Intelligent scrubber with obstacle avoidance function

Abstract

The utility model discloses an intelligent scrubber with an obstacle avoidance function, which comprises a scrubber body, an insertion cylinder is fixedly mounted at one end of the scrubber body, a power supply head is arranged in the insertion cylinder, an obstacle avoidance mechanism is mounted in the insertion cylinder in a pluggable manner, and the insertion cylinder is electrically connected with the obstacle avoidance mechanism through the power supply head. Connecting arms are fixedly installed on the two sides of the scrubber body, and lifting mechanisms are fixedly installed in the connecting arms, so that the lifting mechanisms can adjust and control the distance between the brush disc and the ground and the ground pressing force. Through the design of the obstacle avoidance mechanism and the lifting mechanism, the scrubber body can accurately identify obstacles in the scrubber process, and a cleaning path is optimized in cooperation with an SLAM algorithm integrated in the scrubber body, so that the scrubber body can intelligently avoid furniture, walls and other obstacles, and the cleaning efficiency is improved. In addition, in the cleaning process, the pressure degree of the brush disc abutting against the ground can be adjusted according to the stain type and the ground material, and different cleaning requirements can be better met.

Description

Technical Field

[0001] This utility model relates to the field of cleaning robot technology, specifically to an intelligent floor scrubber with obstacle avoidance function. Background Technology

[0002] Cleaning robots can clean the ground and are suitable for various indoor and outdoor environments, such as roads, parks, hotels, stations, etc. As a type of floor cleaning robot, floor scrubbers have functions such as sweeping and scrubbing.

[0003] For example, the national authorized patent announcement number CN216535164U discloses an intelligent floor scrubbing machine, which belongs to the field of cleaning robots. It includes a chassis, a water tank, a squeegee, and a lifting mechanism. The water tank is mounted on the chassis, and the squeegee is located below the chassis at its rear end. The lifting mechanism is connected to the chassis and includes a push rod motor and a linkage assembly. The push rod motor is located in front of the water tank and can drive the squeegee to lift via the linkage assembly. Due to the linkage assembly, the distance between the push rod motor and the squeegee is increased, allowing the push rod motor to be positioned in front of the water tank without occupying space in the lower part of the chassis, thus saving space.

[0004] However, the aforementioned intelligent floor scrubbers cannot automatically avoid obstacles during the cleaning process, which leads to collisions with obstacles. This causes the scrubber's operating trajectory to become chaotic, preventing it from cleaning along the optimal path and increasing the cleaning time. Furthermore, the distance between the brush and the ground and the pressure applied during the cleaning process cannot be adjusted, making it unable to provide appropriate cleaning pressure for different types of stains and floor materials. Utility Model Content

[0005] The purpose of this invention is to provide an intelligent floor scrubber with obstacle avoidance function to solve the problems mentioned in the background art, such as the inability to automatically avoid obstacles and find a path according to the environment during the floor scrubbing process, which leads to the floor scrubber failing to automatically avoid obstacles and colliding with obstacles, and the inability to adjust the distance between the brush and the ground and the pressure during the floor scrubbing process, thus failing to provide appropriate cleaning pressure for different types of stains and floor materials.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] An intelligent floor scrubber with obstacle avoidance function includes: a floor scrubber body, an insert cylinder fixedly installed at one end of the floor scrubber body, a power supply head provided inside the insert cylinder, an obstacle avoidance mechanism that can be plugged into and detached inside the insert cylinder and electrically connected to the obstacle avoidance mechanism through the power supply head, connecting arms fixedly installed on both sides of the floor scrubber body, and lifting mechanisms fixedly installed inside the connecting arms, so that the lifting mechanisms can adjust the distance between the brush and the ground and the pressure on the ground.

[0008] Preferably, a light is electrically connected to one end of the floor scrubber body.

[0009] Preferably, the obstacle avoidance mechanism includes an insert plate, in which a laser radar is fixedly installed. The interface of the laser radar is located on the lower surface of the insert plate, so that when the insert plate is inserted into the insert cylinder, the interface on the lower surface drives the power supply head to be inserted into it.

[0010] Preferably, the signal transmitting end of the lidar is connected to the signal receiving end of the controller, and the control output end of the controller is electrically connected to the drive motor of the floor scrubber body.

[0011] The LiDAR and controller are RoboSense RS-LiDAR-202 and NVIDIA Jetson Nano, respectively.

[0012] Preferably, the lifting mechanism includes a hydraulic rod, which is fixedly installed inside the connecting arm. A U-shaped frame is fixedly installed on the lower surface of the output shaft of the hydraulic rod, and a roller is rotatably installed inside the U-shaped frame.

[0013] Preferably, a connecting plate is fixedly installed at one end of the U-shaped frame, and a sliding column is fixedly installed on the upper surface of the connecting plate, the sliding column sliding through the horizontal plate fixedly installed at one end of the connecting arm.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. Through the design of the floor scrubber body, insert drum, power head, connecting arm, obstacle avoidance mechanism and lifting mechanism, when using the floor scrubber body to clean the floor, the floor scrubber body can build a three-dimensional map of the surrounding environment through the obstacle avoidance mechanism. This allows the floor scrubber body to accurately identify obstacles and, together with the SLAM algorithm integrated into the floor scrubber body, optimize the cleaning path, so that it can intelligently avoid furniture, walls and other obstacles, reduce unnecessary detours and stops, and thus complete the cleaning task in a shorter time.

[0016] Furthermore, during the floor cleaning process, the lifting mechanism can be activated to adjust the pressure of the brush plate on the floor according to the type of stain and the floor material, so that it can better cope with different cleaning needs. For stubborn stains, such as grease on kitchen floors, increasing the pressure can remove the stains more effectively; while for more fragile floor materials, such as wooden floors, reducing the pressure can avoid damaging the floor while still achieving the cleaning purpose. Adjusting the pressure allows the brush plate to better fit the floor, ensuring that the contact and friction between the brush plate and the stains achieve the best effect under various floor conditions, thereby improving the cleaning quality.

[0017] 2. Through the design of the insert plate, LiDAR, and interface, when assembling the LiDAR onto the floor scrubber body, the insert plate containing the LiDAR is inserted into the insert tube. This allows the power supply head inside the insert tube to be inserted into the interface of the insert plate, electrically connecting it to the LiDAR. This, in turn, connects the LiDAR to the controller inside the floor scrubber body. The controller then sends a start scanning command to the LiDAR, causing it to scan the surrounding environment according to the set scanning frequency and angle range. During the scanning process, the LiDAR emits a laser beam and receives the reflected laser signal. Based on the time difference between laser emission and reception, it calculates the distance to surrounding objects and simultaneously coordinates with the scrubbing... The SLAM algorithm integrated into the floor scrubber allows it to better understand the three-dimensional structure of its surroundings. This helps the scrubber identify and avoid obstacles such as furniture and stairs, thereby improving cleaning efficiency and reducing collisions. It can also autonomously plan cleaning paths and make decisions based on the environmental map, such as avoiding obstacles and prioritizing the cleaning of dirty areas. This reduces the need for human intervention and improves the autonomy and intelligence of the floor scrubber. Furthermore, the plug-in installation of the LiDAR facilitates maintenance and replacement. If the LiDAR malfunctions or needs upgrading, it can be removed and replaced individually without disassembling the entire floor scrubber, which improves the equipment's maintenance efficiency and economy.

[0018] 3. Through the design of hydraulic rods, U-shaped frames, rollers, connecting plates, and sliding columns, the floor scrubber, while cleaning the floor with its brush, can also activate the hydraulic rods to push or pull the U-shaped frames at one end of the piston rod, depending on the type of stain and the floor material. This allows the U-shaped frames to drive the internally rotating rollers, lifting or lowering the floor scrubber body. This adjusts the pressure of the brush on the floor, enabling the scrubber to handle different types of stains, such as sticky stains (like kitchen grease). The hydraulic rods can pull the U-shaped frames to lift the floor scrubber body. As the brush head lowers, it increases the pressure of the brush disc on the ground. This allows the brush disc to make better contact with the stains, and the bristles penetrate deeper into the stains, more effectively breaking them down and removing them, thus improving cleaning quality. For looser dust stains on a relatively flat surface, the pressure can be reduced appropriately. The normal rotation of the brush disc is sufficient to clean the dust, while avoiding excessive force that could cause dust to fly around. By adjusting the pressure of the brush disc, the contact and friction between the brush disc and the stains can be optimized under various floor conditions, thereby improving cleaning quality. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the intelligent floor scrubber with obstacle avoidance function of this utility model;

[0020] Figure 2 This is a schematic diagram of the obstacle avoidance mechanism of the intelligent floor scrubber with obstacle avoidance function according to this utility model;

[0021] Figure 3 This is a schematic diagram of the lifting mechanism of the intelligent floor scrubber with obstacle avoidance function of this utility model.

[0022] In the diagram: 1. Floor scrubber body; 101. Power supply head; 102. Lighting lamp; 103. Insert tube; 104. Connecting arm; 2. Obstacle avoidance mechanism; 201. Insert plate; 202. Lid radar; 203. Interface; 3. Lifting mechanism; 301. Hydraulic rod; 302. U-shaped frame; 303. Roller; 304. Connecting plate; 305. Sliding column. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Please see Figures 1-3 This embodiment provides the following technical solution:

[0025] like Figure 1 As shown, an intelligent floor scrubber with obstacle avoidance function includes: a floor scrubber body 1, an insert cylinder 103 fixedly installed at one end of the floor scrubber body 1, a power supply head 101 provided inside the insert cylinder 103, an obstacle avoidance mechanism 2 that can be inserted and removed inside the insert cylinder 103 and electrically connected to the obstacle avoidance mechanism 2 through the power supply head 101, connecting arms 104 fixedly installed on both sides of the floor scrubber body 1, and a lifting mechanism 3 fixedly installed inside the connecting arms 104, so that the lifting mechanism 3 can adjust the distance between the brush plate and the ground and the pressure on the ground.

[0026] One end of the floor scrubber body 1 is electrically connected to a light 102.

[0027] Through the design of the floor scrubber body 1, insert drum 103, power supply head 101, connecting arm 104, obstacle avoidance mechanism 2 and lifting mechanism 3, when using the floor scrubber body 1 to clean the floor, the floor scrubber body 1 can construct a three-dimensional map of the surrounding environment through the obstacle avoidance mechanism 2. This allows the floor scrubber body 1 to accurately identify obstacles and, in conjunction with the SLAM algorithm integrated within the floor scrubber body 1, optimize the cleaning path, enabling it to intelligently avoid furniture, walls and other obstacles, reducing unnecessary detours and stops, thereby completing the cleaning task in a shorter time.

[0028] Furthermore, during the floor cleaning process, the lifting mechanism can be activated to adjust the pressure of the brush plate on the floor according to the type of stain and the floor material. This allows it to better meet different cleaning needs. For stubborn stains, such as grease on kitchen floors, increasing the pressure can remove the stains more effectively. For more delicate floor materials, such as wooden floors, reducing the pressure can avoid damaging the floor while still achieving the cleaning purpose. Adjusting the pressure allows the brush plate to better fit the floor, ensuring that the contact and friction between the brush plate and the stains achieve the best effect under various floor conditions, thereby improving the cleaning quality.

[0029] like Figure 2 As shown, the obstacle avoidance mechanism 2 includes an insertion plate 201, in which a laser radar 202 is fixedly installed. The interface 203 of the laser radar 202 is opened on the lower surface of the insertion plate 201, so that when the insertion plate 201 can be inserted into the insertion cylinder 103, the interface 203 on the lower surface will drive the power supply head 101 to be inserted into it.

[0030] The signal transmitting end of the lidar 202 is connected to the signal receiving end of the controller, and the control output end of the controller is electrically connected to the drive motor of the floor scrubber body 1.

[0031] The LiDAR 202 and the controller are model RoboSense RS-LiDAR-202 and NVIDIA Jetson Nano, respectively.

[0032] Through the design of the insert plate 201, the lidar 202, and the interface 203, when assembling the lidar 202 onto the floor scrubber body 1, the insert plate 201 containing the lidar 202 is inserted into the insert cylinder 103. This allows the power supply head 101 inside the insert cylinder 103 to be inserted into the interface 203 of the insert plate 201, making it electrically connected to the lidar 202. This, in turn, connects the lidar 202 to the controller inside the floor scrubber body 1. The controller then sends a start scanning command to the lidar 202, causing the lidar 202 to perform a laser scan of the surrounding environment according to the set scanning frequency and scanning angle range. During the scanning process, the lidar 202 emits a laser beam and receives the reflected laser signal. Based on the timing of laser emission and reception... The distance to surrounding objects is calculated by the differential algorithm, and combined with the SLAM algorithm integrated into the floor scrubber body 1, the floor scrubber body 1 can better understand the three-dimensional structure of the surrounding environment. This helps the floor scrubber identify and avoid obstacles such as furniture and stairs, thereby improving cleaning efficiency and reducing collision accidents. It can also autonomously plan cleaning paths and make decisions based on the environmental map, such as avoiding obstacles and prioritizing the cleaning of dirty areas. This reduces the need for human intervention and improves the autonomy and intelligence level of the floor scrubber. Furthermore, the plug-in installation feature of the LiDAR 202 facilitates maintenance and replacement. If the LiDAR 202 malfunctions or needs to be upgraded, it can be disassembled and replaced separately without disassembling the entire floor scrubber, which improves the maintenance efficiency and economy of the equipment.

[0033] like Figure 3 As shown, the lifting mechanism 3 includes a hydraulic rod 301, which is fixedly installed inside the connecting arm 104. A U-shaped frame 302 is fixedly installed on the lower surface of the output shaft of the hydraulic rod 301, and a roller 303 is rotatably installed inside the U-shaped frame 302.

[0034] A connecting plate 304 is fixedly installed at one end of the U-shaped frame 302, and a sliding column 305 is fixedly installed on the upper surface of the connecting plate 304. The sliding column 305 slides through the horizontal plate fixedly installed at one end of the connecting arm 104.

[0035] Through the design of the hydraulic rod 301, U-shaped frame 302, roller 303, connecting plate 304, and sliding column 305, the floor scrubber body 1, while cleaning the floor with its brush, can also activate the hydraulic rod 301 to push or pull the U-shaped frame 302 at one end of the piston rod according to the type of stain and the floor material. This allows the U-shaped frame 302 to drive the internally rotating roller 303 to lift or lower the floor scrubber body 1, thereby adjusting the pressure of the brush on the floor. This allows it to effectively handle different types of stains, such as sticky stains like kitchen grease, through the hydraulic rod 301. 01 Pull the U-shaped frame 302 to lower the floor scrubber body 1, increasing the pressure of the brush on the ground. This allows the brush to better contact the stains, and the bristles to penetrate deeper into the stains, more effectively breaking them down and removing them, thus improving cleaning quality. For looser dust stains on a relatively flat surface, the pressure can be reduced appropriately, and the dust can be swept away by the normal rotation of the brush. This avoids excessive force that could cause dust to fly around. By adjusting the pressure of the brush, the contact and friction between the brush and the stain can be optimized under various floor conditions, thereby improving cleaning quality.

[0036] Based on the above technical solution, the working steps of this solution are summarized as follows: When using the floor scrubber body 1 to clean the floor, the insert plate 201 containing the LiDAR 202 can be inserted into the insert tube 103. This allows the power supply head 101 inside the insert tube 103 to be inserted into the interface 203 of the insert plate 201, making it electrically connected to the LiDAR 202. This, in turn, connects the controller inside the floor scrubber body 1 to the LiDAR 202. Subsequently, the controller can send a start scanning command to the LiDAR 202, causing the LiDAR 202 to perform laser scanning of the surrounding environment according to the set scanning frequency and scanning angle range. During the scanning process, the LiDAR 202 emits a laser beam and receives the reflected laser signal. Based on the time difference between laser emission and reception, the distance to surrounding objects is calculated. Simultaneously, in conjunction with the SLAM algorithm integrated within the floor scrubber body 1, the floor scrubber body 1 can better understand the three-dimensional structure of the surrounding environment. This helps the floor scrubber identify and avoid obstacles, such as furniture and stairs, and enables autonomous navigation. The system draws a cleaning path and makes decisions based on an environmental map, such as avoiding obstacles and prioritizing the cleaning of dirty areas. Furthermore, while the floor scrubber 1 is cleaning the floor with its brush, it can also activate the hydraulic rod 301 to push or pull the U-shaped frame 302 at one end of the piston rod, depending on the type of stain and the floor material. This allows the U-shaped frame 302 to drive the internally rotating rollers 303 to lift or lower the floor scrubber 1, thereby adjusting the pressure of the brush on the floor and thus enabling it to clean areas that are not heavily soiled. For similar types of stains, such as sticky stains like kitchen grease, the hydraulic rod 301 can pull the U-shaped frame 302 to lower the floor scrubber body 1, increasing the pressure of the brush on the ground. This allows the brush to better contact the stain, and the bristles to penetrate deeper into the stain, more effectively breaking down and removing it, thus improving cleaning quality. For looser dust stains, if the ground is relatively flat, the pressure can be reduced appropriately, and the dust can be swept away by the normal rotation of the brush, while avoiding excessive force that could cause dust to fly around.

[0037] In summary, the floor scrubber 1 can accurately identify obstacles during the cleaning process and optimize the cleaning path using algorithms such as SLAM integrated within the machine body. This allows it to intelligently avoid furniture, walls, and other obstacles, reducing unnecessary detours and stops, thus completing the cleaning task in a shorter time. Furthermore, during the cleaning process, it can adjust the pressure of the brush plate on the floor according to the type of stain and the floor material, better meeting different cleaning needs.

[0038] All parts not described in this utility model are the same as or can be implemented using existing technology. Although embodiments of this utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this utility model, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart floor scrubber with obstacle avoidance function, characterized in that, include: The floor scrubber body (1) has an insert cylinder (103) fixedly installed at one end. A power supply head (101) is provided inside the insert cylinder (103). An obstacle avoidance mechanism (2) can be inserted and removed inside the insert cylinder (103) and is electrically connected to the obstacle avoidance mechanism (2) through the power supply head (101). Connecting arms (104) are fixedly installed on both sides of the floor scrubber body (1). A lifting mechanism (3) is fixedly installed inside the connecting arm (104) so ​​that the lifting mechanism (3) can adjust the distance between the brush and the ground and the pressure of the ground. The obstacle avoidance mechanism (2) includes an insert plate (201), in which a laser radar (202) is fixedly installed. The interface (203) of the laser radar (202) is opened on the lower surface of the insert plate (201). When the insert plate (201) is inserted into the insert cylinder (103), the interface (203) on the lower surface drives the power supply head (101) to be inserted into it. The signal transmitting end of the laser radar (202) is connected to the signal receiving end of the controller. The control output end of the controller is electrically connected to the drive motor of the floor scrubber body (1). The lifting mechanism (3) includes a hydraulic rod (301), which is fixedly installed inside the connecting arm (104). A U-shaped frame (302) is fixedly installed on the lower surface of the output shaft of the hydraulic rod (301). A roller (303) is rotatably installed inside the U-shaped frame (302). A connecting plate (304) is fixedly installed at one end of the U-shaped frame (302). A sliding column (305) is fixedly installed on the upper surface of the connecting plate (304). The sliding column (305) slides through the horizontal plate fixedly installed at one end of the connecting arm (104).

2. The intelligent floor scrubber with obstacle avoidance function according to claim 1, characterized in that: A light (102) is electrically connected to one end of the floor scrubber body (1).

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