Intelligent service robot

Abstract

The utility model discloses an intelligent service robot, which relates to the technical field of intelligent robots and comprises a traveling mechanism, a robot body, a mechanical arm component, a monitoring component, a control component and a remote control component. The machine body is arranged on the walking mechanism; the front end of the mechanical arm assembly is a working end; the mechanical arm assembly can move relative to the machine body so that the working end can drive the cleaning tool to move in the space. The monitoring assembly is used for acquiring space environment information; the control assembly is in communication connection with the walking mechanism and the mechanical arm assembly and can control the walking mechanism and the mechanical arm assembly to act, and the control assembly is further in communication connection with the monitoring assembly and can receive space environment information. And the remote control assembly is in communication connection with the monitoring assembly, can receive the space environment information, is also in communication connection with the control assembly, and can send a control instruction to the control assembly to control actions of the walking mechanism and the mechanical arm assembly. According to the intelligent service robot, cleaning service flexibility is improved, and cleaning dead corners are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent robots, in particular to an intelligent service robot. Background Art

[0002] In order to improve the convenience of life, intelligent service robots are now used to replace humans to do some work, such as cleaning robots. However, the robots currently on the market usually clean according to set paths through intelligence, and their flexibility is poor. In addition, existing cleaning robots are usually unable to clean some narrow gaps, and dead corners are easily left. Utility Model Content

[0003] The purpose of the utility model is to provide an intelligent service robot to solve the problems existing in the above-mentioned prior art, improve the flexibility of cleaning services, and reduce cleaning blind spots.

[0004] To achieve the above purpose, the utility model provides the following solutions:

[0005] The utility model provides an intelligent service robot, comprising a walking mechanism, a body, a mechanical arm assembly, a monitoring assembly, a control assembly and a remote control assembly; the body is arranged on the walking mechanism; the mechanical arm assembly is arranged on the body, and the front end of the mechanical arm assembly is a working end for connecting a cleaning tool; the mechanical arm assembly can move relative to the body so that the working end can drive the cleaning tool to move in space; the monitoring assembly is arranged on the body, and the monitoring assembly is used to obtain spatial environment information; the control assembly is arranged on the body, is communicatively connected with the walking mechanism and the mechanical arm assembly, and can control the movements of the walking mechanism and the mechanical arm assembly, is also communicatively connected with the monitoring assembly, and can receive the spatial environment information; the remote control assembly is communicatively connected with the monitoring assembly and can receive the spatial environment information, is also communicatively connected with the control assembly, and can issue control instructions to the control assembly to control the movements of the walking mechanism and the mechanical arm assembly.

[0006] Preferably, it also includes a cleaning component, which is arranged on the body and the robotic arm component, and is used to spray liquid, jet or absorb liquid to the position to be cleaned; the cleaning component is communicatively connected to the control component, and the remote control component can issue control instructions to the control component to control the action of the cleaning component.

[0007] Preferably, the cleaning component includes a cleaning head module arranged at the front end of the robotic arm component and a heating module, a clean water tank, a cleaning liquid tank, a sewage tank, a clean water pump, a cleaning liquid pump, an air pump and a sewage pump arranged in the body; the clean water pump is connected to the clean water tank and the cleaning head module and drives the clean water in the clean water tank to be sprayed out from the cleaning head module, the cleaning liquid pump is connected to the cleaning liquid tank and the cleaning head module and drives the cleaning liquid in the cleaning liquid tank to be sprayed out from the cleaning head module, the air pump is connected to the outside and the cleaning head module and sprays air through the cleaning head module, the sewage pump is connected to the sewage tank and the cleaning tool and drives the sewage from the cleaning tool into the sewage tank; the heating module is used to heat the clean water and gas entering the cleaning head module; the heating module, the clean water pump, the cleaning liquid pump, the air pump and the sewage pump are all communicatively connected to the control component.

[0008] Preferably, the cleaning component also includes a control valve communicatively connected to the control component, the cleaning head module includes a nozzle, and the nozzle is connected to the water pump, the cleaning liquid pump and the air pump; the control valve is used to control the connection and disconnection of the nozzle and the water pump, the cleaning liquid pump or the air pump.

[0009] Preferably, it also includes a power module and a wireless charging component, the power module is electrically connected to the walking mechanism, the robotic arm component, the monitoring component, the control component and the cleaning component and provides the required electrical energy; the wireless charging component includes a charging device and a power receiving device, the power receiving device is arranged on the body and electrically connected to the power module, and the charging device can wirelessly charge the power module through the charging device.

[0010] Preferably, it also includes an auxiliary working device, which includes any one or more of an atomization disinfection component, a pulse ultraviolet disinfection component, a short-wave deep ultraviolet disinfection component and a low-temperature plasma disinfection component that can be detachably installed on the body and communicated with the control component.

[0011] Preferably, the working end is detachably connected to the cleaning tool, and the machine body is provided with a plurality of placement positions for detachably placing the cleaning tool.

[0012] Preferably, the walking mechanism adopts an omnidirectional AGV chassis; and the monitoring component adopts a 3D visual perception device.

[0013] Preferably, it also includes a voice module, which is communicatively connected to the control component, and the voice module is used to receive voice commands and control the actions of the walking mechanism, the robotic arm component, the monitoring component, the cleaning component and the auxiliary working device through the control component; and the robotic arm component includes a six-axis robotic arm communicatively connected to the control component, and the six-axis robotic arm is provided with a human body detection module, an electronic skin module and a torque sensing module communicatively connected to the control component.

[0014] Preferably, the remote control component includes a helmet display and an operating handle, the helmet display is communicatively connected to the monitoring component, the human body detection module, the electronic skin module and the torque sensing module and can receive and display corresponding information, the operating handle is communicatively connected to the control component and can control the actions of the walking mechanism, the robotic arm component, the monitoring component, the cleaning component and the auxiliary working device.

[0015] Compared with the prior art, the utility model has achieved the following technical effects:

[0016] The intelligent service robot provided by the utility model realizes spatial movement through a walking mechanism. The working end of the mechanical arm assembly on the body drives the cleaning tool to clean. The mechanical arm assembly is convenient for cleaning the slit position and can reduce the cleaning dead angle. The spatial environment information is obtained by the monitoring assembly, and the control assembly can receive the spatial environment information, and control the movement of the walking mechanism to avoid spatial obstacles, and control the movement of the mechanical arm assembly for cleaning. In addition, by setting up a remote control assembly, the movement of the walking mechanism can be controlled according to the received spatial environment information to avoid spatial obstacles, and the movement of the mechanical arm assembly can be controlled for cleaning and teaching, thereby improving the flexibility of control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is an overall schematic diagram of the intelligent service robot provided in Example 1;

[0019] Figure 2 This is a schematic diagram of the coordination of the walking mechanism, body and mechanical arm assembly provided in Example 1.

[0020] In the figure: 1-intelligent service robot; 10-walking mechanism; 20-body; 21-placement position; 22-electromagnetic part; 30-mechanical arm assembly; 40-monitoring assembly; 50-remote control assembly; 60-cleaning assembly; 61-cleaning head module; 70-wireless charging assembly; 71-charging device; 72-power receiving device; 80-auxiliary working device; 2-cleaning tools. DETAILED DESCRIPTION

[0021] 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.

[0022] The purpose of the utility model is to provide an intelligent service robot to solve the problems existing in the above-mentioned prior art, improve the flexibility of cleaning services, and reduce cleaning blind spots.

[0023] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0024] Embodiment 1

[0025] This embodiment provides an intelligent service robot 1, see Figure 1 and Figure 2 , including a walking mechanism 10, a body 20, a mechanical arm assembly 30, a monitoring assembly 40, a control assembly and a remote control assembly 50; the body 20 is arranged on the walking mechanism 10; the mechanical arm assembly 30 is arranged on the body 20, and the front end of the mechanical arm assembly 30 is a working end 31 for connecting the cleaning tool 2; the mechanical arm assembly 30 can move relative to the body 20 so that the working end 31 can drive the cleaning tool 2 to move in space; the monitoring assembly 40 is arranged on the body 20, and the monitoring assembly 40 is used to obtain spatial environment information; the control assembly is arranged on the body 20, and is communicated with the walking mechanism 10 and the mechanical arm assembly 30, and can control the movement of the walking mechanism 10 and the mechanical arm assembly 30, and is also communicated with the monitoring assembly 40 and can receive spatial environment information; the remote control assembly 50 is communicated with the monitoring assembly 40 and can receive spatial environment information, and is also communicated with the control assembly, and can issue control instructions to the control assembly to control the movement of the walking mechanism 10 and the mechanical arm assembly 30.

[0026] The spatial movement is achieved through the walking mechanism 10, and the working end 31 of the robot arm assembly 30 on the body 20 drives the cleaning tool 2 for cleaning. The robot arm assembly 30 is convenient for cleaning the slit position, which can reduce the cleaning dead angle; the spatial environment information is obtained through the monitoring component 40, and the control component can receive the spatial environment information, and control the movement of the walking mechanism 10 to avoid spatial obstacles, and control the movement of the robot arm assembly 30 for cleaning; in addition, by setting up a remote control component 50, the movement of the walking mechanism 10 can be controlled according to the received spatial environment information to avoid spatial obstacles, and the movement of the robot arm assembly 30 can be controlled to clean or teach, thereby improving the flexibility of control.

[0027] Among the optional schemes of this embodiment, more preferably, the intelligent service robot provided by this embodiment also includes a cleaning component 60, which is arranged on the body 20 and the mechanical arm component 30, and the cleaning component 60 is used to spray liquid, jet or absorb liquid to the position to be cleaned; the cleaning component 60 is communicatively connected with the control component, and the remote control component 50 can issue control instructions to the control component to control the action of the cleaning component 60; by setting the cleaning component 60 to spray water or cleaning liquid on the position to be cleaned, and jet to dry or absorb sewage, the cleaning effect of the position to be cleaned is improved.

[0028] In the optional scheme of this embodiment, it is more preferred that the cleaning component 60 includes a cleaning head module 61 arranged at the front end of the mechanical arm component 30 and a heating module, a clean water tank, a cleaning liquid tank, a sewage tank, a clean water pump, a cleaning liquid pump, an air pump and a sewage pump arranged in the body 20; specifically, the clean water pump is connected with the clean water tank and the cleaning head module 61 and drives the clean water in the clean water tank to be sprayed out from the cleaning head module 61, the cleaning liquid pump is connected with the cleaning liquid tank and the cleaning head module 61 and drives the cleaning liquid in the cleaning liquid tank to be sprayed out from the cleaning head module 61, the air pump is connected with the outside and the cleaning head module 61 and sprays air through the cleaning head module 61, the sewage pump is connected with the sewage tank and the cleaning tool 2 and drives the sewage from the cleaning tool 2 into the sewage tank; the heating module is used to heat the clean water and gas entering the cleaning head module 61; the heating module, the clean water pump, the cleaning liquid pump, the air pump and the sewage pump all communicate with the control component connection; by setting a clean water tank and a clean water pump as well as a cleaning liquid tank and a cleaning liquid pump, and by controlling the actions of the clean water pump and the cleaning liquid pump, the needs of spraying water and spraying cleaning liquid can be met. In addition, setting an air pump can meet the needs of jet drying, and setting a sewage pump and a sewage tank can meet the needs of sewage recovery; in addition, by setting a heating module, the clean water heating and spraying to enhance the cleaning effect can be met, as well as the heated gas spraying to enhance the drying effect can be met; specifically, the heating module can be set as a pipeline heater, by setting it on the pipeline between the clean water pump and the cleaning head module 61 and on the pipeline between the air pump and the cleaning head module, so as to achieve the heating of the clean water or gas in the pipeline; or the heating module is set as a conventional heater set inside or outside the clean water pump and the air pump, which can also meet the heating of clean water or gas; in this way, it can correspond to spraying, cleaning, rinsing, drying and other operations for different scenarios.

[0029] Further preferably, the above-mentioned pipelines for conveying clean water, cleaning fluid, gas and sewage can be configured as hoses and arranged outside or inside the robotic arm assembly 30, and the hose structure meets the activity requirements.

[0030] In the optional scheme of this embodiment, it is more preferred that the cleaning component 60 also includes a control valve that is communicatively connected to the control component, and the cleaning head module 61 includes a nozzle, which is connected to a water pump, a cleaning liquid pump and an air pump; the control valve is used to control the on and off of the nozzle and the water pump, the cleaning liquid pump or the air pump; specifically, the nozzle can be set to three for spraying clean water, cleaning liquid and gas respectively, and the three nozzles can be set at the front end of the robotic arm component 30 through an integrated bracket and follow the action of the robotic arm component 30 to meet the cleaning requirements of the position to be cleaned, the control valve is set in the body 20 and is correspondingly set to three, and a control valve is respectively provided on the clean water pipeline, the cleaning liquid pipeline and the gas pipeline, and the action of each control valve is controlled by the control component to meet the on and off of the nozzle and the water pump, the cleaning liquid pump or the air pump; specifically, the control valve on the clean water pipeline and the cleaning liquid pipeline can use a PYF2-XG two-position two-way normally closed solenoid valve, and the control valve set on the gas pipeline can be set to a PYF2-XA two-position two-way normally closed solenoid valve.

[0031] Among the optional schemes of this embodiment, it is more preferred that the intelligent service robot 1 provided in this embodiment also includes a power module and a wireless charging component 70. The power module is electrically connected to the walking mechanism 10, the mechanical arm component 30, the monitoring component 40, the control component and the cleaning component 60 and provides the required electrical energy; the wireless charging component 70 includes a charging device 71 and a power receiving device 72. The power receiving device 72 is arranged on the body 20 and is electrically connected to the power module. The charging device 71 can wirelessly charge the power module through the charging device 71. Specifically, the power module is configured as a battery on the market that can meet wireless charging requirements; the charging device 71 can be arranged at a fixed position in the space, and moved to the charging device 71 through the walking mechanism 10 to meet the wireless charging of the power module through the power receiving device 72, thereby improving convenience; specifically, the wireless charging component 70 can adopt a conventional wireless charging device on the market.

[0032] Further preferably, the body 20 is vertically arranged as an upper half body and a lower half body, and the whole is vertically long and narrow, so as to facilitate passing through a narrow space; the control valve, clean water tank, cleaning liquid tank, sewage tank and power module are arranged in the lower half body, and the control component, clean water pump, cleaning liquid pump, sewage pump and air pump are arranged in the upper half body.

[0033] Among the optional schemes of this embodiment, it is more preferred that the intelligent service robot 1 provided in this embodiment also includes an auxiliary working device 80, and the auxiliary working device 80 includes any one or more of an atomizing disinfection component, a pulsed ultraviolet disinfection component, a short-wave deep ultraviolet disinfection component and a low-temperature plasma disinfection component that can be detachably arranged on the body 20 and communicated with the control component; specifically, an electromagnetic part 22 is arranged on the body 20, and an electromagnetic connection with the auxiliary working device 80 is achieved through the electromagnetic part 22 such as an electromagnetic suction cup, and the electromagnetic part 22 is electrically controlled and connected through the control component; in addition, the auxiliary working device 80 is not limited to the above-mentioned devices, and can be selected according to actual needs; in this way, by adding a variety of optional disinfection operation functions to meet the disinfection operation needs in different scenarios, one machine with multiple functions and one machine with multiple uses can be achieved, and more auxiliary working devices can be developed in more applications and practices to meet more application scenarios and usage requirements.

[0034] In the optional scheme of this embodiment, it is more preferred that the working end 31 is detachably connected to the cleaning tool 2, and the body 20 is provided with a plurality of placement positions 21 for detachably placing the cleaning tool 2; specifically, the working end 31 of the robot arm assembly 30 can be set as an electromagnetic suction cup, and the connection with the cleaning tool is realized by electrically controlling the electromagnetic suction cup through the control component, and correspondingly, a component that can be magnetically attracted, such as metal, is provided on the cleaning tool 2; by setting a plurality of placement positions 21, the use and placement of different cleaning tools 2 can be met, specifically, an electromagnetic placement rack with a plurality of placement positions 21 is provided on one side of the body 20 to meet the placement requirements of different cleaning tools 2, and the control component realizes the taking and placing of the cleaning tool 2 by electrically controlling the electromagnetic placement rack; specifically, the cleaning tool 2 may include components such as a broom and a suction nozzle, wherein the suction nozzle can be connected to a sewage pump through a gas pipeline to realize sewage recovery.

[0035] In the optional scheme of this embodiment, it is more preferred that the walking mechanism 10 adopts an omnidirectional AGV chassis, specifically, an intelligent ultra-small omnidirectional wheeled AGV robot chassis, such as FW-001 of YUHESEN Shenzhen Yuhesen Technology Co., Ltd.; or RANGER of AGILE.X Songling Robot (Shenzhen) Co., Ltd., which can realize fixed-point omnidirectional precise movement, small slope climbing, uniform speed crossing, resistance positioning, and the positioning accuracy can reach <1° (steering positioning accuracy <1°, wheel end walking positioning accuracy <1°); the monitoring component 40 adopts a 3D visual perception device, such as Leica LK2GOB The 3D visual real-scene scanner integrates advanced technologies such as laser radar, SLAM, panoramic camera, IMU, etc., with a spatial measurement accuracy of ±0.01mm. It can realize precise scanning, measurement, navigation, modeling, marking, safety fences, etc. It is used for spatial scanning, spatial distance measurement, spatial navigation, spatial model generation, spatial object marking, spatial distance confirmation, spatial safety fence generation, spatial operation teaching, spatial real-time operation, etc. It is convenient to realize high-precision spatial measurement and high-precision three-dimensional model drawing, so that the equipment can achieve high-precision point control and path planning.

[0036] Among the optional schemes of this embodiment, it is more preferred that the intelligent service robot 1 provided in this embodiment also includes a voice module, which is communicatively connected with the control component. The voice module is used to receive voice commands and control the actions of the walking mechanism 10, the robotic arm component 30, the monitoring component 40, the cleaning component 60 and the auxiliary working device 80 through the control component. Specifically, the voice module is configured as a conventional voice recognition module, which can be provided on the body 20, or the robotic arm component 30, so as to improve convenience through voice control.

[0037] Further preferably, the robot arm assembly 30 includes a six-axis robot arm that is communicatively connected to the control assembly, such as the 6KG EC66-B of Elite-Robot Suzhou Elite Robot Co., Ltd., or the 49.5KG MAiRA-ProS-B, the six-axis robot arm has multiple degrees of freedom, which improves the operational flexibility and is provided with a human detection module, an electronic skin module and a torque sensing module that are communicated with the control component, wherein the human monitoring module is located on the working end 31; the electronic skin module can be set to multiple and located on the surface of each movable arm of the six-axis robot arm; the torque sensing module adopts a conventional torque sensing unit, which is set in the controller of the rotary motor of the six-axis robot arm to monitor the torque of the motor, or the torque sensing module is set to a conventional torque sensor and is set at the working end 31; wherein the human detection module adopts infrared, millimeter wave and laser radar sensors to realize non-contact human body monitoring and judge the approach of the human body; the electronic skin module is configured as a highly sensitive six-degree-of-freedom electronic skin sensor, which can sense slight touches and stroking; the torque sensing module has torque sensing and can easily realize torque sensing to avoid unnecessary bumps and injuries, so that in the entire cleaning and maintenance process, accurate spatial position control and contact torque control can be achieved according to the different tools used, and the entire cleaning and maintenance process can reach the standard level of manual cleaning by senior cleaning personnel.

[0038] In the optional scheme of this embodiment, it is more preferred that the remote control component 50 includes a helmet display and an operating handle, the helmet display is wirelessly connected to the monitoring component 40, the human body detection module, the electronic skin module and the torque sensing module and can receive and display corresponding information, the operating handle is communicatively connected to the control component and can control the actions of the walking mechanism 10, the mechanical arm component 30, the monitoring component 40, the cleaning component 60 and the auxiliary working device 80; in this way, the helmet display observes each display information and performs remote control through the operating handle, the equipment operator realizes remote teaching programming, remote operation and remote monitoring through the remote control component 50, which can be operated both near-end and remotely, and placed in the operation office or remote operation room to improve the flexibility of operation; the remote control component 50 can use the VIVE-VR suit of HTC.

[0039] Further preferably, the control component provided in this embodiment can be configured as an electric control box.

[0040] In addition, the various shells on the intelligent service robot 1 provided in this embodiment, such as the outer shell of the body 20, can be made of ultra-light and high-strength materials such as ABS super-strong plastic and super-strong aluminum alloy to facilitate the realization of small size, light weight, industrial design, and excellent ergonomics.

[0041] In this way, the intelligent service robot 1 provided in this embodiment can meet the cleaning, maintenance, disinfection and service needs of multiple scenes and all facilities such as squares, conference rooms, guest rooms, living rooms, toilets and washrooms in companies, homes, airplanes, ships, high-speed railways, subways, hotels, offices, public places, entertainment venues, etc., and can realize fast, economical, convenient and effective harmless and residue-free cleaning, maintenance and disinfection intelligent service operations.

[0042] The present invention uses specific examples to illustrate the principle and implementation of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An intelligent service robot, characterized in that: include: Walking mechanism (10); A machine body (20) is arranged on the walking mechanism (10); A mechanical arm assembly (30) is arranged on the machine body (20), and the front end of the mechanical arm assembly (30) is a working end (31) for connecting to a cleaning tool (2); the mechanical arm assembly (30) is movable relative to the machine body (20) so that the working end (31) can drive the cleaning tool (2) to move in space; A monitoring component (40) is arranged on the body (20), and the monitoring component (40) is used to obtain space environment information; A cleaning component (60) is arranged on the machine body (20) and the mechanical arm component (30), and the cleaning component (60) is used to spray, eject or absorb liquid to a location to be cleaned; An auxiliary working device (80), the auxiliary working device (80) comprising any one or more of an atomization disinfection component, a pulsed ultraviolet disinfection component, a short-wave deep ultraviolet disinfection component and a low-temperature plasma disinfection component that can be detachably arranged on the machine body (20); a control component, arranged on the machine body (20), being connected in communication with the walking mechanism (10), the mechanical arm component (30), the cleaning component (60) and the auxiliary working device (80), and being capable of controlling the actions of the walking mechanism (10), the mechanical arm component (30), the cleaning component (60) and the auxiliary working device (80), and being connected in communication with the monitoring component (40) and being capable of receiving the spatial environment information; a remote control component (50) which is in communication connection with the monitoring component (40) and is capable of receiving the spatial environment information, and is also in communication connection with the control component and is capable of issuing control instructions to the control component to control the actions of the walking mechanism (10), the mechanical arm component (30), the cleaning component (60) and the auxiliary working device (80); and A voice module, the voice module is in communication connection with the control component, the voice module is used to receive voice instructions and control the actions of the walking mechanism (10), the mechanical arm component (30), the monitoring component (40), the cleaning component (60) and the auxiliary working device (80) through the control component.

2. The intelligent service robot according to claim 1, characterized in that: The cleaning assembly (60) comprises a cleaning head module (61) arranged at the front end of the mechanical arm assembly, and a heating module, a clean water tank, a cleaning liquid tank, a sewage tank, a clean water pump, a cleaning liquid pump, an air pump and a sewage pump arranged in the body (20); the clean water pump is connected to the clean water tank and the cleaning head module (61) and drives the clean water in the clean water tank to be sprayed out from the cleaning head module (61); the cleaning liquid pump is connected to the clean liquid tank and the cleaning head module (61) and drives the clean water in the clean liquid tank to be sprayed out from the cleaning head module (61); The cleaning liquid is sprayed out from the cleaning head module (61); the air pump is connected to the outside and the cleaning head module (61) and sprays air through the cleaning head module (61); the sewage pump is connected to the sewage tank and the cleaning tool (2) and drives the sewage from the cleaning tool (2) into the sewage tank; the heating module is used to heat the clean water and gas entering the cleaning head module (61); the heating module, the clean water pump, the cleaning liquid pump, the air pump and the sewage pump are all in communication connection with the control component.

3. The intelligent service robot according to claim 2, characterized in that: The cleaning component (60) further comprises a control valve which is in communication with the control component; the cleaning head module (61) comprises a nozzle which is in communication with the water pump, the cleaning liquid pump and the air pump; the control valve is used to control the connection and disconnection between the nozzle and the water pump, the cleaning liquid pump or the air pump.

4. The intelligent service robot according to claim 1, characterized in that: It also includes a power module and a wireless charging component (70), wherein the power module is electrically connected to the walking mechanism (10), the mechanical arm component (30), the monitoring component (40), the control component and the cleaning component (60) and provides required electrical energy; The wireless charging component (70) comprises a charging device (71) and a power receiving device (72); the power receiving device (72) is arranged on the machine body (20) and is electrically connected to the power module; the charging device (71) can wirelessly charge the power module through the charging device (71).

5. The intelligent service robot according to claim 1, characterized in that: The working end (31) is detachably connected to the cleaning tool (2), and the machine body (20) is provided with a plurality of placement positions (21) for detachably placing the cleaning tool (2).

6. The intelligent service robot according to claim 1, characterized in that: The walking mechanism (10) adopts an omnidirectional AGV chassis; and the monitoring component (40) adopts a 3D visual perception device.

7. The intelligent service robot according to claim 1, characterized in that: The mechanical arm component (30) comprises a six-axis mechanical arm which is communicatively connected to the control component, and the six-axis mechanical arm is provided with a human body detection module, an electronic skin module and a torque sensing module which are communicatively connected to the control component.

8. The intelligent service robot according to claim 7, characterized in that: The remote control component (50) comprises a helmet display and an operating handle, wherein the helmet display is communicatively connected with the monitoring component (40), the human body detection module, the electronic skin module and the torque sensing module and is capable of receiving and displaying corresponding information, and the operating handle is communicatively connected with the control component and is capable of controlling the actions of the walking mechanism (10), the mechanical arm component (30), the monitoring component (40), the cleaning component (60) and the auxiliary working device (80).

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