Central air conditioner cleaning robot with bionic flexible mechanical arm and path planning method

Abstract

The invention discloses a central air conditioner cleaning robot of a bionic flexible mechanical arm and a path planning method, and belongs to the technical field of flexible mechanical arms. A sealed air bag is inflated and expanded through an air conveying assembly to be tightly attached to the inner wall of a ventilation pipeline, the sealing performance is kept, and the problem that a cleaned area is polluted again is avoided; after the two sealing air bags are kept sealed, the air conveying assembly fills the space of the sealing air bags with air, when the ventilation pipeline has an air tightness defect, the sealing alarm assembly sends an air tightness early warning signal so that corresponding maintenance measures can be taken, and the position of the outer frame is adjusted through the adjusting assembly, so that the integrated cleaning robot can maintain the air tightness in the crawling process. The two sealing air bags can be alternately sealed, the alternate sealing mode further reduces the range of a possibly polluted area, and the sealing position of the ventilation pipeline can be changed, so that comprehensive and careful detection of the air tightness of the whole ventilation pipeline is realized, and a powerful guarantee is provided for safe operation of the ventilation pipeline.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flexible mechanical arms, in particular to a central air conditioner cleaning robot of a bionic flexible mechanical arm and a path planning method. BACKGROUND

[0002] When maintaining indoor central air conditioners, the ventilation ducts of the central air conditioners are usually cleaned regularly. The central air conditioner ducts in different regions and scenes differ in duct height, distribution, etc. The existing air conditioner duct cleaning products generally adopt a structure of a motor driving a brush to improve cleaning efficiency and coverage. In order to increase the coverage, the brush disc of the brush is usually large, which makes it difficult to thoroughly clean some corners. In addition, the existing brush-connected mechanical arm structure is relatively simple and has low degrees of freedom, and some positions of the duct that are difficult to reach cannot be cleaned, resulting in an unsatisfactory cleaning effect. At the same time, during the cleaning process, the dust inside the duct tends to spread during the cleaning process, causing dust to fall on the already cleaned part, affecting the overall cleaning effect. More importantly, the cleaning device in the prior art cannot realize segmented airtightness detection of the ventilation duct, which makes it impossible to effectively detect the duct sealing state during the cleaning process, and there may be undiscovered air leakage problems, thereby affecting the operation efficiency of the air conditioning system and the air quality.

[0003] In view of the above problems, the present application provides a central air conditioner cleaning robot of a bionic flexible mechanical arm and a path planning method. SUMMARY

[0004] The purpose of the present application is to solve the problem that the brush disc of the brush is usually large, which makes it difficult to clean some corners and edge positions. In addition, the existing brush-connected mechanical arm structure is relatively simple and has low degrees of freedom, and some positions cannot be completely cleaned, thereby affecting the comprehensiveness of cleaning. More seriously, during the cleaning process, the dust inside the duct may spread during cleaning, and the cleaned area may still have dust falling, resulting in a significant reduction in the cleaning effect, and the cleaning device in the prior art cannot realize segmented airtightness detection of the ventilation duct, and the central air conditioner cleaning robot of a bionic flexible mechanical arm and the path planning method are provided.

[0005] In order to achieve the above purpose, the present application adopts the following technical solutions: The central air conditioner cleaning robot of a bionic flexible mechanical arm comprises an integrated cleaning robot, and an airtightness detection mechanism is arranged on the integrated cleaning robot. The integrated cleaning robot is provided with a flexible mechanical arm and a dust collection assembly on one side, one end of the flexible mechanical arm is connected with a combined cleaning assembly, one end of the dust collection assembly is connected with the combined cleaning assembly, the combined cleaning assembly comprises an inner adjusting cylinder brush, an outer adjusting cylinder brush and a fixed cylinder brush, and the inner adjusting cylinder brush, the outer adjusting cylinder brush and the fixed cylinder brush are sequentially sleeved from inside to outside. The air tightness detection mechanism comprises two outer frames, one of which is fixedly installed on the integrated cleaning robot, the other outer frame is provided with a sealing alarm assembly, and two adjusting assemblies are connected between the two outer frames, the outer frame is fixedly installed with a sealing air bag, and the two sealing air bags are connected with a gas conveying assembly.

[0006] Preferably, two first sliding grooves are formed on one side of the outer frame. The adjusting assembly comprises two first sliding blocks, the two first sliding blocks are respectively slidably connected in the two first sliding grooves, one of the first sliding blocks is fixedly installed with a second electric push rod above, the second electric push rod is fixedly installed in the first sliding groove, and the two first sliding blocks are hinged to the same telescopic frame, and the telescopic frame is hinged to the two outer frames.

[0007] Preferably, the gas conveying assembly comprises a fan, the air inlet end of the fan extends out from the other outer frame, the air outlet end of the fan is provided with a pressure sensor, the air outlet end of the fan is communicated with a three-way valve, the two ends of the three-way valve are respectively communicated with two gas conveying hoses, the gas conveying hoses are provided with exhaust valves, and the two gas conveying hoses are respectively communicated with the two sealing air bags, and one of the gas conveying hoses is hinged to the telescopic frame through a plurality of pipe clamps.

[0008] Preferably, the sealing alarm assembly comprises an outer shell, the outer shell is fixedly installed on the other outer frame, the outer shell is provided with a sealing plug, the sealing plug is fixedly installed with a switch, the switch is overlapped with a limiting contact, and the limiting contact is fixedly connected to the outer shell.

[0009] Preferably, the sealing plug is fixedly connected with a second spring on one side, one end of the second spring is fixedly connected with the side wall of the outer shell, the sealing plug is fixedly connected with a fixed column, and one end of the fixed column is fixedly installed with an alarm.

[0010] Preferably, the dust collection assembly comprises a dust collection hose, the dust collection hose is connected with the integrated cleaning robot, the dust collection hose is fixedly connected with the flexible mechanical arm through a plurality of fixing members, and one end of the dust collection hose is communicated with a ring-shaped dust collection head.

[0011] Preferably, the combined cleaning assembly further comprises a fixed cavity, the fixed cavity is fixedly connected with the flexible mechanical arm, the ring-shaped dust collection head is fixedly installed on the fixed cavity, and the fixed cylinder brush is rotatably installed on the fixed cavity through a bearing.

[0012] Preferably, a motor is fixedly installed in the fixed cavity, an output shaft of the motor is fixedly connected with a gear, the gear is engaged with a gear ring, the gear ring is fixedly installed on the fixed cylinder brush, a first electric push rod is also fixedly installed in the fixed cavity, and the inner adjusting cylinder brush is rotatably installed at one end of the first electric push rod through a bearing.

[0013] Preferably, the fixed cylinder brush and the outer adjusting cylinder brush are both provided with two second sliding grooves, second sliding blocks are slidably connected in the second sliding grooves, and first springs are fixedly connected between the second sliding blocks and the side walls of the second sliding grooves, wherein two of the second sliding blocks are fixedly connected with the outer adjusting cylinder brush, and the other two of the second sliding blocks are fixedly connected with the inner adjusting cylinder brush.

[0014] The path planning method of the central air conditioner cleaning robot of the bionic flexible mechanical arm comprises the following steps: S1, environment modeling and perception A laser radar (LDAR) or a structured light camera is used to scan the inside of the pipeline to generate a high-precision three-dimensional point cloud model, an environment map is updated in real time through SLAM technology, and infrared thermal imaging (distinguishing temperature difference caused by dust accumulation) and visual detection (stain texture analysis) are fused to locate stubborn dirt areas and generate a cleaning priority heat map, and then based on the continuum kinematics model of the bionic arm, the reachable workspace and the bending radius constraint are calculated to avoid collision with the pipeline wall. S2, hierarchical path planning architecture The pipeline network is abstracted as a graph structure (node = branch point / elbow, edge = straight pipe section), Dikstra or A algorithm is used to plan the main path, the pipeline is divided into multiple cleaning areas according to the dirt distribution, genetic algorithm (GA) is used to optimize the region traversal order to reduce the repeated movement of the mechanical arm, then the non-uniform rational B-spline (NURBS) curve motion of octopus tentacle is imitated to generate a smooth flexible arm trajectory through an optimization algorithm to minimize energy consumption, and the crawling process is based on real-time force feedback and visual data to dynamically adjust the path using artificial potential field (APF) to avoid collision with the fragile pipeline structure.

[0015] Compared with the prior art, the bionic flexible mechanical arm central air conditioner cleaning robot and the path planning method have the following beneficial effects: 1. The central air conditioning cleaning robot and path planning method of the bionic flexible mechanical arm, by the gas delivery assembly to the inside of the sealed air bag, the sealed air bag is inflated and expanded to adhere to the inner wall of the ventilation duct, so as to maintain the sealing property, avoid the problem of recontamination of the cleaned area, and after the two sealed air bags are sealed, the gas delivery assembly fills the space of the sealed air bag with gas, when the ventilation duct has air tightness defects, the air tightness warning signal is given by the sealed alarm assembly, so that corresponding maintenance measures are taken, and the position of the outer frame is adjusted by the adjusting assembly, so that the integrated cleaning robot can alternately seal the two sealed air bags during the crawling process, which further reduces the area that may be contaminated, and the sealing position in the ventilation duct can be changed, so as to realize comprehensive and detailed detection of the air tightness of the entire ventilation duct, and provide a strong guarantee for the safe operation of the ventilation duct.

[0016] 2. The central air conditioning cleaning robot and path planning method of the bionic flexible mechanical arm, by the motor driven gear and the gear ring transmission, the fixed cylinder brush, the outer adjusting cylinder brush and the inner adjusting cylinder brush are synchronously rotated to clean the ventilation duct, which is convenient for removing impurities, and during the cleaning process, the integrated cleaning robot performs dust removal by the dust suction assembly to ensure the cleaning effect of the ventilation duct, and the inner adjusting cylinder brush is pushed by the electric push rod to extend a certain length, so that the area that is difficult to reach can be cleaned in detail, and the inner adjusting cylinder brush extends to the maximum, at this time the outer adjusting cylinder brush can move flexibly, further expanding the cleaning range, the cooperation of the inner and outer adjusting cylinder brushes realizes the purpose of variable diameter cleaning, greatly improving the versatility and adaptability of the cleaning operation, and combined with the flexible mechanical arm, the coverage area is larger and the cleaning is more diversified.

[0017] 3. The central air conditioning cleaning robot and path planning method of the bionic flexible mechanical arm, by the combined cleaning assembly, the variable diameter operation of the fixed cylinder brush, the outer adjusting cylinder brush and the inner adjusting cylinder brush can be realized according to the demand, so as to cooperate with the flexible mechanical arm to perform diversified cleaning operation, and during the cleaning process, the two sealed air bags form a relatively independent sealed space after the sealing air bags are inflated by the gas delivery assembly to maintain the sealing property with the ventilation duct, and then gas is filled, at this time, when the ventilation duct has air tightness defects, the sealed alarm assembly performs mechanical alarm operation, this ingenious design enables the cleaning operation and air tightness detection of the ventilation duct to be performed simultaneously, greatly saving time and labor cost, the operator does not need to perform cleaning and detection operation respectively, only one operation can complete two important tasks at the same time, and truly realizes efficient and accurate ventilation duct maintenance. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The perspective view of the central air conditioning cleaning robot of the bionic flexible mechanical arm is provided. Figure 2 The outer frame of the central air conditioner cleaning robot of the bionic flexible mechanical arm is connected with the integrated cleaning robot; Figure 3 The outer frame of the central air conditioner cleaning robot of the bionic flexible mechanical arm is connected with the integrated cleaning robot; Figure 2 The outer frame of the central air conditioner cleaning robot of the bionic flexible mechanical arm is connected with the integrated cleaning robot; Figure 4 The outer frame of the central air conditioner cleaning robot of the bionic flexible mechanical arm is connected with the integrated cleaning robot; Figure 5 The outer frame of the central air conditioner cleaning robot of the bionic flexible mechanical arm is connected with the integrated cleaning robot; Figure 6 The outer frame of the central air conditioner cleaning robot of the bionic flexible mechanical arm is connected with the integrated cleaning robot; Figure 7 The outer frame of the central air conditioner cleaning robot of the bionic flexible mechanical arm is connected with the integrated cleaning robot; Figure 8 The outer frame of the central air conditioner cleaning robot of the bionic flexible mechanical arm is connected with the integrated cleaning robot; Figure 9 The outer frame of the central air conditioner cleaning robot of the bionic flexible mechanical arm is connected with the integrated cleaning robot; Figure 10 The outer frame of the central air conditioner cleaning robot of the bionic flexible mechanical arm is connected with the integrated cleaning robot.

[0019] In the figure: 100, integrated cleaning robot; 101, flexible mechanical arm; 102, dust suction assembly; 1021, dust suction hose; 1022, annular dust suction head; 1023, fixing piece; 103, combined cleaning assembly; 1031, fixed cavity; 1032, first electric push rod; 1033, motor; 1034, gear; 1035, gear ring; 1036, fixed cylinder brush; 1037, first sliding block; 1038, first spring; 1039, outer adjusting cylinder brush; 10310, first sliding groove; 10311, inner adjusting cylinder brush; 200, air tightness detection mechanism; 201, outer frame; 202, sealing air bag; 203, adjusting assembly; 2031, second electric push rod; 2032, telescopic frame; 2033, second sliding block; 204, second sliding groove; 205, sealing alarm assembly; 2051, shell; 2052, limiting contact frame; 2053, switch; 2054, sealing plug; 2055, second spring; 2056, fixed column; 2057, alarm; 206, air conveying assembly; 2061, fan; 2062, pressure sensor; 2063, three-way valve; 2064, air conveying hose. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the 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 of the present application.

[0021] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0022] Embodiment 1: Refer to Figures 1-8 The central air conditioning cleaning robot of the bionic flexible mechanical arm comprises an integrated cleaning robot 100, and an air tightness detection mechanism 200 is arranged on the integrated cleaning robot 100. One side of the integrated cleaning robot 100 is provided with a flexible mechanical arm 101 and a dust suction assembly 102. The flexible mechanical arm 101 can be flexibly adjusted, so that the cleaning angle can be flexibly adjusted. One end of the flexible mechanical arm 101 is connected with a combined cleaning assembly 103, and one end of the dust suction assembly 102 is connected with the combined cleaning assembly 103. The airtight detection mechanism 200 comprises two outer frames 201, one side of the outer frame 201 is provided with two first sliding grooves 10310, the adjusting assembly 203 comprises two first sliding blocks 1037, the two first sliding blocks 1037 are respectively connected in the two first sliding grooves 10310, the first sliding block 1037 can stably slide in the first sliding groove 10310, so that the telescopic frame 2032 can be smoothly extended and retracted, one of the first sliding blocks 1037 is fixedly installed with a second electric push rod 2031, the telescopic frame 2032 is controlled to extend and retract through the second electric push rod 2031, so that the position of the outer frame 201 can be smoothly adjusted, the second electric push rod 2031 is fixedly installed in the first sliding groove 10310, and the two first sliding blocks 1037 are hinged to the same telescopic frame 2032, the telescopic frame 2032 is hinged to the two outer frames 201, one of the outer frames 201 is fixedly installed on the integrated cleaning robot 100, and the other outer frame 201 is provided with a sealing alarm assembly 205, the sealing alarm assembly 205 comprises an outer shell 2051, the outer shell 2051 is fixedly installed on the other outer frame 201, the inside of the right outer frame 201 is a solid structure, so that the sealing alarm assembly 205 can be smoothly fixed on the outer frame 201, a sealing plug 2054 is arranged in the outer shell 2051, a switch 2053 is fixedly installed on the sealing plug 2054, the working state of the alarm 2057 can be controlled through the switch 2053, the switch 2053 is overlapped with a limiting contact 2052, the limiting contact 2052 is fixedly connected to the outer shell 2051, one side of the sealing plug 2054 is fixedly connected with a second spring 2055, when the air tightness of the ventilation pipeline is defective, the second spring 2055 drives the sealing plug 2054 to reset, the sealing plug 2054 drives the switch 2053 to contact the limiting contact 2052, so that the air tightness alarm of the alarm 2057 can be controlled, which is convenient for the operator to timely maintenance, one end of the second spring 2055 is fixedly connected with the side wall of the outer shell 2051, the sealing plug 2054 is fixedly connected with a fixing column 2056, one end of the fixing column 2056 is fixedly installed with the alarm 2057, and the two outer frames 201 are connected with two adjusting assemblies 203, the outer frame 201 is fixedly installed with a sealing air bag 202, the two sealing air bags 202 are connected with a gas conveying assembly 206, the gas conveying assembly 206 comprises a fan 2061, the air inlet end of the fan 2061 extends out from the other outer frame 201, the air inlet end of the fan 2061 smoothly extends to the outer frame 201, so that external gas can be smoothly extracted, a pressure sensor 2062 is installed on the air outlet end of the fan 2061, the internal air pressure value of the gas conveying hose 2064 can be detected through the pressure sensor 2062, so that timely adjustment and shutdown operation can be realized, and the air outlet end of the fan 2061 is communicated with a three-way valve 2063, the three-way valve 2063 can connect the two gas conveying hoses 2064 together, and can realize switching operation of gas conveying,Two ends of the three-way valve 2063 are communicated with two gas conveying hoses 2064 respectively, the gas conveying hoses 2064 can play a role of conveying gas, and the gas conveying hoses 2064 are telescopic, so that the telescopic frame 2032 can smoothly perform the adjusting operation, the gas conveying hoses 2064 are provided with exhaust valves, the exhaust valves can exhaust the gas in the sealed air bag 202, so that the air bag is in a deflated state, thereby avoiding friction with the ventilation duct, and facilitating the crawling of the integrated cleaning robot 100, the two gas conveying hoses 2064 are communicated with the two sealed air bags 202 respectively, and one of the two gas conveying hoses 2064 is communicated with the telescopic frame 2032 through a plurality of pipe clamps.

[0023] In the embodiment: the fan 2061 fills the sealed air bag 202 with air through the gas conveying hose 2064, so that the sealed air bag 202 is inflated and tightly adheres to the inner wall of the ventilation duct, thereby maintaining the sealing property and avoiding the problem of re-pollution of the cleaned area, and after the two sealed air bags 202 are sealed, the gas filling assembly 206 fills the sealed space of the sealed air bag 202 with gas, and as the gas increases, the air pressure drives the sealing plug 2054 to drive the switch 2053 to separate from the limiting contact 2052, when the ventilation duct has a gas tightness defect, the second spring 2055 drives the sealing plug 2054 to reset, so that the switch 2053 contacts the limiting contact 2052, and the switch 2053 controls the alarm 2057 to generate a gas tightness warning signal, so that corresponding maintenance measures are taken, and the gas in the right sealed air bag 202 is discharged in advance through the exhaust valve, at this time, the adjusting assembly 203 adjusts the position of the outer frame 201 to the left, and then inflates again, so that the sealed air bag 202 is sealed with the ventilation duct, at this time, the exhaust valve is opened to release the gas in the left sealed air bag 202, at this time, the adjusting assembly 203 is stretched, and the integrated cleaning robot 100 crawls, so that the two sealed air bags 202 can alternately seal during the crawling process of the integrated cleaning robot 100, the alternating sealing mode further reduces the range of the area that may be polluted, and the sealing position in the ventilation duct can be changed, thereby realizing comprehensive and detailed detection of the gas tightness of the entire ventilation duct, and providing a strong guarantee for the safe operation of the ventilation duct.

[0024] Embodiment 2: refer to Figures 9-10, the central air conditioning cleaning robot of the bionic flexible mechanical arm, including the combined cleaning assembly 103, the combined cleaning assembly 103 including the inner adjusting barrel brush 10311, the outer adjusting barrel brush 1039 and the fixed barrel brush 1036, the inner adjusting barrel brush 10311, the outer adjusting barrel brush 1039 and the fixed barrel brush 1036 are sequentially sleeved from inside to outside, the inner adjusting barrel brush 10311, the outer adjusting barrel brush 1039 and the fixed barrel brush 1036 adopt the sleeved design, so that the cleaning surface can be increased, and the size of the cleaning area can be adjusted, the combined cleaning assembly 103 further includes the fixed cavity 1031, the fixed cavity 1031 is fixedly connected with the flexible mechanical arm 101, the annular dust collection head 1022 is fixedly installed on the fixed cavity 1031, the fixed barrel brush 1036 is rotatably installed on the fixed cavity 1031 through a bearing, a motor 1033 is fixedly installed in the fixed cavity 1031, a gear 1034 is fixedly connected with the output shaft of the motor 1033, the fixed barrel brush 1036, the outer adjusting barrel brush 1039 and the inner adjusting barrel brush 10311 are rotated by driving the gear 1034 and the gear ring 1035 to transmit, so that the cleaning effect on the ventilation duct can be improved, the gear 1034 is engaged with the gear ring 1035, the gear ring 1035 is fixedly installed on the fixed barrel brush 1036, a first electric push rod 1032 is also fixedly installed in the fixed cavity 1031, the inner adjusting barrel brush 10311 is rotatably installed at one end of the first electric push rod 1032 through a bearing, the fixed barrel brush 1036 and the outer adjusting barrel brush 1039 are each provided with two second sliding grooves 204, second sliding blocks 2033 are slidably connected in the second sliding grooves 204, the second sliding blocks 2033 can stably slide in the second sliding grooves 204, so that the inner adjusting barrel brush 10311 and the outer adjusting barrel brush 1039 can be smoothly and stably adjusted, first springs 1038 are fixedly connected between the second sliding blocks 2033 and the side walls of the second sliding grooves 204, the elastic force of the first springs 1038 on the outer side is greater than that of the first springs 1038 on the inner side, so that the first springs 1038 can be pre-deformed, the inner adjusting barrel brush 10311 can be pre-extended outward, thereby facilitating the cleaning work in a small space, wherein two second sliding blocks 2033 are fixedly connected with the outer adjusting barrel brush 1039, and the other two second sliding blocks 2033 are fixedly connected with the inner adjusting barrel brush 10311; The dust collection assembly 102 includes a dust collection hose 1021, which can function as a dust conveying device and can be telescopic, so that the flexible mechanical arm 101 can be adjusted smoothly, and the integrated cleaning robot 100 integrates a dust collection device, so that the annular dust collection head 1022 can be used to perform dust collection work smoothly, thereby facilitating the removal of dust inside the ventilation duct and avoiding the problem of dust pollution in the ventilation duct again, the dust collection hose 1021 is connected with the integrated cleaning robot 100 and is fixedly connected with the flexible mechanical arm 101 through a plurality of fixing members 1023, and one end of the dust collection hose 1021 is communicated with the annular dust collection head 1022; In this embodiment: the motor 1033 drives the gear 1034 and gear ring 1035 to drive the fixed cylinder brush 1036, the outer adjusting cylinder brush 1039 and the inner adjusting cylinder brush 10311 to rotate synchronously to clean the ventilation duct, which facilitates the removal of impurities. During the cleaning process, the integrated cleaning robot 100 performs dust removal through the dust suction component 102 to ensure the cleaning effect of the ventilation duct. The inner adjusting cylinder brush 10311 is pushed by the electric push rod to extend the inner adjusting cylinder brush 10311 to a certain length in advance, so that those hard-to-reach areas can be cleaned in detail. When the inner adjusting cylinder brush 10311 is extended to the maximum extent, the outer adjusting cylinder brush 1039 can move flexibly to further expand the cleaning range. This coordinated cooperation of the inner and outer adjusting cylinder brushes 1039 achieves the purpose of variable diameter cleaning, which greatly improves the versatility and adaptability of the cleaning operation. In combination with the flexible robotic arm 101, the coverage area is larger and the cleaning is more diversified.

[0025] Example 3: Reference Figure 2 , Figures 4-7 A central air conditioning cleaning robot with a biomimetic flexible robotic arm includes an integrated cleaning robot 100. A flexible robotic arm 101 and a dust collection component 102 are provided on one side of the integrated cleaning robot 100. One end of the flexible robotic arm 101 is connected to a combined cleaning component 103. One end of the dust collection component 102 is connected to the combined cleaning component 103. The combined cleaning component 103 includes an inner adjusting brush 10311, an outer adjusting brush 1039, and a fixed brush 1036. The inner adjusting brush 10311, the outer adjusting brush 1039, and the fixed brush 1036 are arranged sequentially from the inside to the outside. The airtightness detection mechanism 200 includes two outer frames 201. One outer frame 201 is fixedly installed on the integrated cleaning robot 100, and the other outer frame 201 is provided with a sealing alarm component 205. Two adjustment components 203 are connected between the two outer frames 201. Sealing airbags 202 are fixedly installed on the outer frame 201, and the two sealing airbags 202 are connected to the air supply component 206.

[0026] In this embodiment: through the combined cleaning assembly 103, the variable diameter operation of the fixed cylinder brush 1036, the outer adjusting cylinder brush 1039 and the inner adjusting cylinder brush 10311 can be realized according to the requirement, so as to cooperate with the flexible mechanical arm 101 to carry out diversified cleaning operation, and in the cleaning process, since the gas conveying assembly 206 inflates the sealing air bag 202 to keep the sealing property of the ventilation duct, after the two sealing air bags 202 form relatively independent sealing spaces and are filled with gas, the mechanical alarm assembly 205 carries out mechanical alarm operation when the ventilation duct has gas tightness defect, and this ingenious design enables the cleaning operation and the gas tightness detection of the ventilation duct to be carried out simultaneously, so that the time and labor cost are greatly saved, and the operator does not need to carry out cleaning and detection operations respectively, but can complete the two important tasks at the same time through one operation, and the efficient and accurate ventilation duct maintenance is realized.

[0027] The path planning method of the central air conditioning cleaning robot of the bionic flexible mechanical arm comprises the following steps: S1, environment modeling and perception The inside of the duct is scanned by a laser radar (LDAR) or a structured light camera to generate a high-precision three-dimensional point cloud model, the environment map is updated in real time by SLAM technology, and infrared thermal imaging (identifying temperature difference caused by dust accumulation) and visual detection (stain texture analysis) are fused to locate stubborn dirt areas and generate a cleaning priority heat map, and then the reachable workspace and bending radius constraint of the bionic arm are calculated based on the continuum kinematics model of the bionic arm to avoid collision with the duct wall. S2, hierarchical path planning architecture The duct network is abstracted as a graph structure (node = branch point / elbow, edge = straight pipe section), and Dikstra or A algorithm is used to plan the main path, and then the duct is divided into multiple cleaning areas according to the dirt distribution, genetic algorithm (GA) is used to optimize the region traversal order to reduce the repeated movement of the mechanical arm, then the non-uniform rational B-spline (NURBS) curve motion of octopus tentacle is simulated, smooth flexible arm trajectory is generated through optimization algorithm to minimize energy consumption, and during the crawling process, artificial potential field (APF) is used to dynamically adjust the path based on real-time force feedback and visual data to avoid collision with fragile duct structure.

[0028] The working principle of the present application: when cleaning the ventilation duct of the central air conditioning, the motor 1033 drives the gear 1034 and the gear ring 1035 to transmit power, so that the gear ring 1035 drives the fixed cylinder brush 1036 to rotate, the fixed cylinder brush 1036 drives the outer adjusting cylinder brush 1039 and the inner adjusting cylinder brush 10311 to rotate, so that the fixed cylinder brush 1036, the outer adjusting cylinder brush 1039 and the inner adjusting cylinder brush 10311 clean the ventilation duct, and the flexible mechanical arm 101 adjusts the cleaning angle. When cleaning the narrow ventilation duct, the inner adjusting cylinder brush 10311 is pushed by the first electric push rod 1032, and the first spring 1038 on the inner side is pre-deformed due to the fact that the elastic potential energy of the first spring 1038 is smaller than the elastic potential energy of the second spring 2055 on the outer side, so that the inner adjusting cylinder brush 10311 is pre-stretched to meet the cleaning of the narrow space; if the cleaning surface needs to be increased, the first electric push rod 1032 is continuously pushed, and at this time, the outer adjusting cylinder brush 1039 extends outward to increase the cleaning surface; during the cleaning process, the integrated cleaning robot 100 performs dust collection work through the annular dust collection head 1022, and impurities enter the dust collection cavity of the integrated cleaning robot 100 for collection. After the cleaning of a certain area of the ventilation duct is completed, the integrated cleaning robot 100 is caused to crawl to a new cleaning area, and the sealing air bags 202 are located in the cleaned area; at this time, the sealing air bags 202 are inflated by the air blower 2061 cooperating with the air conveying hoses 2064 to be sealed to the inner wall of the ventilation duct; after sealing, the three-way valve 2063 closes the two air conveying hoses 2064, and at this time, the air blower 2061 inflates the cavity formed between the sealing air bags 202 through the upper end of the three-way valve 2063; as the gas increases, the gas enters the outer shell 2051 and drives the sealing plug 2054 to move, so that the sealing plug 2054 drives the second spring 2055 to deform, and the sealing plug 2054 also drives the switch 2053 to be separated from the limiting contact bracket 2052, and then a new round of cleaning work is performed; at the same time, when the sealed space formed between the sealing air bags 202 leaks, the second spring 2055 drives the sealing plug 2054 to reset, so that the switch 2053 contacts the limiting contact bracket 2052 and controls the alarm 2057 to perform abnormal alarm; When it is needed to shift the cleaning area again, the right air conveying hose 2064 is opened by the exhaust valve in advance, so that the sealing air bags 202 are exhausted, and then the second electric push rod 2031 is controlled to drive the second sliding block 2033 to move, so that the telescopic frame 2032 is retracted, and the right outer frame 201 moves to the left, and after moving to the appropriate position, the exhaust valve is closed, and the right air conveying hose 2064 is opened by the three-way valve 2063, so that the air blower 2061 inflates the sealing air bags 202 again to keep the right sealing air bags 202 closed. Then, the left sealing air bags 202 are exhausted by opening the exhaust valve, and then the integrated cleaning robot 100 continues to crawl forward, and the adjusting assembly 203 expands to move to a new cleaning area, and then the left sealing air bags 202 are inflated and sealed by the air conveying assembly 206, and the inflation work between the two sealing air bags 202 is performed again to detect the air tightness of the ventilation duct in sections and to perform cleaning work in sections.

[0029] The above merely describes preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent replacements or changes within the technical scope disclosed by the present application and according to the technical solutions and inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. Central air conditioning cleaning robot of biomimetic flexible robot arm, comprising integrated cleaning robot (100), characterized in that, The integrated cleaning robot (100) is provided with an air tightness detection mechanism (200); One side of the integrated cleaning robot (100) is provided with a flexible mechanical arm (101) and a dust collection assembly (102), one end of the flexible mechanical arm (101) is connected with a combined cleaning assembly (103), one end of the dust collection assembly (102) is connected with the combined cleaning assembly (103), the combined cleaning assembly (103) comprises an inner adjusting cylinder brush (10311), an outer adjusting cylinder brush (1039) and a fixed cylinder brush (1036), and the inner adjusting cylinder brush (10311), the outer adjusting cylinder brush (1039) and the fixed cylinder brush (1036) are sequentially sleeved from inside to outside; The air tightness detection mechanism (200) comprises two outer frames (201), one of the outer frames (201) is fixedly installed on the integrated cleaning robot (100), the other outer frame (201) is provided with a sealing alarm assembly (205), and two adjusting assemblies (203) are connected between the two outer frames (201), the outer frame (201) is fixedly installed with a sealing air bag (202), and the two sealing air bags (202) are connected with a gas conveying assembly (206).

2. The central air conditioning cleaning robot of claim 1, wherein, One side of the outer frame (201) is provided with two first sliding grooves (10310); The adjusting assembly (203) comprises two first sliding blocks (1037), the two first sliding blocks (1037) are respectively slidably connected in the two first sliding grooves (10310), a second electric push rod (2031) is fixedly installed above one of the first sliding blocks (1037), the second electric push rod (2031) is fixedly installed in the first sliding groove (10310), and the two first sliding blocks (1037) are hingedly connected with the same telescopic frame (2032), and the telescopic frame (2032) is hingedly connected with the two outer frames (201).

3. The central air conditioning cleaning robot of claim 2, wherein, The gas conveying assembly (206) comprises a fan (2061), an air inlet end of the fan (2061) extends out of the other outer frame (201), a pressure sensor (2062) is installed on an air outlet end of the fan (2061), the air outlet end of the fan (2061) is in communication with a three-way valve (2063), two ends of the three-way valve (2063) are respectively in communication with two gas conveying hoses (2064), the gas conveying hose (2064) is provided with an exhaust valve, and the two gas conveying hoses (2064) are respectively in communication with the two sealing air bags (202), wherein the one gas conveying hose (2064) is hingedly connected with the telescopic frame (2032) through a plurality of pipe clamps.

4. The central air conditioning cleaning robot of claim 3, wherein, The sealing alarm assembly (205) comprises an outer shell (2051), the outer shell (2051) is fixedly installed on the other outer frame (201), a sealing plug (2054) is arranged in the outer shell (2051), a switch (2053) is fixedly installed on the sealing plug (2054), the switch (2053) is overlapped with a limiting contact bracket (2052), and the limiting contact bracket (2052) is fixedly connected with the outer shell (2051).

5. The central air conditioning cleaning robot of claim 4, wherein, One side of the sealing plug (2054) is fixedly connected with a second spring (2055), one end of the second spring (2055) is fixedly connected with the side wall of the shell (2051), a fixed column (2056) is fixedly connected on the sealing plug (2054), and one end of the fixed column (2056) is fixedly installed with an alarm (2057).

6. The central air conditioning cleaning robot of claim 5, wherein, The dust suction assembly (102) comprises a dust suction hose (1021), the dust suction hose (1021) is connected with the integrated cleaning robot (100), the dust suction hose (1021) is fixedly connected with the flexible mechanical arm (101) through a plurality of fixing members (1023), and one end of the dust suction hose (1021) is communicated with an annular dust suction head (1022).

7. The central air conditioning cleaning robot of claim 6, wherein, The combined cleaning assembly (103) further comprises a fixing cavity (1031), the fixing cavity (1031) is fixedly connected with the flexible mechanical arm (101), the annular dust suction head (1022) is fixedly installed on the fixing cavity (1031), and the fixed cylinder brush (1036) is rotatably installed on the fixing cavity (1031) through a bearing.

8. The central air conditioning cleaning robot of claim 7, wherein, The fixing cavity (1031) is fixedly installed with a motor (1033), an output shaft of the motor (1033) is fixedly connected with a gear (1034), the gear (1034) is engaged with a gear ring (1035), the gear ring (1035) is fixedly installed on the fixed cylinder brush (1036), and the fixing cavity (1031) is further fixedly installed with a first electric push rod (1032), and the inner adjusting cylinder brush (10311) is rotatably installed at one end of the first electric push rod (1032) through a bearing. 9.The central air conditioning cleaning robot of a bionic flexible mechanical arm according to claim 8, characterized in that, The fixed cylinder brush (1036) and the outer adjusting cylinder brush (1039) are both provided with two second sliding grooves (204), the second sliding grooves (204) are slidably connected with second sliding blocks (2033), the second sliding blocks (2033) and the side walls of the second sliding grooves (204) are fixedly connected with first springs (1038), two second sliding blocks (2033) are fixedly connected with the outer adjusting cylinder brush (1039), and the other two second sliding blocks (2033) are fixedly connected with the inner adjusting cylinder brush (10311). 10.The path planning method of the central air conditioning cleaning robot of the bionic flexible robot according to claim 9, wherein, The method comprises the following steps: S1, environment modeling and perception The inside of the pipeline is scanned by a laser radar, infrared thermal imaging and visual detection are fused, the stubborn dirt area is located, then based on the continuum kinematics model of the bionic arm, the reachable workspace and the bending radius constraint are calculated to avoid collision with the pipeline wall; S2, hierarchical path planning architecture The pipeline network is abstracted as a graph structure, the main path is planned, and then a smooth flexible arm trajectory is generated through an optimization algorithm to minimize energy consumption.

Images