Self-adaptive sectional type automatic obstacle avoidance stair cleaning robot

Abstract

In order to solve the problems of difficulty in stair cleaning, low efficiency and the like, the utility model provides a self-adaptive sectional type automatic obstacle avoidance stair cleaning robot which comprises a cleaning module, a floor cleaning module, a drying module and a lifting device, comprising a first lifting device connected between the sweeping module and the floor cleaning module and a second lifting device connected between the floor cleaning module and the drying module. The first laser radar and the camera are arranged at the front end of the sweeping module; the second laser radars are arranged on the two outer sides of the floor cleaning module; the third laser radar is arranged at the lower end of the drying module; the first advancing module and the second advancing module are used for respectively controlling the cleaning module and the drying module to move back and forth; the transverse driving module is used for driving the floor cleaning module to move horizontally and transversely, the whole structure is of a sectional structure, all the modules can conduct sweeping, floor cleaning and drying operation synchronously, and the stair cleaning efficiency is effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of stair cleaning devices, in particular to an adaptive segmented automatic obstacle-avoiding stair cleaning robot. Background Art

[0002] With the acceleration of urbanization, stairs have become a common transportation facility in buildings. However, traditional integrated cleaning robots are difficult to adapt to the step shape of stairs, making cleaning operations difficult and inefficient in stair areas.

[0003] Most robots on the market are designed with an integrated structure, which cannot adapt to the stepped shape of stairs. They cannot adapt well to the cleaning of stairs in various operations and will leave dead corners. They cannot adapt to the width of stairs.

[0004] Therefore, there is an urgent need for a cleaning robot that can adapt to different stair shapes and widths to improve cleaning efficiency and work flexibility. Utility Model Content

[0005] In order to solve the problems of difficult and low efficiency in stair cleaning, the utility model provides an adaptive segmented automatic obstacle avoidance stair cleaning robot, and the technical solution adopted is as follows:

[0006] An adaptive segmented automatic obstacle avoidance stair cleaning robot, characterized in that it comprises a cleaning module, a floor cleaning module, and a drying module which are sequentially connected from front to back along the direction of the staircase, and:

[0007] The lifting device comprises a first lifting device and a second lifting device, wherein the first lifting device is connected between the cleaning module and the floor cleaning module to drive the cleaning module to move up and down along the floor cleaning module, and the second lifting device is connected between the floor cleaning module and the drying module to drive the floor cleaning module to move up and down along the drying module;

[0008] A first laser radar is arranged at the front end of the cleaning module, and a camera is also connected to the front end of the cleaning module;

[0009] The second laser radar is arranged on both sides of the cleaning module to detect the lateral obstacle distance of the stairs;

[0010] A third laser radar is arranged at the lower end of the drying module, and is used to detect the height between the drying module and the step surface;

[0011] The cleaning module and the drying module are respectively provided with a first forward module and a second forward module at the lower ends thereof, and the first forward module and the second forward module are used to control the cleaning module and the drying module to move forward and backward respectively;

[0012] A lateral driving module is arranged at the lower end of the floor cleaning module, which is used to drive the floor cleaning module to move horizontally.

[0013] Furthermore, the first lifting device and the second lifting device are both composed of a lifting motor, a screw and a nut. The length of the screw is distributed in the vertical direction and the upper and lower ends are rotatably connected to the floor cleaning module through bearings. The nut is threadedly connected to the screw and fixedly connected to the cleaning module or the drying module.

[0014] Furthermore, a guide rod is fixedly connected between the upper and lower ends of the floor cleaning module, the length of the guide rod is distributed in the vertical direction, the nut is fixedly connected with a slider, the slider is connected to the guide rod for up and down sliding, and the slider is provided with a mounting hole for fixed connection with the cleaning module or the drying module.

[0015] Furthermore, the cleaning module includes a cleaning bracket body, a vacuum cleaner, and a dust collection box. The vacuum cleaner is fixed inside the cleaning bracket body and the dust removal head of the vacuum cleaner is located at the lower end of the cleaning bracket body. The dust collection box is fixedly connected to the inside of the cleaning bracket body and the inside of the dust collection box is connected to the dust conveying pipe of the vacuum cleaner.

[0016] Furthermore, a searchlight is provided at the front end of the cleaning bracket body.

[0017] Furthermore, the floor cleaning module includes a floor cleaning bracket body, a water tank, a water spray pipe, a nozzle and a floor cleaning brush. The water tank is fixedly connected to the inside of the floor cleaning bracket body, the nozzle is fixedly connected to the bottom of the grounding bracket body and is connected to the water tank through the water spray pipe, and a water pump is also provided between the water spray pipe and the water tank. The floor cleaning brush is rotatably connected to the bottom of the grounding bracket body through a rotating shaft, and multiple groups of floor cleaning brushes are provided and located around the nozzle, and the rotating shaft is transmission-connected to a floor cleaning motor.

[0018] Furthermore, the drying module includes a drying bracket body and a dryer. The dryer is fixedly connected to the lower end of the drying bracket body and the air outlet is distributed downward.

[0019] Furthermore, a controller is included, wherein the first laser radar, the second laser radar, the third laser radar and the camera are all connected to the signal input end of the controller, and the lateral drive module, the first forward module, the second forward module and the lifting device are all connected to the signal output end of the controller.

[0020] Furthermore, the first forward module and the second forward module are both composed of a forward motor and a universal wheel drivingly connected to an output shaft of the forward motor.

[0021] Furthermore, the lateral drive module is composed of a Mecanum wheel and a drive motor. The Mecanum wheels are provided in two groups and are located on the left and right sides below the floor cleaning module. The two groups of Mecanum wheels are respectively connected to the drive motor.

[0022] The beneficial effects of the utility model are as follows: the overall device adopts a segmented structure, and the cleaning module and the floor cleaning module, as well as the floor cleaning module and the drying module can be individually adjusted in height through a lifting device, so that cleaning, floor cleaning and drying operations can be performed on different step surfaces at the same time, effectively improving work efficiency; the lifting device adopts a lead screw and nut device, and the nut is connected with a guide mechanism, which improves the stability of lifting between the modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of the utility model

[0024] Figure 2 This is a schematic diagram of the bottom structure of the utility model

[0025] Figure 3 Schematic diagram of the cleaning module structure

[0026] Figure 4 Schematic diagram of the clean floor module structure

[0027] Figure 5 Schematic diagram of the drying module structure

[0028] Among them, 1-cleaning module, 101-cleaning bracket body, 102-first universal wheel, 103-camera, 104-first laser radar, 105-searchlight, 106-vacuum cleaner, 107-dust box, 108-controller;

[0029] 2-cleaning module, 201-cleaning bracket body, 202-Mecanum wheel, 203-driving motor, 204-water tank, 205-water pipe, 206-sprinkler, 207-cleaning brush, 208-connecting block, 209-screw, 210-nut, 211-slider, 212-guide rod, 213-second laser radar;

[0030] 3-drying module, 301 drying bracket body, 302-second universal wheel, 303-drying machine, 304-third laser radar. DETAILED DESCRIPTION

[0031] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0032] In the description of the utility model, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the viewing direction or position relationship, and are only for the convenience of describing the utility model, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0033] This embodiment provides an adaptive segmented automatic obstacle avoidance stair cleaning robot. Figure 1-Figure 5 As shown, it includes a cleaning module 1, a floor cleaning module 2 and a drying module 3 which are sequentially connected along the forward direction of the stairs. A first forward module and a second forward module are respectively arranged below the cleaning module 1 and the drying module 3. The first forward module and the second forward module can independently drive the robot to move forward and backward as a whole. A lateral driving module is arranged below the floor cleaning module 2 for driving the robot to move horizontally along the left and right directions as a whole. A first lifting device and a second lifting device are respectively arranged between the floor cleaning module 2 and the cleaning module 1 and the drying module 3. Driven by the first lifting device, the cleaning module 1 can clean the higher step, the floor cleaning module 2 can mop and disinfect the lower step after cleaning, and the drying module 3 can dry the lower step after mopping and disinfection.

[0034] Specifically, Figure 1-Figure 3 As shown, the cleaning module 1 is composed of a cleaning bracket body 101, a camera 103, a first laser radar 104 and a vacuum cleaner 106. First universal wheels 102 are arranged on both sides of the lower end of the cleaning bracket body 101. The universal wheels 102 are transmission-connected to a first forward motor (not shown in the figure). The first forward motor and the first universal wheels 102 constitute a first forward module. The first universal wheels 102 can be driven by the first forward motor to move in the front-rear direction, thereby driving the robot to move forward and backward as a whole; the camera 103 is fixed above the cleaning bracket body 101, and the outer side of the camera 103 is wrapped with a transparent shell, and A searchlight 105 is also provided on the front side surface of the cleaning bracket body 101, and the first laser radar 104 is fixed at the lower position of the front end surface of the cleaning bracket body 101. The camera 103 and the first laser radar 104 cooperate to take real-time photos and model the front terrain to obtain the terrain status of the stairs; a vacuum cleaner 106 and a dust box 17 are provided inside the cleaning bracket body 101, and the dust head of the vacuum cleaner 106 extends to the bottom end of the cleaning bracket body 101 and the opening is distributed downward, and the dust box 17 is located inside the cleaning bracket body 101, and the dust box 17 and the vacuum cleaner 106 are connected by a conveying pipe.

[0035] Clean floor module 2 Figure 1 , Figure 2 as well as Figure 4As shown, it consists of a floor cleaning bracket body 201, a water storage tank 204, a nozzle 206, a floor cleaning brush 207 and two sets of lifting devices arranged on the front and rear sides of the floor cleaning bracket body 201. The left and right sides of the bottom of the floor cleaning bracket body 201 are connected to a set of Mecanum wheels 202 through a drive motor 203. When horizontal movement in the left and right directions is required, the two sets of drive motors 203 turn in opposite directions, thereby realizing the horizontal movement of the floor cleaning module 2 and the overall structure of the robot. When the two sets of drive motors 203 turn in the same direction, the two sets of Mecanum wheels 202 turn in the same direction, and forward or backward movement can be achieved; the water storage tank 204 is fixedly connected to the inside of the floor cleaning bracket body 201, and the water storage tank 20 A nozzle 206 is connected via a water pipe 205. The nozzle 206 is located at the lower end surface of the floor cleaning bracket body 201 and opens downward. A water pump is also provided on the water pipe 205 to pressurize the water in the water storage tank 204 and then spray it out through the nozzle 206. In addition, four groups of floor cleaning brushes 208 are also provided on the lower end surface of the floor cleaning bracket body 201 and are located around the nozzle 206. The floor cleaning brushes 208 are distributed in the vertical direction and driven to rotate by the floor cleaning motor so as to clean the step surface. In addition, a group of second laser radars 213 are respectively provided on the left and right sides of the floor cleaning bracket body 201. The second laser radars 213 can scan and calculate the horizontal length of the step and detect obstacles.

[0036] It should be noted that Figure 4 It is a schematic diagram of the internal structure of the floor cleaning bracket body 201 with part of it removed, so as to reflect the internal structure distribution state of the floor cleaning module 2.

[0037] The lifting device includes a connecting block 208, a lead screw 209, and a nut 210. The lead screw 209 is distributed in the vertical direction and the upper and lower ends are rotatably connected to the upper and lower ends of the grounding bracket body 101 through a group of connecting blocks 208 respectively. The nut 210 is threadedly connected to the lead screw 209, and two groups of guide rods 212 respectively located on the left and right sides of the lead screw 209 are fixedly connected between the upper and lower groups of connecting blocks 208. A slider 211 is slidably connected to the guide rod 212. The slider 211 is fixedly connected to the nut 210, and a through hole for the lead screw 209 to pass through is provided on the slider 211. Moreover, a lifting motor (not shown in the figure) is also connected to one end of the lead screw 209. The lifting motor is transmission-connected to the lead screw 209, and the lead screw 209 is driven to rotate by the lifting motor, thereby driving the nut 210 and the slider 211 to move up and down, thereby driving the floor cleaning module 2 and the cleaning module 1, and the floor cleaning module 2 and the drying module 3 to move relative to each other in the vertical direction.

[0038] Drying module 3 Figure 1 , Figure 2 as well as Figure 5As shown, it is composed of a drying bracket main body 301, a dryer 303 and a third laser radar 304. The left and right sides of the lower end of the drying bracket main body 301 are connected with second universal wheels 302, and the second universal wheels 302 are transmission-connected to the second forward motor. The second universal wheels 302 are driven by the second forward motor to rotate, so as to realize the function of driving the overall structure of the robot to move forward and backward through the second forward module; the dryer 303 is arranged as a whole inside the drying bracket main body 301 and the air outlet of the dryer 303 extends out from the bottom of the drying bracket main body 301, which is used to blow and dry the cleaned step surface. The third laser radar 304 is fixedly connected to the lower end of the drying bracket main body 301, and is used to detect the height between the lower end surface of the drying module 3 and the step surface.

[0039] In addition, a controller 108 is also included. The controller 108 is arranged inside the cleaning bracket body 101. The camera 103, the first laser radar 104, the second laser radar 213 and the third laser radar 304 are all connected to the signal input end of the controller, and the vacuum cleaner 106, the drive motor 203, the forward motor, the water pump on the water pipe 205, the floor cleaning motor for driving the floor cleaning brush 207 to rotate, the lifting motor for driving the screw rod 209 to rotate and the dryer 303 are all connected to the signal output end of the controller 108.

[0040] Specifically, when the device is used to clean the stairs, the working principle and steps are as follows:

[0041] S1, initial state, data collection content:

[0042] After the robot is started, the camera module 103 and the first laser radar 104 start working to collect data about the surrounding environment, including information such as the width n, height h, number of steps, and the position and shape of possible obstacles of the stairs. At the same time, each drive motor and sensor performs self-check to ensure the normal operation of the equipment;

[0043] S2. The first lifting device drives the cleaning module 1 to move upward. The stair height h and the forward distance n collected in step S1 are:

[0044] The lifting motor of the first lifting device is started, driving the cleaning module 1 to rise h+5 cm, so that it is close to the previous step. Then, driven by the first forward motor, the robot moves forward n-5 cm, close to the previous step.

[0045] S3, the driving motor drives the module to move left and right, and the second laser radar 213 on both sides of the cleaning module 2 is used to avoid obstacles:

[0046] The driving motor of the lateral driving module moves to drive the robot to move left and right to adjust its position. The second laser radars 213 on both sides of the cleaning module 2 monitor the obstacles on the left and right sides in real time. When it is detected that the obstacle distance is less than the safe distance, the controller 108 issues a command to adjust the position of the robot to avoid collision.

[0047] S4, the first lifting device continues to drive the cleaning module 1 to rise by n centimeters, and the other components follow the adjustment:

[0048] The first lifting device moves again, and the cleaning module 1 continues to rise by n centimeters, so that it completely reaches the upper step. At this time, the second lifting device also starts to work, and adjusts the positions of the floor cleaning module 2 and the drying module 3, so that the robot as a whole remains stable;

[0049] S5, the floor cleaning module 2 is started, the sprinkler head 206 starts to spray water, and the floor cleaning brush 207 rotates to clean:

[0050] The sprinkler head 206 in the floor cleaning module 2 draws water from the water tank 204 through the water pipe 205 and sprays it evenly on the ground. At the same time, the four floor cleaning brushes 207 start to rotate to clean the steps.

[0051] S6, the drying module 3 is started, and the dryer 303 blows out hot air to dry the floor:

[0052] The drying module 3 starts to work, and the dryer 303 generates hot air, which is blown to the ground through the air outlet to accelerate the drying of the ground;

[0053] S7, the second lifting device drives the drying module 3 to rise and move to the upper step:

[0054] The second lifting device is activated to lift the drying module 3 to a suitable height, and under the action of the first forward module, the drying module 3 is driven to move to the upper step;

[0055] S8. Repeat the above steps to complete the cleaning of the entire staircase:

[0056] The robot climbs up the stairs in sequence according to the above steps, sweeping, cleaning and drying each step until the cleaning task of the entire staircase is completed;

[0057] S9. Cleaning completed, waiting for further instructions.

[0058] When the device is used to clean the stairs, the modules move up and down through the lifting device, and through the setting of the first forward module, the second forward module and the horizontal driving module, the stair steps can be swept, cleaned and dried in turn, and when the three modules are all located above the stair step surface, different steps can be swept, cleaned and dried at the same time, thereby effectively improving the cleaning efficiency of the stairs.

[0059] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principle of the present invention, and these improvements should also be regarded as the protection scope of the present invention.

Claims

1. An adaptive segmented automatic obstacle avoidance stair cleaning robot, characterized in that: It includes a cleaning module, a floor cleaning module, and a drying module which are connected in sequence from front to back along the direction of the stairs, and: The lifting device comprises a first lifting device and a second lifting device, wherein the first lifting device is connected between the cleaning module and the floor cleaning module to drive the cleaning module to move up and down along the floor cleaning module, and the second lifting device is connected between the floor cleaning module and the drying module to drive the floor cleaning module to move up and down along the drying module; A first laser radar is arranged at the front end of the cleaning module, and a camera is also connected to the front end of the cleaning module; The second laser radar is arranged on both sides of the cleaning module to detect the lateral obstacle distance of the stairs; A third laser radar is arranged at the lower end of the drying module, and is used to detect the height between the drying module and the step surface; The cleaning module and the drying module are respectively provided with a first forward module and a second forward module at the lower ends thereof, and the first forward module and the second forward module are used to control the cleaning module and the drying module to move forward and backward respectively; A lateral driving module is arranged at the lower end of the floor cleaning module, which is used to drive the floor cleaning module to move horizontally.

2. The adaptive segmented automatic obstacle avoidance stair cleaning robot according to claim 1, characterized in that: The first lifting device and the second lifting device are both composed of a lifting motor, a screw and a nut. The length of the screw is distributed in the vertical direction and the upper and lower ends are rotatably connected to the floor cleaning module through bearings. The nut is threadedly connected to the screw and fixedly connected to the cleaning module or the drying module.

3. The adaptive segmented automatic obstacle avoidance stair cleaning robot according to claim 2, characterized in that: A guide rod is fixedly connected between the upper and lower ends of the floor cleaning module, the length of the guide rod is distributed in the vertical direction, the nut is fixedly connected with a slider, the slider is connected to the guide rod for up and down sliding, and the slider is provided with a mounting hole for fixed connection with the cleaning module or the drying module.

4. The adaptive segmented automatic obstacle avoidance stair cleaning robot according to claim 1, characterized in that: The cleaning module includes a cleaning bracket body, a vacuum cleaner, and a dust collection box. The vacuum cleaner is fixed inside the cleaning bracket body and the dust removal head of the vacuum cleaner is located at the lower end of the cleaning bracket body. The dust collection box is fixedly connected to the inside of the cleaning bracket body and the inside of the dust collection box is connected to the dust conveying pipe of the vacuum cleaner.

5. The adaptive segmented automatic obstacle avoidance stair cleaning robot according to claim 4, characterized in that: A searchlight is also arranged at the front end of the cleaning bracket body.

6. The adaptive segmented automatic obstacle avoidance stair cleaning robot according to claim 1, characterized in that: The floor cleaning module includes a floor cleaning bracket body, a water tank, a water spray pipe, a nozzle and a floor cleaning brush. The water tank is fixedly connected to the inside of the floor cleaning bracket body. The nozzle is fixedly connected to the bottom of the grounding bracket body and is connected to the water tank through the water spray pipe. A water pump is also provided between the water spray pipe and the water tank. The floor cleaning brush is rotatably connected to the bottom of the grounding bracket body through a rotating shaft. There are multiple groups of floor cleaning brushes and they are located around the nozzle. The rotating shaft is transmission-connected to a floor cleaning motor.

7. The adaptive segmented automatic obstacle avoidance stair cleaning robot according to claim 1, characterized in that: The drying module comprises a drying support body and a drying machine. The drying machine is fixedly connected to the lower end of the drying support body and the air outlet is distributed downward.

8. The adaptive segmented automatic obstacle avoidance stair cleaning robot according to claim 1, characterized in that: It also includes a controller, wherein the first laser radar, the second laser radar, the third laser radar and the camera are all connected to the signal input end of the controller, and the lateral drive module, the first forward module, the second forward module and the lifting device are all connected to the signal output end of the controller.

9. The adaptive segmented automatic obstacle avoidance stair cleaning robot according to claim 1, characterized in that: The first forward module and the second forward module are both composed of a forward motor and a universal wheel drivingly connected to the output shaft of the forward motor.

10. The adaptive segmented automatic obstacle avoidance stair cleaning robot according to claim 1, characterized in that: The lateral drive module is composed of a Mecanum wheel and a drive motor. The Mecanum wheels are provided in two groups and are located on the left and right sides below the floor cleaning module. The two groups of Mecanum wheels are respectively connected to the drive motor.

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