Intelligent cleaning robot under high-dust environment

Abstract

The invention discloses an intelligent cleaning robot in a high-dust environment, and relates to the field of industrial automation, the intelligent cleaning robot comprises an omni-directional moving chassis, a cleaning module and an embedded controller, the cleaning module and the embedded controller are arranged on the omni-directional moving chassis, a multi-layer fixing frame is arranged between the cleaning module and the embedded controller, and a driving power supply is arranged on the bottom layer of the multi-layer fixing frame; sensing modules are arranged on the middle layer and the top layer of the multi-layer fixing frame. Dustproof shells are arranged on the outer side of the cleaning module, the outer side of the embedded controller and the outer side of the multi-layer fixing frame. The clearance passing rate of the cleaning robot is increased through omni-directional movement, the problem that traditional cleaning equipment is low in cleaning coverage rate is solved, efficient and full-coverage cleaning is achieved, meanwhile, the defects that the traditional cleaning equipment is insufficient in storage and single in structure are effectively overcome, and potential safety hazards of manual cleaning in a high-dust environment are reduced.

Description

Technical Field

[0001] The present invention relates to the field of industrial automation, and in particular to an intelligent cleaning robot for high-dust environments. Background Art

[0002] In steel environment workshops, steel production produces iron filings and dust. High dust concentrations can easily lead to an increased incidence of respiratory diseases among front-line workers.

[0003] In the existing technology, cleaning equipment lacks accurate environmental perception and path planning, and mostly uses manual assistance for cleaning.

[0004] First, manual cleaning or manual-assisted cleaning is inefficient, at only 200-300 square meters per day. Large factories require a large number of workers for cleaning, which increases the hiring cost of the cleaning process. Long-term exposure to high-dust environments increases health risks and increases safety hazards in the operation process. Secondly, traditional cleaning robots are difficult to adapt to the interference of dusty environments, and the laser point cloud data used has high noise, which makes environmental mapping difficult and reduces the accuracy of mapping. In addition, traditional cleaning robots have insufficient suction power and low filtration efficiency, which cannot meet industrial-grade dust treatment needs. Finally, the chassis of traditional cleaning robots mostly adopt Ackerman structure and differential structure, which makes it difficult to flexibly turn in complex environments, resulting in low effective cleaning coverage and difficulty in coping with narrow passages and equipment parts.

[0005] Therefore, an intelligent cleaning robot for high dust environment is provided to solve the above problems. Summary of the Invention

[0006] The purpose of the present invention is to provide an intelligent cleaning robot for high-dust environments, which can effectively solve the defects of insufficient storage and single structure of traditional cleaning equipment, solve the problems of large safety hazards and low efficiency of manual cleaning in high-dust environments, and achieve efficient and full-coverage cleaning.

[0007] To achieve the above-mentioned objectives, the present invention provides an intelligent cleaning robot for a high-dust environment, comprising an omnidirectional mobile chassis and a cleaning module and an embedded controller arranged on the omnidirectional mobile chassis. A multi-layer fixed frame is arranged between the cleaning module and the embedded controller, the bottom layer of the multi-layer fixed frame is provided with a driving power supply, the middle layer and the top layer of the multi-layer fixed frame are provided with a sensing module, and the outside of the cleaning module, the outside of the embedded controller and the outside of the multi-layer fixed frame are all provided with a dustproof shell.

[0008] Preferably, the omnidirectional mobile chassis includes a first mobile chassis and a second mobile chassis, the embedded controller is arranged on the first mobile chassis, the dustproof shell of the embedded controller is provided with charging contacts, the cleaning module and the multi-layer fixed frame are arranged on the second mobile chassis, and the first mobile chassis and the second mobile chassis are movably connected by a suspension connecting rod, and the suspension connecting rod is provided with multiple adjustment slots.

[0009] Preferably, dust baffles are provided on the bottom of the first mobile chassis and the bottom of the second mobile chassis, Mecanum wheels are provided on both sides of the first mobile chassis and both sides of the tail of the second mobile chassis, and a walking mechanism is provided between the two Mecanum wheels provided on the same side of different mobile chassis.

[0010] Preferably, the walking mechanism includes two transmission shafts and a synchronous belt arranged between the two transmission shafts, the two transmission shafts are respectively arranged on two Mecanum wheels on the same side of different mobile chassis, a first gear is arranged between the transmission shaft and the synchronous belt, a plurality of limit slots are provided on the transmission shaft, and the first gear is fixed to the transmission shaft through the limit slots.

[0011] Preferably, a driving motor is provided inside the second mobile chassis, a second gear is provided on the output shaft of the driving motor, the output shaft of the driving motor and the second gear are fixedly connected by flange bolts, and the second gear is meshed with the first gear.

[0012] Preferably, the perception module includes a laser radar, an IMU and a camera. The laser radar is arranged on the top layer of the multi-layer fixed frame, a laser radar protective cover is arranged on the outside of the laser radar, the IMU and the camera are arranged on the middle layer of the multi-layer fixed frame, and the camera is arranged on the side close to the embedded controller. The camera is fixed to the multi-layer fixed frame through a pitch-adjustable bracket.

[0013] Preferably, the cleaning module includes a dust collecting bucket and a front suction scraper, the front suction scraper includes a dust suction port and a dust suction pipe, the dust suction port is connected to the dust collecting bucket through the dust suction pipe, and a cleaning brush is provided inside the dust suction port.

[0014] Preferably, a power supply protection shell is provided on the outside of the driving power supply, a cooling fan is provided on one side of the power supply protection shell, and an air filter is provided between the power supply protection shell and the cooling fan.

[0015] Therefore, the present invention adopts the above-mentioned intelligent cleaning robot in a high dust environment, which has the following beneficial effects:

[0016] (1) A single cleaning robot in this solution can clean 1,000 square meters in 2 hours and can operate 24 hours a day without interruption. The cleaning efficiency is 15 times higher than that of manual cleaning, achieving high-efficiency, high-precision fully automatic cleaning;

[0017] (2) This plan reduces the dust exposure from 2.8 mg / m 3 Down to 0.2 mg / m 3 , the abnormal rate of workers' lung CT scans dropped from 35% to below 12%, reducing the potential incidence of pneumoconiosis and enhancing safety performance;

[0018] (3) This solution has strong adaptability and omnidirectional mobility, which enables the cleaning robot to achieve a 100% pass rate in the 80cm container gap and a cleaning coverage rate of more than 95%, solving the problem of low cleaning coverage rate of traditional cleaning equipment.

[0019] The method scheme of the present invention is further described in detail below through the drawings and examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural diagram of an intelligent cleaning robot for high dust environments according to the present invention;

[0021] Figure 2 This is a rear view of an intelligent cleaning robot in a high dust environment according to the present invention;

[0022] Figure 3 This is a front view of an intelligent cleaning robot for use in a high dust environment according to the present invention;

[0023] Figure 4 This is a structural diagram of the omnidirectional mobile chassis of the present invention;

[0024] Figure 5 A bottom view of the omnidirectional mobile chassis of the present invention;

[0025] Figure 6 This is a structural diagram of the suspension connecting rod of the present invention;

[0026] Figure 7 It is a structural diagram of the walking mechanism of the present invention;

[0027] Figure 8 It is a structural diagram of the transmission shaft of the present invention;

[0028] Figure 9 A schematic diagram of the power supply design of the present invention;

[0029] Figure 10 This is a framework diagram of the algorithm control of the present invention;

[0030] Figure 11 Flowchart of motion control of the present invention.

[0031] Among them: 1. Omnidirectional mobile chassis; 101. First mobile chassis; 102. Second mobile chassis; 2. Cleaning module; 201. Dust collection bucket; 202. Dust suction port; 203. Dust suction duct; 204. Cleaning brush; 3. Embedded controller; 4. Multi-layer fixed frame; 5. Driving power supply; 6. Perception module; 601. LiDAR; 602. IMU; 603. Camera; 7. Dustproof housing; 8. Suspension connecting rod; 9. Adjustment slot; 10. Dust baffle; 11. Mecanum wheel; 12. Travel mechanism; 121. Drive shaft; 122. Synchronous belt; 123. First gear; 13. Limiting slot; 14. Driving motor; 15. Second gear; 16. Pitch-adjustable bracket; 17. Power supply protective shell; 18. Cooling fan; 19. Air filter; 20. LiDAR protective cover; 21. Charging contact. DETAILED DESCRIPTION

[0032] The method scheme of the present invention is further described below through the drawings and examples.

[0033] Unless otherwise defined, technical terms or scientific terms used in the present invention shall have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs.

[0034] The words “include” or “comprising” and similar words used in the present invention mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of also including other elements. The orientation or position relationship indicated by the terms “inside”, “outside”, “upper”, “lower”, etc. is based on the orientation or position relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation of the present invention. When the absolute position of the described object changes, the relative position relationship may also change accordingly. In the present invention, unless otherwise clearly stipulated and limited, the terms such as “attachment” should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral whole; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0035] Example

[0036] like Figures 1-11As shown, the present invention provides an intelligent cleaning robot for a high dust environment, comprising an omnidirectional mobile chassis 1 and a cleaning module 2 and an embedded controller 3 arranged on the omnidirectional mobile chassis 1. A multi-layer fixing frame 4 is arranged between the cleaning module 2 and the embedded controller 3. A driving power supply 5 is provided at the bottom layer of the multi-layer fixing frame 4. The multi-layer fixing frame 4 is fixed by screws according to the holes of the industrial computer on the omnidirectional mobile chassis 1, and sufficient space for installation and wiring is reserved at the bottom layer to ensure that the equipment is stable and the lines are neat.

[0037] The middle and top layers of the multi-layer fixing frame 4 are provided with sensing modules 6, and the outside of the cleaning module 2, the outside of the embedded controller 3 and the outside of the multi-layer fixing frame 4 are provided with dustproof shells 7, which are used to fix the various modules of the cleaning robot and prevent dust from accumulating on their surfaces.

[0038] The omnidirectional mobile chassis 1 includes a first mobile chassis 101 and a second mobile chassis 102. The first mobile chassis 101 and the second mobile chassis 102 are both made of high-strength corrosion-resistant alloy materials and have high load capacity. The embedded controller 3 is arranged on the first mobile chassis 101. The dustproof shell 7 of the embedded controller 3 is provided with charging contacts 21. The cleaning module 2 and the multi-layer fixed frame 4 are arranged on the second mobile chassis 102. The first mobile chassis 101 and the second mobile chassis 102 are movably connected by a suspension connecting rod 8 to ensure that the cleaning robot maintains a horizontal posture when driving on an undulating road with a slope of no more than 15°, enhances terrain passability, and suppresses the cumulative error of the wheel odometer caused by ground bumps. A plurality of adjustment slots 9 are provided on the suspension connecting rod 8 to constrain the horizontal displacement of vehicle body components.

[0039] Dust shields 10 are provided at the bottom of the first mobile chassis 101 and the bottom of the second mobile chassis 102 to completely cover the interior spaces of the first mobile chassis 101 and the second mobile chassis 102, preventing ground dust from entering the interiors of the first mobile chassis 101 and the second mobile chassis 102. Mecanum wheels 11 are provided on both sides of the first mobile chassis 101 and on both sides of the rear of the second mobile chassis 102 to achieve omnidirectional movement within a plane. A walking mechanism 12 is provided between the two Mecanum wheels 11 provided on the same side of different mobile chassis.

[0040] The walking mechanism 12 includes two transmission shafts 121 and a synchronous belt 122 disposed between the two transmission shafts 121. It can realize a variable reduction ratio design between the drive motor 14 and the Mecanum wheel 11 to adapt to different load requirements. By reserving waist holes on the synchronous belt 122, the tension of the synchronous belt 122 can be adjusted.

[0041] Two transmission shafts 121 are respectively arranged on two Mecanum wheels 11 on the same side of different mobile chassis. A first gear 123 is arranged between the transmission shaft 121 and the synchronous belt 122. A plurality of limit slots 13 are provided on the transmission shaft 121 to constrain the horizontal displacement of the gear train. The first gear 123 is fixed to the transmission shaft 121 through the limit slots 13 to ensure the reliability of the connection structure and the transmission efficiency of the cleaning robot.

[0042] A drive motor 14 is provided inside the second mobile chassis 102. The power of the drive motor 14 is set to 1800W. It is specially designed for cleaning iron chips in factory workshops and is easy to use. A second gear 15 is provided on the output shaft of the drive motor 14. The output shaft of the drive motor 14 and the second gear 15 are fixedly connected by flange bolts, and the second gear 15 is engaged with the first gear 123.

[0043] The cleaning module 2 includes a dust collecting bucket 201 and a front suction scraper. The dust collecting capacity of the dust collecting bucket 201 is set to 90L. The front suction scraper includes a dust suction port 202 and a dust suction pipe 203. The dust suction port 202 is connected to the dust collecting bucket 201 through the dust suction pipe 203. A cleaning brush 204 is provided inside the dust suction port 202.

[0044] Embedded controller 3 adopts a dual-end collaborative control architecture. The host computer runs the ROS system through an Ubuntu 20.04 industrial computer, which can perform operations such as SLAM mapping, A* path planning, and multi-mode motion switching.

[0045] During the SLAM mapping process, the inter-frame registration coarse positioning and frame-image registration fine mapping strategies are adopted. The cumulative error is eliminated through factor graph optimization, and centimeter-level high-precision maps can be constructed. During the A* path planning process, a multi-dimensional cost function is designed based on the A* algorithm, such as distance, obstacle density and dust concentration, to dynamically generate the global optimal path, and the S-type acceleration algorithm is combined to achieve smooth motion control.

[0046] The lower computer uses the STM32F407ZGT6 master control and implements TCP communication or IP communication through the LWIP protocol. The communication delay is no more than 50ms and the packet loss rate is less than 1%. It can receive positioning data and motion instructions processed by the upper computer and perform corresponding motion control.

[0047] During the motion control process, the target speed is decomposed into four-wheel speeds through the inverse kinematics model, and closed-loop control is achieved with encoder feedback, achieving a point-to-point movement accuracy of ±2cm.

[0048] A power supply protection shell 17 is provided on the outside of the driving power supply 5 to isolate the intrusion of dust. A cooling fan 18 is provided on one side of the power supply protection shell 17. The cooling fan 18 is configured to be turned on at a fixed time to achieve power supply heat dissipation. An air filter 19 is provided between the power supply protection shell 17 and the cooling fan 18 to effectively prevent external dust from accumulating in the power supply protection shell 17.

[0049] The perception module 6 includes a laser radar 601, an IMU 602, and a camera 603. The laser radar 601 is set on the top layer of the multi-layer fixed frame 4. A laser radar protective cover 20 is set on the outside of the laser radar 601 and fixed by a dedicated base. It can achieve 360° unobstructed detection. The power cord is connected to the corresponding interface of the driving power supply 5 to realize device power supply, and the data cable is connected to the corresponding interface of the embedded controller 3 to realize data transmission. The laser radar 601 collects environmental data and combines it with Kalman filtering to realize SLAM mapping and positioning functions. Through inter-frame registration and frame image registration strategies, a centimeter-level high-precision map is constructed;

[0050] IMU602 and camera 603 are set on the middle layer of the multi-layer fixed frame 4, and camera 603 is set on the side close to the embedded controller 3. Camera 603 is fixed to the multi-layer fixed frame 4 through a pitch-adjustable bracket 16, and supports manual adjustment of the camera's field of view angle. The data from camera 603 can identify the most polluted areas in the factory area for key cleaning. The data from IMU602 can update the angle and posture of the cleaning robot in real time to achieve precise positioning of the cleaning robot.

[0051] As shown in Table 1, a single cleaning robot can clean 1,000 square meters in 2 hours. For a factory environment of about 5,000 square meters, three cleaning robots can be equipped to work non-stop for 24 hours to complete the cleaning, which is 15 times more efficient than manual cleaning.

[0052] Table 1: Design parameters of the cleaning robot

[0053]

[0054] By using this cleaning robot, the dust exposure is reduced from 2.8mg / m 3 Down to 0.2 mg / m 3 The abnormal rate of workers' lung CT scans dropped from 35% to below 12%, and the potential incidence of pneumoconiosis decreased. At the same time, the omnidirectional mobility feature enabled the cleaning robot to achieve a 100% pass rate in the 80cm container gap and a cleaning coverage rate of more than 95%, solving the problem of low cleaning coverage of traditional cleaning equipment.

[0055] Therefore, the present invention adopts the above-mentioned intelligent cleaning robot for high-dust environments, which effectively solves the defects of insufficient storage and single structure of traditional cleaning equipment, and at the same time solves the problems of large safety hazards and low efficiency of manual cleaning in high-dust environments, and realizes efficient and full-coverage cleaning.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the method scheme of the present invention and not to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary method personnel in this field should understand that they can still modify or replace the method scheme of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified method scheme to deviate from the spirit and scope of the method scheme of the present invention.

Claims

1. An intelligent cleaning robot for high dust environment, characterized by: The invention comprises an omnidirectional mobile chassis and a cleaning module and an embedded controller arranged on the omnidirectional mobile chassis. A multi-layer fixed frame is arranged between the cleaning module and the embedded controller. The bottom layer of the multi-layer fixed frame is provided with a driving power supply. The middle layer and the top layer of the multi-layer fixed frame are provided with a sensing module. The outside of the cleaning module, the outside of the embedded controller and the outside of the multi-layer fixed frame are all provided with a dustproof shell.

2. The intelligent cleaning robot for high dust environment according to claim 1, characterized in that: The omnidirectional mobile chassis includes a first mobile chassis and a second mobile chassis. The embedded controller is arranged on the first mobile chassis. Charging contacts are provided on the dustproof shell of the embedded controller. The cleaning module and the multi-layer fixed frame are arranged on the second mobile chassis. The first mobile chassis and the second mobile chassis are movably connected by a suspension connecting rod, and a plurality of adjustment slots are provided on the suspension connecting rod.

3. The intelligent cleaning robot for high dust environment according to claim 2, characterized in that: Dust baffles are provided at the bottom of the first mobile chassis and the bottom of the second mobile chassis, Mecanum wheels are provided on both sides of the first mobile chassis and both sides of the tail of the second mobile chassis, and a walking mechanism is provided between the two Mecanum wheels on the same side of different mobile chassis.

4. The intelligent cleaning robot for high dust environment according to claim 3, characterized in that: The walking mechanism includes two transmission shafts and a synchronous belt arranged between the two transmission shafts. The two transmission shafts are respectively arranged on two Mecanum wheels on the same side of different mobile chassis. A first gear is arranged between the transmission shaft and the synchronous belt. A plurality of limit slots are provided on the transmission shaft. The first gear is fixed to the transmission shaft through the limit slots.

5. The intelligent cleaning robot for high dust environment according to claim 4, characterized in that: A driving motor is provided inside the second mobile chassis, and a second gear is provided on the output shaft of the driving motor. The output shaft of the driving motor and the second gear are fixedly connected by flange bolts, and the second gear is meshed with the first gear.

6. The intelligent cleaning robot for high dust environment according to claim 1, characterized in that: The perception module includes a lidar, an IMU, and a camera. The lidar is set on the top layer of the multi-layer fixed frame. A lidar protective cover is set on the outside of the lidar. The IMU and camera are set on the middle layer of the multi-layer fixed frame. The camera is set on the side close to the embedded controller. The camera is fixed to the multi-layer fixed frame through a pitch-adjustable bracket.

7. The intelligent cleaning robot for high dust environment according to claim 1, characterized in that: The cleaning module includes a dust collection bucket and a front suction scraper. The front suction scraper includes a dust suction port and a dust suction pipe. The dust suction port is connected to the dust collection bucket through the dust suction pipe. A cleaning brush is provided inside the dust suction port.

8. The intelligent cleaning robot for high dust environment according to claim 1, characterized in that: A power supply protection shell is provided on the outside of the driving power supply, a cooling fan is provided on one side of the power supply protection shell, and an air filter is provided between the power supply protection shell and the cooling fan.

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