Sweeping, mopping and washing integrated cleaning robot

Abstract

The invention discloses a sweeping and mopping integrated cleaning robot, and aims to combine the functional advantages of a floor scrubber and a traditional floor sweeping robot to realize the integrated cleaning operation of floor sweeping, mopping and floor washing. The robot comprises a robot body, and a sweeping module, a mopping module and a floor washing module are arranged in the robot body; the sweeping module is used for adsorbing and sweeping sundries on the ground, the mopping module is used for primarily wiping the ground through a mop, and the ground washing module is used for washing stubborn stains on the ground through the synergistic effect of a rolling brush and cleaning liquid. All the modules are linked and matched through a control system, the cleaning modes can be automatically switched or combined according to the types of ground stains, cleaning assemblies do not need to be manually replaced, the cleaning efficiency and convenience are improved, and the all-dimensional ground cleaning requirement under household and commercial scenes is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent home cleaning equipment, in particular to a sweeping-mopping-washing integrated cleaning robot, which is especially suitable for ground omnidirectional cleaning operation in various scenes such as family residence, office place, shopping mall and supermarket, and can realize automatic switching and collaborative work of sweeping, mopping and washing functions, thereby improving ground cleaning efficiency and convenience. BACKGROUND

[0002] With the rapid development of smart home technology, ground cleaning equipment gradually evolves towards automation and multifunction. At present, the mainstream ground cleaning equipment on the market mainly includes traditional sweeping robots, floor washing machines and single-function mopping equipment, etc. The traditional sweeping robot mainly relies on a dust suction assembly and a roller brush to clean dry debris such as dust and chippings on the ground. Its advantage lies in high automation, which can autonomously plan a path and complete a full-house cleaning. However, it cannot effectively clean wet stubborn stains such as water stains, oil stains and sauce stains on the ground, and its cleaning function is relatively single.

[0003] The floor washing machine, as a cleaning equipment that has emerged in recent years, can flush and dry stubborn stains on the ground through the synergistic effect of a roller brush and cleaning liquid, and has a better cleaning effect. However, most of the existing floor washing machines need to be manually held and operated, and have low automation, and cannot realize autonomous movement and cleaning. For large-area cleaning scenes, the labor intensity of the operator is large. At the same time, the floor washing machine usually needs to be preliminarily cleaned before cleaning to remove large-particle debris, otherwise it is easy to cause the roller brush to be blocked or the cleaning effect to be reduced, which requires additional sweeping equipment, increasing the cleaning cost and operation steps.

[0004] In order to integrate the sweeping and mopping functions, some manufacturers have launched sweeping-mopping integrated robots. This kind of robot adds a mopping module to the sweeping module, and can directly perform mopping operation after cleaning. However, the mopping module of the existing sweeping-mopping integrated robot mostly adopts a fixed mop design, and the mop is easy to be dirty during use, and needs to be frequently disassembled, cleaned or replaced by manual operation, and cannot realize automatic cleaning of the mop. Moreover, its mopping method is mainly dry mopping or simple wet mopping, and has limited cleaning ability for stubborn stains, and cannot achieve the cleaning effect of the floor washing machine.

[0005] In addition, the existing cleaning equipment lacks effective linkage control mechanism between the functional modules, and cannot automatically switch the cleaning mode according to the actual type and severity of the ground stains. For example, when there are dry debris and wet stains on the ground at the same time, the user needs to manually switch the equipment or the cleaning mode, which is cumbersome and has low cleaning efficiency. At the same time, some equipment has problems such as uneven spraying of cleaning liquid and incomplete recovery of sewage during cleaning, which causes water stains or cleaning liquid to remain on the ground, affecting the cleaning experience.

[0006] In summary, the existing ground cleaning equipment has the defects of single function, low automation, limited cleaning effect, complicated operation and the like, and cannot meet the needs of users for all-around, high-efficiency and convenient ground cleaning. Therefore, it has important practical significance and market value to develop a cleaning robot capable of realizing integrated cleaning operation of sweeping, mopping and washing, and automatically switching cleaning modes through linkage of modules. SUMMARY

[0007] OBJECTIVE OF THE INVENTION The object of the present application is to overcome the defects of single function, low automation, limited cleaning effect and complicated operation of the prior art cleaning equipment, and to provide a sweeping, mopping and washing integrated cleaning robot. The robot can combine the functional advantages of a floor washing machine and a traditional sweeping robot, realize integrated cleaning operation of sweeping, mopping and washing, and automatically switch or combine cleaning modes according to the type of ground stains through linkage of modules by a control system, without the need for manual replacement of cleaning components, so as to improve cleaning efficiency and convenience and meet the needs of all-around ground cleaning in household and commercial scenarios.

[0008] TECHNICAL SCHEME

[0009] To achieve the above object, the present application adopts the following technical scheme: A sweeping, mopping and washing integrated cleaning robot comprises a machine body, wherein the machine body is provided with a sweeping module, a mopping module, a washing module, a control system, a walking module, a power module and a navigation positioning module; The sweeping module is used for adsorbing and sweeping ground litter, and comprises a dust suction assembly, a roller brush assembly and a garbage collection box. The roller brush assembly is arranged at the front of the bottom of the machine body. The dust suction assembly is connected with the roller brush assembly. The garbage collection box is in communication with the dust suction assembly. The mopping module is used for preliminarily wiping the ground, and comprises a mop mechanism, a mop cleaning assembly and a lifting assembly. The mop mechanism is arranged at the middle of the bottom of the machine body. The mop cleaning assembly comprises a cleaning water tank, a spraying pump and a cleaning brush. The cleaning water tank is connected with the mop mechanism through the spraying pump. The cleaning brush is in contact with the mop mechanism. The lifting assembly is connected with the mop mechanism and is used for driving the mop mechanism to lift. The washing module is used for washing stubborn stains on the ground, and comprises a washing roller brush, a cleaning liquid supply system, a sewage recovery system and a roller brush driving assembly. The washing roller brush is arranged at the rear of the bottom of the machine body. The cleaning liquid supply system comprises a cleaning liquid tank, a supply pump and a spraying head. The cleaning liquid tank is connected with the spraying head through the supply pump. The spraying head is arranged towards the washing roller brush. The sewage recovery system comprises a sewage tank, a negative pressure pump and a sewage suction port. The sewage suction port is arranged behind the washing roller brush. The sewage suction port is in communication with the sewage tank through the negative pressure pump. The roller brush driving assembly is connected with the washing roller brush and is used for driving the washing roller brush to rotate. The walking module comprises a driving wheel, a universal wheel and a walking driving motor, the driving wheel is symmetrically arranged at both sides of the bottom of the body, the universal wheel is arranged at the front end of the bottom of the body, and the walking driving motor is connected with the driving wheel; The power module comprises a lithium battery pack and a charging management circuit, the lithium battery pack is connected with an external power supply through the charging management circuit, and power is provided for each module; The navigation positioning module comprises a laser radar, a gyroscope and an odometer, and is used for realizing autonomous positioning and path planning of the robot; The control system comprises a controller, a sensor group and a communication module, the sensor group comprises a stain detection sensor, an obstacle detection sensor, a liquid level sensor and a position sensor, the controller is electrically connected with the cleaning module, the mopping module, the washing module, the walking module, the power module, the navigation positioning module, the sensor group and the communication module respectively, and is used for receiving signals of each module and controlling cooperative work of each module.

[0010] Further, the rolling brush assembly comprises a main rolling brush, side brushes and a rolling brush motor, the main rolling brush is horizontally arranged at the front of the bottom of the body, the side brushes are symmetrically arranged at both sides of the main rolling brush, and the rolling brush motor is connected with the main rolling brush and the side brushes respectively and drives the main rolling brush and the side brushes to rotate. The main rolling brush is provided with helical bristles on the surface, can gather ground dirt to the middle, the side brushes can sweep the dirt in the corner, edge and other areas to the main rolling brush, and the cleaning range and cleaning efficiency are improved.

[0011] The dust collection assembly comprises a dust collector and a dust collection pipeline, one end of the dust collection pipeline is connected with the dust collection port above the main rolling brush, the other end is communicated with the garbage collection box, and the dust collector is arranged on the dust collection pipeline and sucks the dirt gathered by the main rolling brush into the garbage collection box through negative pressure. The garbage collection box is designed in a drawer type, is convenient for users to disassemble and clean, and is provided with a filter screen in the garbage collection box, so that fine dust can be prevented from entering the dust collector and the dust collector motor is protected.

[0012] Further, the mop mechanism comprises a mop support and a mop, the mop is detachably mounted at the bottom of the mop support, and the mop support is connected with the lifting assembly. The lifting assembly comprises a lifting motor, a screw rod and a guide rod, the lifting motor is connected with the screw rod, the screw rod is threadedly connected with the mop support, and the guide rod is slidingly connected with the mop support. The lifting motor drives the screw rod to rotate, drives the mop support to move up and down along the guide rod, and realizes lifting of the mop. When the mop does not need to mop the ground, the controller controls the lifting assembly to lift the mop, so as to avoid abrasion or pollution caused by contact between the mop and the ground; when the mop needs to mop the ground, the mop is lowered to contact the ground.

[0013] The liquid level sensor is arranged in the cleaning water tank of the mop cleaning assembly, and is used to detect the water amount in the cleaning water tank. When the water amount is lower than a set value, the controller sends a prompt information to the user terminal through the communication module. The cleaning water in the cleaning water tank is sprayed on the mop by the spray pump to wet or clean the mop. The cleaning brush is arranged on one side of the mop support. When the mop rotates, the cleaning brush can brush and wash the surface of the mop to remove stains on the mop. The cleaned sewage flows into the sewage tank through the sewage guide groove.

[0014] Further, the surface of the scrubbing roller brush is provided with superfine fiber bristles and a water scraping strip. The scrubbing roller brush driving assembly comprises a scrubbing motor and a speed reducer. The scrubbing motor is connected with the scrubbing roller brush through the speed reducer to drive the scrubbing roller brush to rotate at a high speed. The spray heads of the cleaning liquid supply system are uniformly distributed above the scrubbing roller brush to uniformly spray cleaning liquid onto the surface of the scrubbing roller brush. When the scrubbing roller brush rotates, the bristles rub against the ground to cooperate with the cleaning liquid to wash stubborn stains. The water scraping strip can scrape the washed sewage to the sewage suction port.

[0015] The sewage suction port of the sewage recovery system is in a strip shape and matches the length of the scrubbing roller brush to ensure that the sewage can be fully collected. The negative pressure generated by the negative pressure pump sucks the sewage from the sewage suction port and delivers the sewage to the sewage tank through the sewage pipeline. The liquid level sensor is arranged in the sewage tank. When the sewage tank is full, the controller controls the robot to stop the scrubbing operation and sends a prompt information to the user terminal.

[0016] Further, the stain detection sensor in the sensor group comprises an infrared sensor and an image sensor. The infrared sensor is used to detect the humidity and reflectivity of the ground, and the image sensor is used to collect images of the ground. The controller analyzes the infrared sensor signal and the images collected by the image sensor to determine the type (dry stain, wet stain, stubborn stain) and severity of the stains on the ground. The obstacle detection sensor comprises an ultrasonic sensor and a collision sensor, which are used to detect obstacles in the advancing direction of the robot to avoid damage caused by collision of the robot. The position sensor comprises a Hall sensor, which is used to detect the lifting position of the mop mechanism and the scrubbing roller brush to ensure the accurate action of each module.

[0017] The communication module comprises a Wi-Fi module and a Bluetooth module, which can realize wireless communication between the robot and the user terminal (mobile phone, tablet computer, etc.). The user can remotely control the start, stop and cleaning mode switching of the robot through the user terminal, and check the working state, cleaning progress, liquid level of each water tank and other information of the robot.

[0018] Further, the controller of the control system adopts an STM32F4 series microprocessor, which has the advantages of high performance, low power consumption, rich peripheral interfaces and the like, and can meet the control requirements of various modules. The controller pre-stores a cleaning mode control program, including an automatic mode, a sweeping mode, a mopping mode, a washing mode and a combined cleaning mode, and a user can select a corresponding cleaning mode according to actual requirements, or the robot can automatically select a cleaning mode according to a detection result of the stain detection sensor.

[0019] Advantages

[0020] Compared with the prior art, the present application has the following advantages: Functional integration, comprehensive cleaning effect: The present application integrates a sweeping module, a mopping module and a washing module, and can realize integrated cleaning operation of sweeping, mopping and washing. The sweeping module removes dry debris on the ground, the mopping module performs preliminary wiping, and the washing module performs flushing for stubborn stains. The modules work cooperatively, and compared with the existing single-function or sweeping-mopping integrated equipment, the cleaning effect is more comprehensive, and the cleaning requirements of different types of stains can be met.

[0021] Automatic switching of cleaning mode, convenient operation: By setting the stain detection sensor and the intelligent control system, the robot can automatically switch or combine the cleaning mode according to the type and severity of the ground stains. For example, when detecting that the ground is dry stains, only the sweeping module is started; when detecting wet stains, the sweeping module and the mopping module are started; and when detecting stubborn stains, the sweeping module, the mopping module and the washing module work cooperatively, without manual intervention, and the operation is more convenient.

[0022] Automatic cleaning of mop, reducing manual maintenance: The mopping module is provided with a mop cleaning assembly, which can automatically spray and brush the mop during mopping or after mopping, remove stains on the mop, and does not need to frequently disassemble and clean the mop, thereby reducing the maintenance cost and labor intensity of the user.

[0023] Complete sewage recovery, no residue on the ground: The washing module adopts a design that the cleaning liquid supply and sewage recovery are performed synchronously, the spray head uniformly sprays the cleaning liquid, and the sewage suction port fully collects the sewage, so that no cleaning liquid residue and water stains are left on the ground, and the cleaning experience is improved.

[0024] High degree of automation, wide application scenarios: Equipped with a navigation positioning module and a walking module, the robot can realize autonomous positioning, path planning and autonomous movement cleaning, has a high degree of automation, and is suitable for various commercial and household scenarios such as family residences, office places, shopping malls and supermarkets, and is especially suitable for large-area ground cleaning.

[0025] Remote control and status monitoring for smarter operation: Wireless communication with the user terminal is achieved through the communication module, allowing users to remotely control the robot's operation and view information such as the robot's working status, cleaning progress, and water tank level in real time, making it more intelligent and flexible to use. Attached Figure Description Figure 1 This is a system block diagram of the integrated sweeping, mopping, and washing cleaning robot in an embodiment of the present invention; Figure 2 This is a control flowchart for the automatic mode in an embodiment of the present invention. Figure 1 Explanation of each number: 1-Sweeping module, 11-Vacuuming assembly, 12-Roller brush assembly, 13-Dust collection box, 2-Mopping module, 21-Mop mechanism, 22-Mop cleaning assembly, 23-Lifting assembly, 3-Floor washing module, 31-Floor washing roller brush, 32-Cleaning liquid supply system, 33-Wastewater recycling system, 34-Roller brush drive assembly, 4-Control system, 41-Controller, 42-Sensor group, 43-Communication module, 5-Moving module, 6-Power supply module, 7-Navigation and positioning module. Figure 2 Step-by-step instructions: S1 - Environmental map building and path planning; S2 - Move and detect ground stains; S3 - Determine stain type; S4 - Start cleaning module; S5 - Start cleaning + mopping module; S6 - Start cleaning + mopping + washing module; S7 - Detect obstacles; S8 - Turn and avoid obstacles; S9 - Detect water tank level; S10 - Send reminder message; S11 - Stop working and return to charging station. Detailed Implementation

[0026] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0027] like Figure 1 The diagram shown is a system block diagram of an integrated sweeping, mopping, and washing cleaning robot according to the present invention. The robot includes a body, within which are housed a sweeping module 1, a mopping module 2, a washing module 3, a control system 4, a walking module 5, a power supply module 6, and a navigation and positioning module 7. The control system 4 is electrically connected to each of the other modules, enabling coordinated control of all modules.

[0028] The cleaning module 1 comprises a dust suction assembly 11, a rolling brush assembly 12 and a garbage collection box 13. The rolling brush assembly 12 is composed of a main rolling brush 121, side brushes 122 and a rolling brush motor 123. The main rolling brush 121 is horizontally installed at the front of the bottom of the machine body, with a length of 30-40 cm, and a surface provided with spiral nylon brush hairs with a length of 5-8 mm. The side brushes 122 are symmetrically installed on both sides of the main rolling brush 121 and are made of silica gel material, which can be flexibly deformed to adapt to the cleaning of areas such as corners and edges. The rolling brush motor 123 is a direct current speed reducer motor with a power of 20-30 W and a rotating speed of 100-150 rpm, which drives the main rolling brush 121 and the side brushes 122 to rotate through gear transmission. The rotating direction of the main rolling brush 121 is opposite to the advancing direction of the robot, and the rotating direction of the side brushes 122 is towards the main rolling brush 121 to gather the ground debris towards the main rolling brush 121.

[0029] The dust suction assembly 11 comprises a dust collector 111 and a dust suction pipeline 112. The dust collector 111 is a brushless dust collector with a suction force of 1500-2000 Pa and a power of 100-120 W. The dust suction pipeline 112 is made of PVC material with a diameter of 30-40 mm, one end of which is connected with the dust suction port above the main rolling brush 121, and the other end of which is communicated with the garbage collection box 13. The garbage collection box 13 has a capacity of 1-1.5 L and is designed in a drawer type. A HEPA filter screen is arranged in the box to filter PM2.5 and smaller dust to prevent secondary pollution. When the rolling brush assembly 12 gathers the debris, the dust collector 111 generates negative pressure to suck the debris into the garbage collection box 13 through the dust suction pipeline 112.

[0030] The mopping module 2 comprises a mop mechanism 21, a mop cleaning assembly 22 and a lifting assembly 23. The mop mechanism 21 is composed of a mop support 211 and a mop 212. The mop support 211 is made of ABS plastic material and has a rectangular structure with a size of 20-25 cm x 15-20 cm. The mop 212 is made of superfine fiber material and is detachably installed at the bottom of the mop support 211 by magic tape, which has good water absorption and stain removal ability.

[0031] The lifting assembly 23 comprises a lifting motor 231, a lead screw 232 and guide rods 233. The lifting motor 231 is a stepping motor with a step angle of 1.8° and a power of 10-15 W. The lead screw 232 is connected with the output shaft of the lifting motor 231 through a shaft coupling, and is threadedly connected with the threaded hole at the bottom of the mop support 211. The guide rods 233 are symmetrically arranged on both sides of the lead screw 232 and are slidably connected with the mop support 211. When the controller 41 controls the lifting motor 231 to rotate forward, the lead screw 232 rotates to drive the mop support 211 to descend along the guide rods 233, and the mop 212 contacts the ground. When the lifting motor 231 reverses, the mop support 211 rises and the mop 212 separates from the ground.

[0032] The mop cleaning assembly 22 comprises a cleaning water tank 221, a spraying pump 222 and a cleaning brush 223. The cleaning water tank 221 has a capacity of 0.8-1.2L and is made of transparent PP material, which is convenient for observing the water quantity. The spraying pump 222 is a micro diaphragm pump with a flow rate of 0.5-1L / min and a power of 5-8W. The spraying pump 222 is connected to the cleaning water tank 221 and a spraying head through a water pipe. The spraying head is arranged above the mop support 211 and has 4-6 spraying heads which are uniformly distributed and can uniformly spray cleaning water on the mop 212. The cleaning brush 223 is made of nylon and is arranged on one side of the mop support 211 and in contact with the surface of the mop 212. When the mop 212 rotates (the mop support 211 can be driven to rotate by a rotating motor with a power of 8-12W and a rotating speed of 30-50rpm), the cleaning brush 223 brushes and cleans the mop 212. The cleaned sewage flows into the sewage tank 321 through a sewage guide groove at the bottom of the mop support 211.

[0033] The scrubbing module 3 comprises a scrubbing roller brush 31, a cleaning liquid supply system 32, a sewage recovery system 33 and a roller brush driving assembly 34. The scrubbing roller brush 31 has a length of 25-30cm and is wrapped with superfine fiber bristles and silica gel squeegee strips. The bristles have a length of 6-9mm and the squeegee strips are in close contact with the ground. The roller brush driving assembly 34 comprises a scrubbing motor 341 and a speed reducer 342. The scrubbing motor 341 is a direct current motor with a power of 40-50W and a rotating speed of 200-300rpm. The speed reducer 342 reduces the rotating speed to 100-150rpm and drives the scrubbing roller brush 31 to rotate.

[0034] The cleaning liquid supply system 32 comprises a cleaning liquid tank 321, a supply pump 322 and a spraying head 323. The cleaning liquid tank 321 has a capacity of 1-1.5L and is arranged separately from the cleaning water tank 221 to avoid mixing of the cleaning liquid and the clean water. The supply pump 322 is a micro gear pump with a flow rate of 0.3-0.6L / min and a power of 5-8W. The supply pump 322 is connected to the cleaning liquid tank 321 and the spraying head 323 through a water pipe. The spraying head 323 is arranged above the scrubbing roller brush 31 and has 6-8 spraying heads which can uniformly spray cleaning liquid on the surface of the scrubbing roller brush 31.

[0035] The sewage recovery system 33 comprises a sewage tank 331, a negative pressure pump 332 and a sewage suction port 333. The sewage tank 331 has a capacity of 1.2-1.8L and is arranged side by side with the cleaning liquid tank 321. The negative pressure pump 332 is a vacuum pump with a vacuum degree of -0.05 to -0.08MPa and a power of 30-40W. The sewage suction port 333 is in the shape of a long strip and has a length consistent with that of the scrubbing roller brush 31. The sewage suction port 333 is arranged behind the scrubbing roller brush 31 and is in communication with the negative pressure pump 332 and the sewage tank 331 through a sewage pipeline. After the scrubbing roller brush 31 washes the ground stains, the negative pressure pump 332 generates negative pressure to suck the sewage from the sewage suction port 333 and deliver the sewage to the sewage tank 331.

[0036] The walking module 5 comprises driving wheels 51, universal wheels 52 and a walking driving motor 53. The driving wheels 51 are made of rubber material, have a diameter of 60-80 mm, and are symmetrically installed at the bottom of the body. The universal wheels 52 are made of polyurethane material, have a diameter of 40-50 mm, and are installed at the front end of the bottom of the body. The walking driving motor 53 is a direct-current speed reduction motor, has a power of 25-35 W and a rotating speed of 100-150 rpm, and drives the two driving wheels 51 to rotate through differential driving mode, so as to realize the forward movement, backward movement, turning and other actions of the robot. The moving speed of the robot is 0.3-0.5 m / s.

[0037] The power module 6 comprises a lithium battery pack 61 and a charging management circuit 62. The lithium battery pack 61 is composed of 18650 lithium batteries connected in series, has a voltage of 14.8 V and a capacity of 5000-6000 mAh. The charging management circuit 62 adopts a TP4056 charging chip, supports fast charging function, has a charging time of 3-4 hours, and the robot can work continuously for 120-150 minutes after being fully charged. The lithium battery pack 61 provides stable direct-current power for each module, and the charging management circuit 62 is responsible for charging protection of the lithium battery pack 61 to prevent overcharging, overdischarging, overcurrent and other conditions.

[0038] The navigation positioning module 7 comprises a laser radar 71, a gyroscope 72 and an odometer 73. The laser radar 71 is a SLAM laser radar, has a measuring range of 0.1-8 m and a scanning frequency of 10 Hz, is used for collecting point cloud data of the surrounding environment, and constructs an environment map. The gyroscope 72 is an MPU6050 six-axis gyroscope, and is used for detecting the attitude and angular velocity of the robot. The odometer 73 is connected with the driving wheels 51, and is used for measuring the driving distance of the robot. The controller 41 fuses the data of the laser radar 71, the gyroscope 72 and the odometer 73, realizes the autonomous positioning and path planning of the robot, adopts an AI algorithm for path planning, can avoid obstacles, and realizes the full-house coverage cleaning.

[0039] The control system 4 comprises a controller 41, a sensor group 42 and a communication module 43. The controller 41 adopts an STM32F407ZGT6 microprocessor based on an ARM Cortex-M4 core, has a main frequency of 168 MHz, and has rich GPIO interfaces, UART interfaces, SPI interfaces, I2C interfaces and the like, which can meet the communication and control requirements of each module.

[0040] The sensor group 42 includes a stain detection sensor 421, an obstacle detection sensor 422, a liquid level sensor 423, and a position sensor 424. The stain detection sensor 421 includes an infrared sensor and an OV7725 image sensor, the infrared sensor is a TCRT5000 model, which is used to detect the humidity and reflectivity of the ground, and when there is a wet stain on the ground, the reflectivity will change; the image sensor is used to collect the ground image, and the controller 41 analyzes the image through an image recognition algorithm to determine the type and severity of the stain. The obstacle detection sensor 422 includes an HC-SR04 ultrasonic sensor and a collision sensor, the ultrasonic sensor is used to detect obstacles within a range of 10-200 cm in front, with a measurement accuracy of 0.3 cm; the collision sensor is installed at the front end of the robot body, and uses a micro switch, which sends a signal when the robot collides with an obstacle, and the controller 41 controls the robot to turn to avoid. The liquid level sensor 423 is a float ball liquid level switch, which is installed in the cleaning water tank 221, the cleaning liquid tank 321, and the sewage tank 331, respectively, and is used to detect the liquid level of each tank. When the liquid level in the cleaning water tank 221 or the cleaning liquid tank 321 is lower than the set value, or the liquid level in the sewage tank 331 is higher than the set value, the controller 41 sends a corresponding control signal. The position sensor 424 is a Hall sensor, which is installed at the installation position of the lifting assembly 23 and the scrubbing roller brush 31, respectively, and is used to detect the lifting position of the mop mechanism 21 and the scrubbing roller brush 31 to ensure accurate operation.

[0041] The communication module 43 includes an ESP8266 Wi-Fi module and an HC-05 Bluetooth module, the Wi-Fi module supports IEEE 802.11b / g / n protocol, can connect to a home or commercial wireless network, and realize remote communication with a user terminal; the Bluetooth module is used for short-distance connection with the user terminal, which is convenient for the user to make local settings and control. The user can connect the robot through a mobile phone APP, and the APP interface can display the working status, cleaning mode, cleaning progress, liquid level of each tank, and other information of the robot, and the user can send control instructions through the APP, such as starting, stopping, switching cleaning mode, setting cleaning forbidden area, etc.

[0042] The cleaning mode of the present application includes automatic mode, sweeping mode, mopping mode, washing mode and combined cleaning mode, and the working process of each mode is as follows: Automatic mode: as Figure 2The control flow chart of the automatic mode is shown. After the robot starts the automatic mode, the navigation positioning module 7 first constructs an environment map and plans a path (step S1); then the walking module 5 drives the robot to move according to the planned path, while the stain detection sensor 421 detects the ground stain in real time (step S2); the controller 41 analyzes the detection data of the stain detection sensor 421 to determine the type of ground stain (step S3); if it is a dry stain (such as dust, debris), the cleaning module 1 is started, and the mop module 2 and the washing module 3 are turned off (step S4), the brush motor 123 of the cleaning module 1 drives the main brush 121 and the side brush 122 to rotate, and the dust collector 111 is started to suck the ground debris into the garbage collection box 13; if it is a wet stain (such as water stain, beverage stain), the cleaning module 1 and the mop module 2 are started, and the washing module 3 is turned off (step S5), the cleaning module 1 first cleans the dry debris, then the lifting assembly 23 of the mop module 2 lowers the mop 212, the spray pump 222 sprays cleaning water on the mop 212, the mop 212 rotates to mop the ground, and the mop cleaning assembly 22 cleans the mop 212 in real time; if it is a stubborn stain (such as oil stain, sauce stain), the cleaning module 1, the mop module 2 and the washing module 3 are started at the same time (step S6), the cleaning module 1 cleans the dry debris, the mop module 2 performs preliminary cleaning, the cleaning liquid supply system 32 of the washing module 3 sprays cleaning liquid on the washing brush 31, the brush driving assembly 34 drives the washing brush 31 to rotate to wash the ground, and the sewage recovery system 33 sucks the sewage into the sewage tank 331; during the cleaning process, the controller 41 detects the signals of each sensor in real time, if an obstacle is detected (step S7), the walking module 5 is controlled to turn to avoid (step S8); if the water tank liquid level is abnormal (step S9), the controller 41 sends a reminder information to the user terminal (step S10); when the cleaning is completed or the user issues a stop instruction, the robot stops working and returns to the charging seat for charging (step S11).

[0043] Sweeping mode: after the user selects the sweeping mode, the controller 41 controls the lifting assembly 23 of the mop module 2 to lift the mop 212, the washing module 3 is turned off, and only the cleaning module 1 is started. The walking module 5 drives the robot to move according to the planned path, and the brush assembly 12 and the dust collection assembly 11 work cooperatively to clean the dry debris on the ground. During the cleaning process, the obstacle detection sensor 422 detects obstacles in real time to ensure the safe movement of the robot.

[0044] Mopping mode: when the mopping mode is selected, the controller 41 controls the cleaning module 1 to be closed, the washing module 3 to be closed, and the mopping module 2 to be started. The lifting assembly 23 lowers the mop 212, the spray pump 222 controls the spraying amount of cleaning water according to the ground humidity, the mop 212 rotates to mop the ground, the mop cleaning assembly 22 regularly cleans the mop 212, and the sewage flows into the sewage tank 331. At the same time, the walking module 5 drives the robot to move slowly, ensuring the mopping effect.

[0045] Washing mode: when the washing mode is selected, the controller 41 controls the cleaning module 1 and the mopping module 2 to start the pretreatment, and then the washing module 3 is started. The cleaning liquid supply system 32 sprays cleaning liquid, the washing brush 31 rotates to wash the ground, and the sewage recovery system 33 synchronously recovers sewage. During the washing process, the controller 41 controls the moving speed of the robot to be 0.2-0.3 m / s, ensuring sufficient washing.

[0046] Combined cleaning mode: the user can customize the combined cleaning mode according to the needs, such as "sweeping + mopping", "mopping + washing", etc., and the controller 41 controls the corresponding modules to start and work cooperatively according to the mode set by the user.

[0047] In addition, the present application also has an automatic charging function. When the lithium battery pack 61 of the power module 6 is lower than the set value (such as 20%), the controller 41 controls the robot to stop cleaning work, returns to the charging seat for charging according to the positioning information of the navigation positioning module 7, and after the charging is completed, the unfinished cleaning task can be continued. At the same time, the robot also has a breakpoint resume sweeping function. When the cleaning process is stopped due to insufficient power or other reasons, the robot can continue cleaning from the last stop position when it is started again, avoiding repeated cleaning or missing cleaning areas.

Claims

1. A sweeping, mopping, and washing integrated cleaning robot, characterized in that, The machine body includes a sweeping module, a mopping module, a washing module, a control system, a walking module, a power module, and a navigation and positioning module. The cleaning module is used for adsorbing and cleaning dry debris on the ground, including a dust suction component, a roller brush component and a garbage collection box. The roller brush component is arranged in the front area of ​​the bottom of the machine body. The input end of the dust suction component is connected to the debris accumulation area of ​​the roller brush component, and the output end of the dust suction component is sealed and connected to the garbage collection box. The mopping module is used for preliminary floor cleaning and includes a mop mechanism, a mop cleaning component, and a lifting component. The mop mechanism is located in the middle area of ​​the bottom of the machine body. The mop cleaning component includes a cleaning water tank, a spray pump, and a cleaning brush. The cleaning water tank is connected to the mop spraying area of ​​the mop mechanism through the spray pump and pipeline. The cleaning brush contacts and cooperates with the mop surface of the mop mechanism. The actuator of the lifting component is fixedly connected to the mop mechanism and is used to drive the mop mechanism to move up and down in the vertical direction. The floor cleaning module is used for rinsing stubborn stains on the floor and includes a floor cleaning roller brush, a cleaning solution supply system, a wastewater recovery system, and a roller brush drive assembly. The floor cleaning roller brush is located at the rear end of the bottom of the machine body. The cleaning solution supply system includes a cleaning solution tank, a supply pump, and a spray head. The cleaning solution tank is connected to the spray head through the supply pump and pipeline. The spray direction of the spray head is towards the bristle area of ​​the floor cleaning roller brush. The wastewater recovery system includes a wastewater tank, a negative pressure pump, and a suction port. The suction port is located behind the floor cleaning roller brush and is fitted with a gap in the ground. The suction port is connected to the wastewater tank through the negative pressure pump and pipeline. The power output end of the roller brush drive assembly is connected to the floor cleaning roller brush drive assembly. The walking module includes drive wheels, casters and a walking drive motor. The drive wheels are symmetrically arranged on both sides of the bottom of the machine body, the casters are arranged at the front end of the bottom of the machine body, and the output end of the walking drive motor is connected to the drive wheels. The power module includes a lithium battery pack and a charging management circuit. The lithium battery pack is electrically connected to an external charging device through the charging management circuit, and the output terminal of the lithium battery pack is electrically connected to each power-consuming module. The navigation and positioning module includes a lidar, a gyroscope, and an odometer. The detection end of the lidar faces the external environment of the machine, and the odometer is linked to the drive wheel of the walking module. The control system includes a controller, a sensor group, and a communication module. The sensor group includes a stain detection sensor, an obstacle detection sensor, a liquid level sensor, and a position sensor. The detection end of the stain detection sensor faces the ground, and the detection end of the obstacle detection sensor faces the direction of the machine's movement. The liquid level sensors are respectively installed in the cleaning water tank, the cleaning liquid tank, and the wastewater tank. The position sensors are installed in the installation areas of the lifting assembly and the floor scrubbing brush. The signal input terminal of the controller is electrically connected to the navigation and positioning module and the sensor group, respectively. The control output terminal of the controller is electrically connected to the sweeping module, the mopping module, the floor scrubbing module, and the walking module, respectively. The controller and the communication module have a bidirectional communication connection.

2. The integrated sweeping, mopping, and washing cleaning robot according to claim 1, characterized in that, The roller brush assembly includes a main roller brush, side brushes, and a roller brush motor. The main roller brush is horizontally arranged at the front bottom of the machine body, and the side brushes are symmetrically arranged on both sides of the main roller brush. The output end of the roller brush motor is connected to the main roller brush and the side brushes respectively through a gear transmission mechanism. The outer circumference of the main roller brush is provided with spirally arranged nylon bristles, and the side brushes are made of silicone material.

3. The integrated sweeping, mopping, and washing cleaning robot according to claim 1, characterized in that, The vacuuming assembly includes a brushless vacuum cleaner and a vacuuming pipe. One end of the vacuuming pipe is connected to the vacuum hood above the main roller brush, and the other end of the vacuuming pipe is sealed to the feed inlet of the dust collection box. The brushless vacuum cleaner is connected in series with the vacuuming pipe. The dust collection box adopts a drawer-type structure and is slidably connected to the body. The dust collection box is equipped with a HEPA filter.

4. The integrated sweeping, mopping, and washing cleaning robot according to claim 1, characterized in that, The mop mechanism includes a mop bracket and a microfiber mop. The microfiber mop is detachably connected to the bottom of the mop bracket via Velcro. The lifting assembly includes a lifting motor, a lead screw, and a guide rod. The output end of the lifting motor is coaxially fixed to the lead screw. The lead screw is threaded into a threaded hole at the bottom of the mop bracket. The guide rod is slidably engaged with the mop bracket and is parallel to the lead screw.

5. The integrated sweeping, mopping, and washing cleaning robot according to claim 1, characterized in that, The spray pump of the mop cleaning component is a miniature diaphragm pump. The output end of the spray pump is connected to a diversion pipe. The diversion pipe is equipped with 4-6 evenly distributed spray heads facing the mop surface. The bottom of the mop bracket is equipped with a sewage guide channel, which is connected to the sewage tank through a pipeline.

6. The integrated sweeping, mopping, and washing cleaning robot according to claim 1, characterized in that, The outer periphery of the floor scrubbing roller is covered with a microfiber bristle layer, and a silicone squeegee is provided on the outer side of the microfiber bristle layer. The roller brush drive assembly includes a floor scrubbing motor and a gearbox. The output end of the floor scrubbing motor is connected to the input end of the gearbox, and the output end of the gearbox is coaxially fixed to the floor scrubbing roller. The suction port has a long strip structure, and its length is the same as the length of the floor scrubbing roller.

7. The integrated sweeping, mopping, and washing cleaning robot according to claim 1, characterized in that, The stain detection sensor includes an infrared reflection sensor and a CMOS image sensor. The infrared reflection sensor is used to detect ground humidity and reflectivity, and the CMOS image sensor is used to acquire images of ground stains. The obstacle detection sensor includes an ultrasonic sensor and a micro-motion collision sensor. The position sensor is a Hall sensor.

8. The integrated sweeping, mopping, and washing cleaning robot according to claim 1, characterized in that, The communication module includes a Wi-Fi module and a Bluetooth module. The Wi-Fi module supports the IEEE 802.11b / g / n protocol. The controller uses an STM32F4 series microprocessor and has pre-stored control programs for automatic mode, sweeping mode, mopping mode, floor washing mode, and combined cleaning mode.

9. The integrated sweeping, mopping, and washing cleaning robot according to claim 1, characterized in that, The walking drive motor is a DC geared motor, and the two walking drive motors control the speed of the drive wheels on both sides respectively through differential drive; the charging management circuit uses a TP4056 charging chip, and the lithium battery pack is composed of 18650 lithium batteries connected in series, with a rated voltage of 14.8V and a capacity of 5000-6000mAh.

10. The integrated sweeping, mopping, and washing cleaning robot according to claim 1, characterized in that, The lidar is a SLAM lidar with a measurement range of 0.1-8m and a scanning frequency of 10Hz; the gyroscope is an MPU6050 six-axis gyroscope; and the navigation and positioning module uses AI algorithms for path planning.

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