that: The cleaning assembly (2) comprises at least one cleaning chamber, the bottom of which is connected to a cleaning component (21), an exhaust component (22) is provided inside the cleaning chamber, and an exhaust port (23) is provided at the bottom of the cleaning chamber to match the exhaust component (22).

3. A three-dimensional product cleaning robot according to claim 1 or 2, characterized in that: The cleaning component (2) is connected to the shell (1) via a flexible connector, and the cleaning component (2) moves away from the shell (1) via the flexible connector to reach any part of the three-dimensional product to be cleaned, thereby achieving all-round cleaning.

4. A three-dimensional product cleaning robot according to claim 1 or 2, characterized in that: The cleaning component (2) comprises a water storage tank and a spraying component. The water storage tank is arranged inside the cleaning component (2), and the spraying component is connected to the water storage tank.

5. A three-dimensional product cleaning robot according to claim 1 or 2, characterized in that: The moving component (3) is arranged at the bottom of the shell (1), and the moving component (3) protrudes from the bottom of the shell (1) by a certain distance.

6. A three-dimensional product cleaning robot according to claim 1 or 2, characterized in that: The detection direction of the boundary recognition sensor (4) takes the bottom of the shell (1) as a reference plane, including a 180° range of the bottom of the shell (1).

7. A three-dimensional product cleaning robot according to claim 1 or 2, characterized in that: The obstacle recognition sensor (5) comprises a touch component, which is retractable. When the touch component contacts an obstacle, the touch component contracts, triggering the obstacle recognition sensor (5) to send a signal to the control component, and the control component controls the cleaning robot to avoid the obstacle.

8. A cleaning method for a three-dimensional product using a cleaning robot, implemented using a three-dimensional product cleaning robot as claimed in any one of claims 1 to 7, characterized in that: include: Step 1: Obtain an appearance diagram of the three-dimensional product to be cleaned, wherein the appearance diagram includes a diagram of any external surface of the three-dimensional product to be cleaned; Step 2: a plurality of turning points are preset on the facade of the appearance drawing, or a plurality of turning points are set on the facade of the cleaning three-dimensional product in real time based on the characteristics of the appearance drawing; Step 3: Start the cleaning robot, select any facade of the three-dimensional product to be cleaned, and perform winding cleaning along the connecting line of the turning points on the facade, traversing each facade until all facades are cleaned.

9. The cleaning method of a three-dimensional product cleaning robot according to claim 8, characterized in that: The connecting lines include broken lines, S lines and loop lines.

10. The cleaning robot and cleaning method for three-dimensional products according to claim 8, characterized in that: The three-dimensional product to be cleaned is a car, and the cleaning methods include: Step 1: Obtain the appearance of the car, which includes the roof and the four side views of the car, including the front hood, front windshield, roof, rear windshield and trunk lid views; Step 2: Based on the features of the views of the roof and the four sides of the vehicle, several turning points are set on the roof and the four sides of the vehicle; Step 3: Start the cleaning robot, select any one of the front hood, front windshield, roof, rear windshield and trunk lid as the first cleaning surface, and perform S-line and / or loop cleaning along the turning points set thereon. After the roof is cleaned, select any nearest side according to the location of the cleaning robot to continue cleaning. When cleaning the side, the cleaning robot is located on the roof and reaches one of the turning points. The cleaning component (2) moves downward through the flexible connector to clean the side of the car. After the cleaning component (2) reaches the bottom of the side, the cleaning robot moves to the nearest turning point and repeats the side cleaning process, traversing each exterior surface of the car until all exterior surfaces are cleaned.

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