Split collaborative intelligent cleaning robot

Abstract

The invention provides a split collaborative intelligent cleaning robot, and belongs to the technical field of service robots and household intelligent cleaning equipments.The front end of a robot body is provided with an integrated environment sensing module, and one side of the top of the robot body is provided with a magnetic attraction release platform which is used for releasing parking and electricity supplementing of a miniature unmanned aerial vehicle group; a cleaning water tank is arranged on the other side of the top of the robot body, a plurality of cleaning brush assemblies are arranged at the bottom of the robot body, auxiliary bodies are arranged on the two sides of the robot body respectively, the auxiliary bodies on the two sides of the robot body are hinged to the robot body through rotary connecting pieces respectively, and each auxiliary body is of a hollow box structure. A telescopic folding mechanical arm is arranged in the auxiliary body on one side of the robot body, and a telescopic continuum dust collection arm is arranged in the auxiliary body on the other side of the robot body. Universe efficient cleaning of multiple floors and a three-dimensional space is achieved.

Description

Technical Field

[0001] This invention relates to the field of service robots and smart home cleaning equipment, and in particular to a split-type collaborative smart cleaning robot. Background Technology

[0002] With the diversification of living environments, people's requirements for indoor cleaning are no longer limited to the ground, but are gradually extending to areas that are traditionally difficult to reach, such as multi-story buildings, corners, and high places. The popularity of duplexes, apartments, and villas has made cleaning work increasingly complex, urgently requiring intelligent cleaning systems with autonomy and high adaptability. Although various home cleaning robots have appeared on the market, most are still limited to ground path planning and shallow dust removal. They often lack the cleaning ability to clean special areas such as stairs, steps, corners, and ceilings, making it difficult to achieve intelligent cleaning without dead corners. Existing technologies mostly use a single main structure or simple robotic arm extension functions, which cannot meet the diverse needs of autonomously climbing stairs, flexible storage, and high-altitude dust removal within a limited volume. Therefore, developing an indoor cleaning robot system that integrates multi-body collaboration, reusable structure and functions, and can fully adapt to complex spaces has become a key direction that urgently needs to be broken through in the field of smart homes.

[0003] In recent years, mobile robots have made progress in path planning and obstacle detection, with some products attempting to expand their cleaning range through robotic arms and auxiliary modules. Chinese patent "A Method for Climbing Stairs in a Sweeping Robot with Stair-Climbing Function" (application number: 202010296612.5) discloses a sweeping robot with stair-climbing capability, consisting of a main body, a support arm, and support legs. Through a chain-like folding structure and independent drive control of each joint, the three parts alternately climb stairs. While this provides a new approach to robot stair climbing, it does not consider the increased size and weight caused by the support arm, nor does it consider the secondary utilization of the internal space of the support arm. Chinese patent "Mechanical Joint, Robotic Arm, and Self-Moving Cleaning Device" (application number: 202223602123.1) discloses a folding robotic arm cleaning device that expands its operational capabilities through a multi-degree-of-freedom folding structure; however, the robotic arm itself remains a redundant load in its folded state, still not fully utilizing the internal space. While the multi-robot cleaning solution proposed in Chinese patent "A Cleaning Robot Combination and Cleaning Method" (application number: 201910817964.8) improves ground efficiency, it lacks adaptability to complex terrains such as stairs and steps. Chinese patent "A Drone for Cleaning High-Rise Buildings" (application number: 202110827459.9) utilizes drones to clean exterior walls, primarily targeting outdoor high-altitude operations and unlikely to be widely adopted in indoor environments. The cage-type ceiling cleaning robot in Chinese patent "A Ceiling Cleaning Robot" (application number: 201910460086.9) has limited functionality and cannot collaborate with ground robots.

[0004] In summary, while existing technologies have made improvements in specific functions or scenarios, they still struggle to simultaneously meet multiple needs, including autonomous movement across multiple floors, efficient utilization of internal space, and comprehensive cleaning of three-dimensional spaces. Specifically, existing technologies suffer from three main shortcomings: first, their ability to autonomously ascend and descend stairs in multi-story environments is limited; second, auxiliary modules often employ solid structures, lacking internal functional reuse and resulting in redundant volume and weight; and third, cleaning at heights or in confined spaces still relies on manual labor or single equipment. Summary of the Invention

[0005] The purpose of this invention is to provide a split-type collaborative intelligent cleaning robot that achieves efficient cleaning of multiple floors and three-dimensional spaces, and has significant advantages such as compact structure, high level of intelligence, wide operation coverage, and simple operation.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A modular collaborative intelligent cleaning robot is characterized by comprising an auxiliary body, a retractable and foldable robotic arm, a cleaning brush assembly, an integrated environmental sensing module, a robot body, a cleaning water tank, a swarm of deployable micro-drones, a rotating connector, and a retractable continuous vacuuming arm.

[0008] The robot body is interconnected via a bus to form a hierarchical control system, including a main control unit, an actuator control module, a drone management module, and a navigation and communication module. The main control unit is communicatively connected to the actuator control module, the drone management module, and the navigation and communication module. The actuator control module is electrically connected to the retractable folding robotic arm and the retractable continuous vacuuming arm. The drone management module is wirelessly connected to a swarm of releaseable micro drones. The navigation and communication module is electrically connected to an integrated environmental perception module.

[0009] The robot's main body has an integrated environmental perception module at its front end for navigation mapping, boundary recognition, and obstacle perception. A magnetic release platform is located on one side of the top of the robot for parking and recharging a swarm of micro-drones. A cleaning water tank is located on the other side of the top of the robot for storing clean water and collecting wastewater. Several cleaning brush assemblies are located at the bottom of the robot. A suction system is located inside the robot's main body, fluidly connected to the cleaning brush assemblies via a negative pressure channel. Auxiliary bodies are located on both sides of the robot, hinged to the robot via rotating connectors. Each auxiliary body is a hollow box structure. A retractable folding robotic arm is located inside one auxiliary body, and a retractable continuous vacuum arm is located inside the other auxiliary body. A main battery pack is located inside the robot body to power the entire system. The main battery pack powers the retractable folding robotic arm and the retractable continuous vacuum arm inside the auxiliary bodies via internal wiring and multi-core electrical interfaces built into the rotating connectors.

[0010] Furthermore, the retractable foldable robotic arm includes a cleaning arm guide slider, a drive motor, a first rotating shaft, a first arm section, a mechanical gripper and gripper disk, a second arm section, and an end effector torque sensor.

[0011] The cleaning arm guide slider is the mobile base of the telescopic and foldable robotic arm. Its bottom is fixed to the internal guide rail of the auxiliary body on one side of the robot body with screws, and it can slide back and forth along the internal guide rail. The cleaning arm guide slider is embedded with a linear drive mechanism to drive the cleaning arm guide slider to move longitudinally. The drive motor is fixedly installed on the top of the cleaning arm guide slider, and its output shaft is connected to the first rotating shaft through a coupling. The first rotating shaft is supported by bearings and installed in the support at the top of the slider. The proximal end of the first arm is rigidly connected to the first rotating shaft, and its distal end is connected to the proximal end of the second arm through a hinge structure. The hinge structure has an embedded rotating shaft, which is driven by a micro servo motor installed inside the distal end of the first arm to control the relative rotation between the two segments. The distal end of the second arm is fixedly installed with a mechanical claw and a claw disk through a flange connection. The mechanical claw and claw disk are three-finger gripping structures, which are driven by a micro motor integrated inside to achieve opening and closing actions. The end torque sensor is set between the mechanical claw and the claw disk.

[0012] Furthermore, the retractable continuous vacuum arm includes a vacuum cleaner head, a front-end attitude / depth sensor, a vacuum ventilation hose, a flexible arm drive rope, a flexible vacuum execution arm, and a negative pressure vacuum main unit structure.

[0013] The negative pressure vacuum cleaner main unit is fixedly installed inside the robot body. This unit provides negative pressure suction and integrates a flexible arm control module. It includes a high-speed motor, a vacuum fan assembly, and a multi-axis electric reel mechanism, forming a composite module that serves as both a suction source and a motion control center. One end of the vacuum ventilation hose is connected to the suction inlet of the negative pressure vacuum cleaner main unit, and the other end extends to the front end of the flexible vacuum actuator arm and is sealed to the vacuum cleaner head. The flexible vacuum actuator arm moves along the outside of the vacuum ventilation hose... The flexible arm is formed by connecting flexible segments, allowing it to bend freely in three-dimensional space. The flexible arm drive rope consists of multiple pre-tensioned metal ropes evenly distributed in guide channels within the flexible vacuuming arm, running along its entire length and ultimately leading to a multi-axis electric reel mechanism in the negative pressure vacuuming host structure. The vacuum cleaner head is fixedly connected to the front end of the flexible vacuuming arm, is hollow inside, and is connected to a vacuum ventilation hose. A front attitude / depth sensor is provided on the front surface of the flexible vacuuming arm.

[0014] Furthermore, the swarm of deployable micro-drones includes several deployable micro-drones, each of which includes a control processor, a central housing, a pitch servo, folding rotor blades, a main rotor motor housing, a cleaning vibration chamber, and a vibration cleaning assembly.

[0015] The central housing serves as the structural support for the entire robot, featuring a segmented upper and lower structure. An embedded control processor houses the upper part of the central housing, integrating a flight control module, attitude calculation module, power management unit, and wireless communication module. This processor controls flight attitude, executes operational commands, and interacts with the robot's main control unit. Three pitch servos are equidistantly arranged on the sides of the central housing, each connected to a folding rotor blade via a shaft-mounted connection structure. The main rotor motor housing is an independent structural unit, rigidly connected to the bottom of the central housing with screws. A high-speed brushless main rotor motor is housed within the main rotor motor housing. A cleaning vibration chamber is fixedly connected below the main rotor motor housing, integrating a miniature high-frequency vibration motor. The vibration cleaning assembly is fixed to the bottom plate of the cleaning vibration chamber.

[0016] Furthermore, the deployable micro-drone swarm can selectively deploy a single micro-drone for individual operation, or deploy multiple micro-drones to form a swarm for collaborative operation, depending on the complexity of the task and the work requirements, in order to achieve more efficient cleaning coverage.

[0017] Furthermore, the integrated environmental perception module includes a binocular depth camera, a TOF ranging sensor, and an infrared wall-following sensor. The binocular depth camera is fixedly installed at the center of the front side of the robot body. The TOF ranging sensor is deployed at the bottom front edge of the robot body and near the ground on both sides of the auxiliary bodies. The infrared wall-following sensor is symmetrically deployed along the left and right sides of the robot body.

[0018] Furthermore, the rotary connector is a multi-degree-of-freedom hinge structure. The rotary connector has a built-in multi-core electrical interface. One end of the rotary connector is provided with a socket and is electrically connected to the robot body. The other end of the rotary connector is provided with a pin and is electrically connected to the auxiliary bodies on both sides of the robot body. The rotary connector is used to transmit electrical signals and power between the robot body and the auxiliary bodies.

[0019] Furthermore, the cleaning brush assembly includes two sets of side brushes and one set of central roller brushes, which are respectively mounted on the bottom inner side of the robot body via drive motors.

[0020] Advantages of this invention:

[0021] 1. This invention adopts a split collaborative structure, in which the main body of the robot and the auxiliary body automatically unfold to form support, solving the problem that traditional cleaning robots cannot autonomously cross stairs and steps. It can continuously climb stairs and work without manual handling, achieving full coverage cleaning of multi-floor environments.

[0022] 2. This invention innovatively transforms the internal space of the auxiliary body into a dual-arm storage compartment, achieving compact storage and efficient deployment of the robotic arms while ensuring the structural strength of the staircase. The retractable and foldable robotic arms can be quickly deployed to retrieve and deliver items, while the retractable continuous vacuuming arm can reach into gaps only 20mm wide for vacuuming. Compared to traditional external robotic arm solutions, this structure reduces volume and energy consumption, keeping the body slim and compact.

[0023] 3. This invention features a swarm of releasable micro-drones that, through magnetic release and automatic retrieval, achieve intelligent attachment and cleaning of high, hard-to-reach areas such as corners and ceilings, effectively compensating for blind spots that the main unit and robotic arm cannot cover. This design enhances overall operational flexibility and significantly improves the cleaning coverage of three-dimensional spaces.

[0024] 4. This invention employs an integrated environmental perception module for navigation and task planning, including a binocular depth camera, a TOF ranging sensor, and an infrared wall-following sensor. This enables positioning and mapping, obstacle detection, and path planning in complex home environments. Compared to single-lidar or infrared sensing solutions, this device offers improved cleaning path planning accuracy, lower wall-following cleaning offset distance, and more comprehensive environmental perception.

[0025] 5. This invention supports inductive magnetic charging. After the operation is completed, the robot can automatically dock in the preset charging area and quickly recharge through wireless sensing. This design simplifies the operation process and improves the user experience. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the appearance of the present invention in its stored state;

[0028] Figure 3 This is a schematic diagram of the retractable and foldable robotic arm in this invention;

[0029] Figure 4 This is a schematic diagram of the retractable continuous vacuum arm in this invention;

[0030] Figure 5 This is a schematic diagram of the structure of the releasable micro-drone in this invention;

[0031] In the diagram: 1. Auxiliary body; 2. Telescopic and foldable robotic arm; 2-1. Cleaning arm guide slider; 2-2. Drive motor; 2-3. First rotating shaft; 2-4. First arm section; 2-5. Mechanical gripper and gripper disc; 2-6. Second arm section; 2-7. End torque sensor; 3. Cleaning brush assembly; 4. Integrated environmental sensing module; 5. Robot body; 6. Cleaning water tank; 7. Deployable micro-drone swarm; 7-1. Control processor; 7-2 7-3. Central fuselage; 7-4. Pitch servo; 7-5. Folding rotor blades; 7-6. Main rotor motor compartment; 7-7. Cleaning vibration chamber; 7-8. Vibration cleaning assembly; 9-9. Rotary connector; 9-1. Telescopic continuous vacuum arm; 9-2. Vacuum cleaner head; 9-3. Front attitude / depth sensor; 9-4. Vacuum ventilation hose; 9-5. Flexible arm drive rope; 9-6. Flexible vacuum actuator arm; 9-7. Negative pressure vacuum main unit structure. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0033] like Figure 1 and Figure 2 As shown, a split-type collaborative intelligent cleaning robot includes an auxiliary body 1, a retractable and foldable robotic arm 2, a cleaning brush assembly 3, an integrated environmental sensing module 4, a robot body 5, a cleaning water tank 6, a swarm of releaseable micro-drones 7, a rotating connector 8, and a retractable continuous vacuuming arm 9.

[0034] The robot body 5 serves as the control core of the entire machine. Internally, the robot body 5 is interconnected via a bus to form a hierarchical control system, including a main control unit, an actuator control module, a drone management module, and a navigation and communication module. The main control unit is communicatively connected to the actuator control module, the drone management module, and the navigation and communication module. The main control unit is used to uniformly schedule all cleaning tasks and issue commands. The actuator control module is electrically connected to the retractable folding robotic arm 2 and the retractable continuous vacuum arm 9, used to drive their extension, rotation, and operation. The drone management module is wirelessly connected to the releaseable micro-drone swarm 7, used to control their takeoff, in-situ cleaning, and automatic retrieval. The navigation and communication module is electrically connected to the integrated environmental perception module 4, used to receive data from the environmental perception module 4, generate the robot body 5's travel path and the releaseable micro-drone swarm 7's flight trajectory, and provide positioning and communication services to the main control unit, the actuator control module, and the drone management module to support path planning, operational attitude adjustment, and drone trajectory control.

[0035] The robot body 5 has an integrated environmental perception module 4 at its front end for navigation mapping, boundary recognition, and obstacle perception. A magnetic release platform is located on one side of the top of the robot body 5 for parking and recharging the micro-drone swarm 7. A cleaning water tank 6 is located on the other side of the top of the robot body 5 for storing clean water and collecting wastewater. Several cleaning brush assemblies 3 are located at the bottom of the robot body 5. A suction system is installed inside the robot body 5, generating negative pressure during operation. This suction system is fluidly connected to the cleaning brush assemblies 3 through a negative pressure channel, guiding wastewater, dust, and other impurities into the interior for collection during cleaning, ensuring efficient cleaning of floors, corners, and other hard-to-reach areas. Auxiliary bodies 1 are located on both sides of the robot body 5, hinged to the robot body 5 via rotating connectors 8. These auxiliary bodies can be deployed or closed under the control of the main control unit, improving the robot's stability when crossing steps or stairs.

[0036] Each auxiliary body 1 is a hollow box structure. A retractable and foldable mechanical arm 2 is installed inside the auxiliary body 1 on one side of the robot body 5, and a retractable continuous vacuuming arm 9 is installed inside the auxiliary body 1 on the other side of the robot body 5.

[0037] The robot body 5 is equipped with a main battery pack, which is used to power the entire system. The main battery pack supplies power to the telescopic folding robotic arm 2 and the telescopic continuous vacuuming arm 9 in the auxiliary bodies 1 on both sides through internal wiring and multi-core electrical interfaces built into the rotating connector 8.

[0038] As a preferred embodiment of the present invention, such as Figure 3 As shown, the retractable foldable robotic arm 2 includes a cleaning arm guide rail slider 2-1, a drive motor 2-2, a first rotating shaft 2-3, a first arm section 2-4, a mechanical claw and claw disk 2-5, a second arm section 2-6, and an end torque sensor 2-7.

[0039] The cleaning arm guide slider 2-1 is the movable base of the retractable and foldable robotic arm 2. Its bottom is fixed to the internal guide rail of the auxiliary body 1 on one side of the robot body 5 by screws, and it can slide back and forth along the internal guide rail. The cleaning arm guide slider 2-1 is embedded with a linear drive mechanism to drive the cleaning arm guide slider 2-1 to move longitudinally. The linear drive mechanism adopts a lead screw mechanism, which can smoothly push the retractable and foldable robotic arm 2 along the internal guide rail to the working position or retract it to the storage position.

[0040] The drive motor 2-2 is fixedly mounted on the top of the cleaning arm guide slider 2-1. Its output shaft is connected to the first rotating shaft 2-3 via a coupling, and is responsible for driving the first arm section 2-4 to rotate and unfold or fold relative to the cleaning arm guide slider 2-1. The first rotating shaft 2-3 is supported by bearings and mounted in the top support of the slider, and has the function of rotating around its axis.

[0041] The proximal end of the first arm section 2-4 is rigidly connected to the first rotating shaft 2-3, and its distal end is connected to the proximal end of the second arm section 2-6 via a hinge structure. The first arm section 2-4 is a rigid structure of fixed length. The hinge structure includes an embedded rotating shaft, driven by a micro servo motor installed inside the distal end of the first arm section 2-4, used to control the relative rotation between the two sections. The first arm section 2-4 can achieve an unfolding angle from 0° to 180°, adapting to different operating scenarios. The second arm section 2-6 is also a rigid structure of fixed length. The distal end of the second arm section 2-6 is fixedly mounted with a mechanical gripper and gripper disc 2-5 via a flange connection. The mechanical gripper and gripper disc 2-5 is a three-finger clamping structure, driven by a micro motor integrated within it to achieve opening and closing movements, suitable for handling lightweight items. The end torque sensor 2-7 is disposed between the mechanical gripper and the gripper disk 2-5. The end torque sensor 2-7 is used to detect the force and torque information when the mechanical gripper contacts the outside in real time, and feeds the detection signal back to the main control unit to adjust the clamping force and working posture in a closed loop.

[0042] The retractable foldable robotic arm 2 operates as follows in its deployed state: a linear drive mechanism located inside the cleaning arm guide slider 2-1 drives the guide slider 2-1 to move forward; the arm rotation motor 2-2 drives the first arm section 2-4 to rotate and unfold around the first pivot 2-3; the second arm section 2-6 unfolds relative to the first section via its own servo mechanism; finally, the robotic gripper 2-5 completes the specific gripping task. After the operation is completed, the slider is folded, rotated, and retracted in reverse order, and the retractable foldable robotic arm 2 is stored in the internal cavity of the auxiliary body 1, ensuring a flat appearance, compact structure, and safe operation.

[0043] As a preferred embodiment of the present invention, such as Figure 4 As shown, the retractable continuous vacuum arm 9 includes a vacuum cleaner head 9-1, a front-end posture / depth sensor 9-2, a vacuum ventilation hose 9-3, a flexible arm drive rope 9-4, a flexible vacuum execution arm 9-5, and a negative pressure vacuum main unit structure 9-6.

[0044] The negative pressure vacuum cleaner main unit structure 9-6 is fixedly installed inside the robot body 5. The negative pressure vacuum cleaner main unit structure 9-6 provides negative pressure suction and integrates a flexible arm control module. It contains a high-speed motor, a vacuum fan assembly, and a multi-axis electric reel mechanism, forming a composite module of suction source and motion control center. One end of the vacuum ventilation hose 9-3 is connected to the suction port of the negative pressure vacuum cleaner main unit structure 9-6, and the other end extends to the front end of the flexible vacuum actuator arm 9-5 and is sealed to the vacuum cleaner head 9-1, forming a continuous closed negative pressure transmission channel for transporting suction air and dust. The flexible vacuum actuator arm 9-5 covers the outside of the vacuum ventilation hose 9-3. Its structure is formed by flexible segment connections, allowing the arm to achieve multi-degree-of-freedom bending in three-dimensional space. The main function of the flexible vacuum actuator arm 9-5 is to support and guide the vacuum ventilation hose 9-3 to achieve posture adjustment and spatial positioning.

[0045] The flexible arm drive rope 9-4 consists of multiple pre-tensioned metal ropes evenly distributed in the guide channel within the flexible vacuuming arm 9-5. These ropes run along the entire length of the arm and ultimately lead out to the multi-axis electric reel mechanism in the negative pressure vacuuming host structure 9-6. The multi-axis electric reel mechanism independently controls the winding and unwinding of each rope, enabling multi-point linkage bending of the arm, either locally or as a whole, thus allowing the vacuum cleaner head 9-1 to accurately reach the predetermined working position.

[0046] The vacuum cleaner head 9-1 is fixedly connected to the foremost end of the flexible vacuuming arm 9-5, and is hollow inside, connected to the vacuuming ventilation hose 9-3. A front-end attitude / depth sensor 9-2 is provided on the front surface of the flexible vacuuming arm 9-5. The front-end attitude / depth sensor 9-2 is used to collect real-time information on the relative depth, angle, and proximity to the environmental surface, and feeds this information back to the main control unit for dynamically adjusting the vacuuming arm's attitude and working path.

[0047] The extension of the retractable continuous vacuum arm 9 is coordinated and controlled by the main control unit: when it needs to enter confined spaces or high areas for operation, the main control unit issues an action command to the negative pressure vacuum host structure 9-6, driving the reel mechanism to tighten or release the flexible arm drive ropes 9-4 respectively, realizing precise posture adjustment and path planning of the flexible vacuum execution arm 9-5; the vacuum cleaner head 9-1 follows the movement of the arm body during this process and completes the vacuuming task. After the operation is completed, the flexible arm drive ropes 9-4 are released in sequence, the arm body automatically springs back and retracts, and the whole body is stored in the internal compartment of the auxiliary body 1, restoring its compact shape.

[0048] As a preferred embodiment of the present invention, such as Figure 5 As shown, the deployable micro-drone swarm 7 can automatically release and autonomously fly to the work area to perform cleaning operations according to the instructions of the main control unit. The deployable micro-drone swarm 7 includes several deployable micro-drones, each of which includes a control processor 7-1, a central body shell 7-2, a pitch servo motor 7-3, folding rotor blades 7-4, a main rotor motor compartment 7-5, a cleaning vibration chamber 7-6, and a vibration cleaning assembly 7-7.

[0049] The central housing 7-2 serves as the structural support for the entire robot, featuring a segmented upper and lower structure. A control processor 7-1 is embedded within the upper part of the central housing 7-2. This processor integrates a flight control module, attitude calculation module, power management unit, and wireless communication module. It controls flight attitude, executes operational commands, and interacts with the main control unit of the robot body 5. Three pitch servos 7-3 are equidistantly arranged on the sides of the central housing 7-2. Each pitch servo 7-3 is connected to a folding rotor blade 7-4 via a shaft connection structure. During flight, the pitch servos 7-3 dynamically adjust the pitch angle of each rotor blade 7-4 based on signals from the control processor 7-1, achieving attitude stability and directional control. Each rotor blade 7-4 can be folded and retracted when not in operation to reduce space occupation.

[0050] The main rotor motor compartment 7-5 is an independent structural unit, rigidly connected to the bottom surface of the central fuselage shell 7-2 by screws. The main rotor motor compartment 7-5 houses a high-speed brushless main rotor motor, which directly drives the rotor drive shaft to rotate. The rotor drive shaft is located inside the main rotor motor compartment and is directly connected to three folding rotor blades 7-4, which in turn drive the three folding rotor blades 7-4 to generate lift, enabling autonomous takeoff and hovering.

[0051] A cleaning vibration chamber 7-6 is fixedly connected below the main rotor motor compartment 7-5. The cleaning vibration chamber 7-6 integrates a miniature high-frequency vibration motor, which, under the control signal from the control processor 7-1, drives the vibration cleaning component 7-7 below it to perform high-speed reciprocating vibration. The vibration cleaning component 7-7 is fixed to the bottom plate of the cleaning vibration chamber 7-6. The vibration cleaning component 7-7 is a flexible fiber cleaning pad that generates frictional force on the attachment surface through vibration, achieving the function of cleaning and dust removal in high areas such as walls and light fixtures.

[0052] Before operation, the entire deployable micro-drone is statically attached to the magnetic release platform on top of the robot body 5. After the control system issues the task command, the control processor 7-1 starts the high-speed brushless main rotor motor located in the main rotor motor compartment 7-5. The folding rotor blades 7-4 unfold and increase lift to complete the takeoff. After flying to the target area, the attitude control system adjusts the flight attitude through the pitch servo motor 7-3 to achieve the attachment operation. The micro high-frequency vibration motor inside the cleaning vibration compartment 7-6 starts, driving the vibration cleaning component 7-7 to complete the cleaning action. After the operation is completed, the deployable micro-drone automatically returns to the magnetic release platform and magnetically docks, entering the charging and standby state.

[0053] As a preferred embodiment of the present invention, the releasable micro-drone swarm 7 can selectively release a single micro-drone for individual operation, or release multiple micro-drones to form a swarm for collaborative operation, depending on the complexity of the task and the work requirements, so as to achieve more efficient cleaning coverage.

[0054] The deployable micro-drone swarm 7 is scheduled by the main control unit when needed, and the drone management module enables the release of multiple micro-drones to form a swarm and perform matrix-style collaborative operations. During the operation, the drone management module sends position parameters and operation instructions to each micro-drone via wireless communication. Each micro-drone maintains real-time communication with the drone management module through its internal control processor 7-1, adjusting its own operation path and action sequence according to the received position parameters, achieving a clear division of labor and synchronized cleaning tasks. When the operation environment or path changes, the drone management module, under the scheduling of the main control unit, sends update instructions to each micro-drone to adjust its path planning, ensuring the continuity of the operation and coverage efficiency.

[0055] As a preferred embodiment of the present invention, the integrated environmental perception module 4 includes a binocular depth camera, a TOF ranging sensor and an infrared wall-following sensor. The binocular depth camera is fixedly installed at the center of the front side of the robot body 5. It acquires image data by synchronous binocular shooting and generates dense point cloud maps in real time, which are used to identify indoor structures, extract obstacle outlines and construct three-dimensional environment models, providing spatial data support for robot navigation, positioning and path planning.

[0056] The TOF ranging sensors are deployed at the bottom front edge of the robot body 5 and near the ground on both sides of the auxiliary bodies 1. Using the pulse time-of-flight principle, they can measure the vertical distance between the front of the robot and the ground in real time. The main control system identifies the height difference based on this data. When non-planar terrain such as steps or stairs is detected, the system controls the rotating connector 8 to drive the auxiliary bodies to unfold, achieving structural support and attitude stability.

[0057] The infrared wall-following sensors are symmetrically arranged on both sides of the robot body 5 to measure the relative distance between the robot body and the edge of the wall or furniture. The main control system dynamically adjusts the robot's running angle based on the feedback from the infrared wall-following sensors to maintain parallel movement along the wall, thereby improving the cleanliness of the edge area and reducing path deviation.

[0058] The data from the binocular depth camera, TOF ranging sensor, and infrared wall-following sensor are uniformly collected and fused by the main control unit inside the robot body 5 to form a stable and continuous navigation map. This map is then used in real time for the body navigation, dynamic deployment path calculation and motion coordination of the retractable folding robotic arm 2, the retractable continuous vacuuming arm 9, and the releaseable micro-drone swarm 7.

[0059] In a preferred embodiment of the present invention, the rotating connector 8 is a multi-degree-of-freedom hinge structure. The rotating connector 8 has a built-in multi-core electrical interface. One end of the rotating connector 8 is provided with a socket and is electrically connected to the robot body 5. The other end of the rotating connector 8 is provided with a pin and is electrically connected to the auxiliary bodies 1 on both sides of the robot body 5. The rotating connector 8 is used to transmit electrical signals and power between the robot body 5 and the auxiliary bodies 1.

[0060] In a preferred embodiment of the present invention, the cleaning brush assembly 3 includes two sets of side brushes and one set of central roller brushes. The two sets of side brushes and one set of central roller brushes are respectively installed on the bottom inner side of the robot body 5 by drive motors, and are used to adsorb dust, hair and debris on the ground, and complete the dust collection function through the suction system inside the robot body 5.

[0061] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art can still adjust the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Therefore, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A split-type collaborative intelligent cleaning robot, characterized in that: It includes an auxiliary body (1), a telescopic and foldable robotic arm (2), a cleaning brush assembly (3), an integrated environmental sensing module (4), a robot body (5), a cleaning water tank (6), a swarm of releaseable micro-drones (7), a rotating connector (8), and a telescopic continuous vacuum arm (9). The robot body (5) is interconnected via a bus to form a hierarchical control system, including a main control unit, an actuator control module, a drone management module, and a navigation and communication module. The main control unit is connected to the actuator control module, the drone management module, and the navigation and communication module. The actuator control module is electrically connected to the retractable foldable robotic arm (2) and the retractable continuous vacuuming arm (9). The drone management module is wirelessly connected to the releasable micro drone swarm (7). The navigation and communication module is electrically connected to the integrated environmental perception module (4). The front end of the robot body (5) is equipped with an integrated environmental perception module (4) for navigation mapping, boundary recognition and obstacle perception. A magnetic release platform is provided on one side of the top of the robot body (5) for parking and recharging of the micro-drone swarm (7). A cleaning water tank (6) is provided on the other side of the top of the robot body (5) for storing clean water and collecting sewage. Several cleaning brush assemblies (3) are provided at the bottom of the robot body (5). A suction system is provided inside the robot body (5). The suction system is fluidly connected to several cleaning brush assemblies (3) through a negative pressure channel. An auxiliary body (1) is provided on each side of the robot body (5). The auxiliary bodies (1) on both sides of the robot body (5) are hinged to the robot body (5) through rotating connectors (8). Each auxiliary body (1) is a hollow box structure. A telescopic folding mechanical arm (2) is installed inside the auxiliary body (1) on one side of the robot body (5), and a telescopic continuous vacuuming arm (9) is installed inside the auxiliary body (1) on the other side of the robot body (5). The robot body (5) is equipped with a main battery pack for powering the entire system. The main battery pack powers the telescopic folding mechanical arm (2) and the telescopic continuous vacuuming arm (9) in the auxiliary bodies (1) on both sides through internal wiring and multi-core electrical interfaces built into the rotating connectors (8).

2. The split-type collaborative intelligent cleaning robot according to claim 1, characterized in that: The retractable and foldable robotic arm (2) includes a cleaning arm guide rail slider (2-1), a drive motor (2-2), a first rotating shaft (2-3), a first arm section (2-4), a mechanical claw and claw disk (2-5), a second arm section (2-6), and an end torque sensor (2-7); The cleaning arm guide rail slider (2-1) is the movable base of the telescopic and foldable robotic arm (2). Its bottom is fixed to the internal guide rail of the auxiliary body (1) on one side of the robot body (5) by screws, and it can slide back and forth along the internal guide rail. The cleaning arm guide rail slider (2-1) is equipped with a linear drive mechanism to drive the cleaning arm guide rail slider (2-1) to move longitudinally. The drive motor (2-2) is fixedly installed on the top of the cleaning arm guide rail slider (2-1), and its output shaft is connected to the first rotating shaft (2-3) through a coupling. The first rotating shaft (2-3) is supported by bearings and installed in the top support of the slider. The first arm section (2-4) is near The end is rigidly connected to the first rotating shaft (2-3), and its distal end is connected to the proximal end of the second arm (2-6) through a hinge structure; the hinge structure is provided with an embedded rotating shaft, which is driven by a micro servo motor installed inside the distal end of the first arm (2-4) to control the relative rotation between the two segments. The distal end of the second arm (2-6) is fixedly installed with a mechanical claw and a claw disk (2-5) through a flange connection. The mechanical claw and claw disk (2-5) is a three-finger clamping structure, which is driven by a micro motor integrated inside to realize the opening and closing action. The end torque sensor (2-7) is set between the mechanical claw and the claw disk (2-5).

3. The split-type collaborative intelligent cleaning robot according to claim 2, characterized in that: The retractable continuous vacuum arm (9) includes a vacuum cleaner head (9-1), a front-end attitude / depth sensor (9-2), a vacuum ventilation hose (9-3), a flexible arm drive rope (9-4), a flexible vacuum execution arm (9-5), and a negative pressure vacuum main unit structure (9-6); The negative pressure vacuum cleaner main unit structure (9-6) is fixedly installed inside the robot body (5). The negative pressure vacuum cleaner main unit structure (9-6) is used to provide negative pressure suction and integrates a flexible arm control module. The negative pressure vacuum cleaner main unit structure (9-6) is equipped with a high-speed motor, a vacuum fan assembly and a multi-axis electric reel mechanism, forming a composite module of suction source and motion control center. One end of the vacuum cleaner ventilation hose (9-3) is connected to the suction port of the negative pressure vacuum cleaner main unit structure (9-6), and the other end extends to the front end of the flexible vacuum cleaner actuator arm (9-5) and is sealed to the vacuum cleaner head (9-1). The flexible vacuum cleaner actuator arm (9-5) runs along the vacuum cleaner ventilation hose (9-3). The arm is covered on the outside and its structure is formed by flexible segment connection. The entire arm can achieve multi-degree-of-freedom bending in three-dimensional space. The flexible arm drive rope (9-4) consists of multiple pre-tensioned metal ropes, which are evenly distributed in the guide channel inside the flexible vacuuming actuator arm (9-5), run through the entire length of the arm, and finally lead out to the multi-axis electric reel mechanism in the negative pressure vacuuming host structure (9-6). The vacuum cleaner head (9-1) is fixedly connected to the front end of the flexible vacuuming actuator arm (9-5). Its interior is hollow and connected to the vacuuming ventilation hose (9-3). The front surface of the flexible vacuuming actuator arm (9-5) is provided with a front end attitude / depth sensor (9-2).

4. The split-type collaborative intelligent cleaning robot according to claim 3, characterized in that: The releasable micro-drone swarm (7) includes several releasable micro-drones, each of which includes a control processor (7-1), a central body shell (7-2), a pitch servo motor (7-3), folding rotor blades (7-4), a main rotor motor compartment (7-5), a cleaning vibration compartment (7-6), and a vibration cleaning assembly (7-7). The central housing (7-2) serves as the structural support for the entire machine, featuring a segmented upper and lower structure. A control processor (7-1) is embedded within the upper part of the central housing (7-2). The control processor (7-1) integrates a flight control module, an attitude calculation module, a power management unit, and a wireless communication module. It is used to control flight attitude, execute operational commands, and interact with the main control unit of the robot body (5). Three pitch servos (7-3) are equidistantly arranged on the side of the central housing (7-2). Each pitch servo (7-3)... Foldable rotor blades (7-4) are connected to each other via a shaft connection structure. The main rotor motor compartment (7-5) is an independent structural unit and is rigidly connected to the bottom surface of the central body shell (7-2) by screws. The main rotor motor compartment (7-5) houses a high-speed brushless main rotor motor. A cleaning vibration chamber (7-6) is fixedly connected below the main rotor motor compartment (7-5). The cleaning vibration chamber (7-6) integrates a miniature high-frequency vibration motor. The vibration cleaning component (7-7) is fixed to the bottom plate of the cleaning vibration chamber (7-6).

5. A split-type collaborative intelligent cleaning robot according to claim 4, characterized in that: The releasable micro-drone swarm (7) can selectively release a single micro-drone for individual operation based on the complexity of the task and the work requirements, or release multiple micro-drones to form a swarm for collaborative operation based on the collaborative requirements of the task, so as to achieve more efficient cleaning coverage.

6. A split-type collaborative intelligent cleaning robot according to claim 5, characterized in that: The integrated environmental perception module (4) includes a binocular depth camera, a TOF ranging sensor and an infrared wall-following sensor. The binocular depth camera is fixedly installed at the center of the front side of the robot body (5). The TOF ranging sensor is arranged at the bottom front edge of the robot body (5) and near the ground on both sides of the auxiliary bodies (1). The infrared wall-following sensor is symmetrically arranged on the left and right sides of the robot body (5).

7. A split-type collaborative intelligent cleaning robot according to claim 6, characterized in that: The rotating connector (8) is a multi-degree-of-freedom hinge structure. The rotating connector (8) has a built-in multi-core electrical interface. One end of the rotating connector (8) is provided with a socket and is electrically connected to the robot body (5). The other end of the rotating connector (8) is provided with a pin and is electrically connected to the auxiliary bodies (1) on both sides of the robot body (5). The rotating connector (8) is used to transmit electrical signals and power between the robot body (5) and the auxiliary bodies (1).

8. A split-type collaborative intelligent cleaning robot according to claim 7, characterized in that: The cleaning brush assembly (3) includes two sets of side brushes and one set of central roller brushes. The two sets of side brushes and one set of central roller brushes are respectively installed on the bottom inner side of the robot body (5) by drive motors.

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