Unmanned aerial vehicle with cleaning structure

Abstract

The utility model relates to an anti-blocking unmanned aerial vehicle with a cleaning structure, in particular to an unmanned aerial vehicle with a cleaning structure, which comprises a main body frame, a wall cleaning mechanism, a ceiling cleaning mechanism, a negative pressure module and a driving module. A traditional sweeper wheel can only roll and move on the ground. However, according to the robot, propellers are embedded between common wheels, and multi-directional rotation of the flying wheels is achieved through the flying wheel switching mechanism. By means of the design, the robot can be freely switched among hovering, moving in the air, rotating in the air and ground postures; a plurality of functions are integrated on the flying wheel, so that the space is saved, and the adaptability of the robot is enhanced; and meanwhile, an eccentric gear and holder combined control device is designed, so that wall corners, lampshades, ceilings and the like in narrow spaces can be cleaned at a large angle.

Description

Technical Field

[0001] The utility model relates to an unmanned aerial vehicle with a cleaning structure, in particular to an anti-blocking unmanned aerial vehicle with a cleaning structure. Background Art

[0002] The current cleaning technologies of cleaning robots mainly include vacuuming, sweeping, mopping, etc. Among them, some high-end cleaning robots are also equipped with special detergent spraying devices to improve the cleaning effect. In addition, some cleaning robots can also automatically identify different floor materials and stain levels, so as to select the most suitable cleaning method and strength.

[0003] The size and shape of current cleaning robots may be limited by the furniture and equipment in the home. If the size of the cleaning robot is too large, it may not be able to enter certain small spaces for cleaning. In addition, the cleaning robot may be blocked by other objects in the home and cannot reach the areas that need to be cleaned, making it difficult to clean corners, lampshades, ceilings, etc.

[0004] Manual ceiling cleaning requires the use of equipment such as ladders and even ropes to enable cleaners to reach the required cleaning height for cleaning work. When using ladders, due to the high center of gravity, cleaners can easily fall from the ladders in safety accidents. In addition, cleaners need to carry a large number of cleaning tools when climbing ladders. There is also the possibility of cleaning tools falling and injuring people at high altitudes. Drone-based cleaning devices can completely avoid such accidents and greatly reduce the probability of safety accidents. Utility Model Content

[0005] In order to solve the problems raised in the above background technology, the utility model provides a drone with a cleaning structure.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an unmanned aerial vehicle with a cleaning structure, comprising a main frame, a wall cleaning mechanism, a ceiling cleaning mechanism, a negative pressure module, and a driving module, wherein the wall cleaning mechanisms are arranged on the front and back of the main frame, the ceiling cleaning mechanism is arranged on the upper surface of the main frame, the negative pressure module is arranged on the right side of the upper surface of the main frame, four connecting frames are symmetrically bolted to the outer surface of the main frame, the lower surface of the connecting frame is connected to the upper surface of the rotating wheel through a three-axis level, and the driving module is arranged inside the rotating wheel.

[0007] Preferably, the front side of the wall cleaning mechanism is connected to the dust scraper via a universal joint, and a dust suction pipe is installed on the back side of the main frame.

[0008] Preferably, the ceiling cleaning mechanism comprises two side brushes installed on the left side of the upper surface of the main frame, and a center brush is installed at the center of the upper surface of the main frame.

[0009] Preferably, the driving module includes a retaining frame fixedly connected to the inside of the driving wheel, the lower surface of the retaining frame is installed with a model aircraft motor, and the output shaft of the model aircraft motor is fixedly connected to the upper surface of the propeller.

[0010] Preferably, the negative pressure module includes a dust box installed on the right side of the upper surface of the main frame, a motor is installed inside the dust box, the output shaft of the motor is fixedly connected to the lower surface of the blade, and a plurality of exhaust ports are opened on the left side of the inner wall of the dust box.

[0011] Preferably, a monitoring and security module is installed on the lower surface of the main frame.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] The utility model adopts the integrated land and air flying wheel as an important component for the movement of the robot. The traditional sweeper wheels can only roll on the ground; however, our robot has propellers embedded between ordinary wheels, and the flying wheel conversion mechanism realizes the multi-directional rotation of the flying wheel; this design enables the robot to freely switch between hovering in the air, moving in the air, rotating in the air and ground posture; integrating multiple functions on the flying wheel not only saves space, but also enhances the adaptability of the robot; at the same time, an eccentric gear and a pan-tilt joint control device are designed, which can realize the cleaning of narrow space corners, lampshades and ceilings at a larger angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0015] In the attached picture:

[0016] Figure 1 It is a structural schematic diagram of the utility model;

[0017] Figure 2 It is a schematic diagram of the structure of the utility model from a top view;

[0018] Figure 3 It is a schematic diagram of the cross-sectional structure of the utility model in the front view;

[0019] Figure 4 This is a schematic diagram of the structure of the monitoring and security module in the utility model;

[0020] Figure 5This is a schematic diagram of the internal structure of the wall cleaning mechanism in the utility model;

[0021] Figure 6 It is a schematic diagram of the internal structure of the main frame of the utility model;

[0022] In the figure: 1. Main frame; 2. Side brush; 3. Center brush; 4. Blade; 5. Connecting frame; 6. Servo; 7. Retaining frame; 8. Rotating wheel; 9. Model aircraft motor; 10. Propeller; 11. Dust scraper; 12. Monitoring and security module; 13. Exhaust port; 14. Dust suction pipe; 15. Universal joint; 16. Motor; 17. Dust suction box. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] Example

[0025] See also Figure 1-6 The utility model provides the following technical solutions: a UAV with a cleaning structure, comprising a main frame 1, a wall cleaning mechanism, a ceiling cleaning mechanism, a negative pressure module, and a driving module. The front and back sides of the main frame 1 are provided with wall cleaning mechanisms, the upper surface of the main frame 1 is provided with a ceiling cleaning mechanism, the right side of the upper surface of the main frame 1 is provided with a negative pressure module, the outer surface of the main frame 1 is symmetrically bolted with four connecting frames 5, the lower surface of the connecting frame 5 is connected to the upper surface of a rotating wheel 8 through a three-axis level, and the driving module is provided inside the rotating wheel 8.

[0026] Specifically, the front of the wall cleaning mechanism is provided with a universal joint 15 and a dust scraper 11, and the back of the main frame 1 is provided with a dust suction pipe 14;

[0027] The dust pick 11 can increase the suction power of the vacuum cleaner, so that it can better absorb dust and stains on the wall, and clean the wall and floor dust in a large range. The eccentric gear and the pan-tilt joint control device control the rotation angle and telescopic action of the vacuum tube 14. The module can also replace the plug-in accessories to cope with different working environments.

[0028] For example, a flat suction head is used to clean narrow areas; round brushes and oval brushes are mainly used to clean irregular surfaces or soft materials such as curtains and lampshades.

[0029] Specifically, the ceiling cleaning mechanism includes two side brushes 2 installed on the upper surface of the main frame 1, and a center brush 3 is installed at the center of the upper surface of the main frame 1;

[0030] The ceiling cleaning mechanism is composed of two side brushes 2, a central roller brush and a dust recognition device. The dust recognition system has a green-eye dirt recognition function, which can illuminate liquids, stains, solid particles, dust, etc. through a medium-band green laser to form different reflection spots, which are then captured by a high-precision camera. Combined with the AI ​​deep learning algorithm, it can quickly identify more than 50 types of dirt and common objects, and then perform targeted cleaning. After identifying the dust, the two side brushes 2 will sweep the dust and dirt into the roller brush working area for cleaning.

[0031] Specifically, the driving module includes a holder 7 fixedly connected to the inner wall of the driving wheel, the lower surface of the holder 7 is installed with a model aircraft motor 9, and the output shaft of the model aircraft motor 9 is fixedly connected to the upper surface of the propeller 10;

[0032] The driving module is composed of four driving wheels that can change postures. Each driving wheel is composed of a servo 6, a 3508 model aircraft motor 9, a retaining frame 7, a propeller 10, a rotating wheel 8, a connecting frame 5 and a three-axis level. The driving wheel can change the steering angles of the two diagonal wheels by the servo 6 to achieve the switching of the four postures of hovering posture in the air, moving posture in the air, ground posture, and rotating posture in the air. During the change process, the three-axis gyroscope provides real-time feedback on the heading angle, pitch angle, and roll angle of the machine to prevent it from losing balance when it is in motion.

[0033] Specifically, the negative pressure module includes a dust box 17 installed on the right side of the upper surface of the main frame 1, a motor 16 is installed inside the dust box 17, the output shaft of the motor 16 is fixedly connected to the lower surface of the blade 4, and a plurality of exhaust ports 13 are opened on the left side of the inner wall of the dust box 17;

[0034] The negative pressure module is composed of a motor 16, blades 4, a dust box 17, and an exhaust port 13; it is mainly achieved through negative pressure. When rotating at high speed, a negative pressure area is formed at the mouth of the vacuum cleaner, so that dust is sucked in under the action of atmospheric pressure, and external dust is sucked into the dust box 17 through each dust port, and the air is purified through the air filter of the exhaust port 13.

[0035] Specifically, a monitoring and security module 12 is installed on the lower surface of the main frame 1;

[0036] The monitoring security module 12 and the laser radar perform three-dimensional modeling of the surrounding environment to find out the walls and corners that need to be cleaned. This function can help the robot better calculate the flight route and flight posture, measure the distance between the fuselage and the wall, and switch different cleaning modules between wall cleaning and corner and decoration cleaning.

[0037] The working principle and use process of this utility model:

[0038] The utility model, when in use:

[0039] The single-chip microcomputer can control the system clock circuit and reset circuit separately, and is not constrained by the overall system: its single-chip microcomputer can control the power module separately, decide whether to power the system, whether to choose to shut down certain modules, etc.; in addition, the single-chip microcomputer can also control the forward, backward, conversion and other functions of one or several of the four wheels of the cleaning robot by controlling the on and off of the internal circuit of the motor 16 drive module, so as to complete the forward, backward, turning, flying and other functions of the cleaning robot. The monitoring security module 12 and the laser radar perform three-dimensional modeling of the surrounding environment to find out the walls and corners that need to be cleaned. This function can help the robot better calculate the flight route and flight posture, measure the distance between the fuselage and the wall, and switch different cleaning modules between wall cleaning and corner and decoration cleaning. The ceiling cleaning mechanism is composed of two side brushes 2 and a central roller brush and a dust recognition device; the dust recognition system has a green eye dirt recognition function, which can irradiate liquids, stains, solid particles, dust, etc. through medium-band green lasers to form different reflection spots, which are then captured by a high-precision camera Captured, combined with AI deep learning algorithm, it can quickly identify more than 50 kinds of dirt and common objects, and then carry out targeted cleaning. After identifying the dust, the two side brushes 2 sweep the dust and dirt into the roller brush working area for cleaning. The drive module is composed of four drive wheels that can change their postures; each drive wheel is composed of a steering gear 6, a 3508 aircraft model motor 9, a holder 7, a propeller 10, a rotating wheel 8, a connecting frame 5 and a three-axis level; the drive wheel can change the steering angle of the two diagonal wheels by the steering gear 6 to achieve a hovering posture in the air, The four postures of mobile posture, ground posture and aerial rotation posture are switched. During the change process, the three-axis gyroscope provides real-time feedback of the machine's working heading angle, pitch angle and roll angle to prevent it from losing balance during movement. The negative pressure module is composed of a motor 16, a blade 4, a dust box 17 and an exhaust port 13; it is mainly achieved through negative pressure. When rotating at high speed, a negative pressure zone is formed at the mouth of the vacuum cleaner, thereby sucking in dust under the action of atmospheric pressure, and external dust is sucked into the dust box 17 through each dust port, and the air filter of the exhaust port 13 is used to purify the air.

[0040] The model of the motor 16 is HXZX-J23-6600w, and the model of the microcontroller is STM32F407.

[0041] The circuits, electronic components and modules involved are all prior art and can be fully implemented by those skilled in the art. Needless to say, the content protected by this utility model does not involve improvements to software and methods.

[0042] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A drone with a cleaning structure, comprising a main frame (1), a wall cleaning mechanism, a ceiling cleaning mechanism, a negative pressure module, and a driving module, characterized in that: The front and back sides of the main frame (1) are provided with wall cleaning mechanisms, the upper surface of the main frame (1) is provided with a ceiling cleaning mechanism, the right side of the upper surface of the main frame (1) is provided with a negative pressure module, the outer surface of the main frame (1) is symmetrically bolted with four connecting frames (5), the lower surface of the connecting frame (5) is connected to the upper surface of the rotating wheel (8) via a three-axis level, and the interior of the rotating wheel (8) is provided with a driving module.

2. The UAV with a cleaning structure according to claim 1, characterized in that: The front side of the wall cleaning mechanism is connected to the dust scraper (11) via a universal joint (15), and a dust suction pipe (14) is installed on the back side of the main frame (1).

3. The UAV with a cleaning structure according to claim 1, characterized in that: The ceiling cleaning mechanism comprises two side brushes (2) installed on the left side of the upper surface of the main frame (1), and a center brush (3) is installed at the center of the upper surface of the main frame (1).

4. The UAV with a cleaning structure according to claim 1, characterized in that: The driving module comprises a retaining frame (7) fixedly connected to the inside of the driving wheel, an aircraft model motor (9) is installed on the lower surface of the retaining frame (7), and the output shaft of the aircraft model motor (9) is fixedly connected to the upper surface of the propeller (10).

5. The UAV with a cleaning structure according to claim 1, characterized in that: The negative pressure module comprises a dust collection box (17) installed on the right side of the upper surface of the main frame (1), a motor (16) is installed inside the dust collection box (17), the output shaft of the motor (16) is fixedly connected to the lower surface of the blade (4), and a plurality of exhaust ports (13) are provided on the left side of the inner wall of the dust collection box (17).

6. The UAV with a cleaning structure according to claim 1, characterized in that: A monitoring and security module (12) is installed on the lower surface of the main frame (1).

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