Cleaning robot

Abstract

The utility model discloses a cleaning robot. The cleaning robot comprises a driving part, a traction rod, a mode switching part and a main body, the driving part is used for generating a first control signal for controlling the speed and direction of the main body; the traction rod generates a second control signal for controlling the speed and direction of the main body; the mode switching component is used for generating a switching signal for switching a motion control mode of the main body; the motion control mode comprises a mode of controlling the speed and direction of the main body through the first control signal and a mode of controlling the speed and direction of the main body through a second control signal; according to the cleaning robot, the driving component or the traction rod can be switched through the switching component to control the speed and direction of the main body, a user can switch different modes to control the speed and direction according to cleaning scene needs, switching cleaning in different scenes is facilitated, and time and physical strength cost are saved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a cleaning robot. Background Technology

[0002] Currently, most cleaning robots are driven by either a driving mechanism, automatic following, or lever-operated control. When using a driving mechanism, the robot can only perform tasks like automatic sweeping. However, when encountering areas that cannot be automatically cleaned or are inconvenient to clean, the robot cannot flexibly change its working environment and requires the user to dismount and clean. For example, when using a high-pressure water gun to clean stains on a sidewalk or to clean debris under trees and bicycles, the robot cannot be driven automatically. The user must stop the robot, carry the cleaning tools, work in the area to be cleaned, and then return to restart the robot. This process significantly increases the physical exertion and working time, especially for large areas. Similarly, when using lever-operated or lever-operated control, the robot's movement requires considerable physical exertion from the user. Furthermore, smooth control of actions like reversing and turning is not possible, requiring significant effort from the user to overcome inertia and manual steering. Whether using the driving mode or the non-drive lever mode, users cannot simultaneously perform cleaning work and control the cleaning robot to follow the cleaning needs, nor can they easily control the robot to walk with one hand while performing cleaning work with the other.

[0003] To address these issues, current technologies propose a combination of levers and automatic following. However, automatic following can easily lead to the robot losing track of other components, and it may also cause the robot to follow in situations or locations where it is not needed. This makes it impossible to control the movement of the main body of the cleaning robot more intelligently based on the user's operational needs. Utility Model Content

[0004] In order to further improve the cleaning efficiency of cleaning robots and reduce physical exertion and time costs, and to better meet users' needs for intelligent control of the walking and cleaning of cleaning robots in various cleaning operation scenarios, this utility model proposes a cleaning robot.

[0005] To achieve the above objectives, this utility model provides a cleaning robot, comprising: a driving component, a traction rod, a mode switching component, and a main body; the driving component is used to generate a first control signal for controlling the speed and direction of the main body; the traction rod generates a second control signal for controlling the speed and direction of the main body; the mode switching component is used to generate a switching signal for switching the motion control mode of the main body; the motion control mode includes: a mode for controlling the speed and direction of the main body through the first control signal and a mode for controlling the speed and direction of the main body through the second control signal.

[0006] Optionally, the cleaning robot further includes a controller; the controller is communicatively connected to the driving component, the tow bar, and the mode switching component, and is used to select the first control signal or the second control signal according to the switching signal of the mode switching component and to control the speed and direction of the main body.

[0007] Optionally, the driving component is mounted at the rear end of the main body, and the tow bar is mounted at the front end of the main body.

[0008] Optionally, the traction rod is rotatably mounted on the front end of the main body, and the main body is provided with a groove for placing the traction rod.

[0009] Optionally, the driving component includes a joystick; the joystick is used to generate the first control signal for controlling the speed and direction of the main body.

[0010] Optionally, the traction rod includes a handle and a steering rod; the handle is connected to the steering rod; the second control signal includes a second forward / backward control signal, a second speed control signal, and a second steering control signal; the handle is used to generate a second forward / backward control signal to control the body to move forward or backward and a second speed control signal to control the speed of the body; the steering rod is used to generate a second steering control signal to control the steering of the body.

[0011] Optionally, the handle is a rotary handle, which generates a rotation direction and a rotation angle by rotating. The rotation direction and the rotation angle are respectively used as the second forward / backward control signal and the second speed control signal.

[0012] Optionally, the handle is a pull handle, which generates the direction and magnitude of the pull force through a pulling method. The direction and magnitude of the pull force serve as the second forward / backward control signal and the second speed control signal, respectively.

[0013] Optionally, the pull handle includes: an arc-shaped pull rod and a force sensor; the arc-shaped pull rod is used to generate the magnitude and direction of the pull force; the force sensor is connected to the arc-shaped pull rod and is used to sense the magnitude and direction of the pull force of the arc-shaped pull rod.

[0014] Optionally, the steering rod includes a connecting rod and a third angle sensor; the connecting rod is connected to the handle and rotatably connected to the main body; the third angle sensor is used to measure the rotation angle of the connecting rod, and the rotation angle serves as a second steering control signal.

[0015] This utility model has the following beneficial effects:

[0016] The cleaning robot of this utility model includes a driving component and a tow bar. By switching the component, the speed and direction of the main body can be controlled by switching between the driving component and the tow bar. Users can switch between different modes to control the speed and direction according to the needs of the cleaning scenario, which is convenient for switching between different cleaning scenarios and saves time and physical labor costs.

[0017] The driving component of this utility model is located at the rear of the cleaning robot, allowing the user to drive the cleaning robot from behind the main body for automatic cleaning control of a predetermined area. The tow rod is installed at the front of the main body, allowing the user to control the speed and direction of the cleaning robot from the front while performing cleaning operations, making it easier to find and clean up trash.

[0018] The traction rod of this utility model cleaning robot is rotatably mounted at the front end of the main body. The main body is provided with a groove for placing the traction rod. When in use, the traction rod can be rotated to the front of the main body. When not in use, it can be rotated into the groove to save space and avoid obstructing cleaning.

[0019] The tow bar of this utility model uses rotation or pulling to control the forward or backward movement and speed of the vehicle. At the same time, when operating the handle, the steering rod is rotated according to the work requirements to achieve the main body steering control, so that the main body follows the user's work direction. It can meet and follow the user's work speed and direction with single-handed intelligent control, and has intelligence and operation convenience. It can intelligently control the main body's direction and speed according to the work requirements. Attached Figure Description

[0020] Figure 1 This is a structural schematic diagram of an embodiment of the cleaning robot of this utility model;

[0021] Figure 2 This is a schematic diagram of another perspective of an embodiment of the cleaning robot of this utility model;

[0022] Figure 3 This is a schematic diagram of the structure of an embodiment of the joystick of this utility model;

[0023] Figure 4 This is a schematic diagram of the structure of an embodiment of the traction rod of this utility model;

[0024] Figure 5 This is an exploded view of the handle structure of an embodiment of the traction rod of this utility model;

[0025] Figure 6 This is a schematic diagram of another embodiment of the traction rod of this utility model;

[0026] Figure 7 This is a cross-sectional schematic diagram of the handle structure of another embodiment of the traction rod of this utility model.

[0027] Explanation of icon numbers:

[0028] Driving components; 11. Control lever; 111. Accelerator lever; 112. Steering lever; 1121. Rotary lever; 1122. Gear; 1123. First angle sensor; 113. Brake lever; 1131. Press lever; 1132. Cable; 1133. Rotary lever; 1134. Rotation sensor; 12. Pedal; 13. Baffle; 2. Tow bar; 21. Handle; 211. Rotary handle; 212. Second angle sensor; 213. Mounting shaft; 214. Reset structure; 22. Steering lever; 221 1. Connecting rod; 222. Third angle sensor; 223. Shaft box; 224. Shaft; 225. Mounting bracket; 23. Start / stop button; 3. Mode switching component; 31. Rear control panel; 32. Switching button; 4. Main body; 41. Groove; 51. Arc-shaped pull rod; 52. Force sensor; 53. Inner shaft; 54. Bracket; 55. Fixing piece; 56. Sleeve; 57. Linear bearing; 58. First damping shaft; 59. Damping fixing plate; 520. Hinge; 521. First bearing; 122. Sealing ring. Detailed Implementation

[0029] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0030] Reference Figure 1 and Figure 2 A cleaning robot is characterized by comprising: a driving component 1, a traction rod 2, a mode switching component 3, a main body 4, and a controller; the driving component 1, traction rod 2, mode switching component 3, and controller are mounted on the main body 4; the driving component 1 generates a first control signal to control the walking direction and speed of the main body; the traction rod 2 generates a second control signal to control the walking direction and speed of the main body; the mode switching component 3 generates a switching signal to switch the motion control mode of the main body, the motion control mode including: a mode that controls the speed and direction of the main body through the first control signal, and a mode that controls the speed and direction of the main body through the second control signal. The controller is communicatively connected to the driving component 1, the traction rod 2, and the mode switching component 3, and receives the first control signal from the driving component 1, the second control signal from the traction rod 2, and the switching signal from the mode switching component 3, and selects either the first control signal or the second control signal to control the speed and direction of the main body according to the switching signal.

[0031] The driving component 1 is installed at the rear of the main body, allowing the user to drive the cleaning robot from behind the main body for automatic cleaning control of a designated area. The tow bar 2 is installed at the front of the main body, allowing the user to control the speed and direction of the cleaning robot from the front while performing cleaning operations, making it easier to spot and clean debris.

[0032] Furthermore, the traction rod 2 is rotatably mounted on the front end of the main body. The main body 4 is provided with a groove 41 for placing the traction rod 2. When in use, the traction rod 2 can be rotated to the front of the main body 4, and when not in use, it can be rotatably placed into the groove 41.

[0033] The driving component 1 includes: a joystick 11, a pedal 12, and a baffle 13; the joystick 11 is located at the upper rear end of the main body 4, and is used to generate a first control signal to control the speed and direction of the main body; the pedal is located at the bottom rear end of the main body, and is used to provide space for a person to stand or install a seat; the pedal 12 is provided with a seat mounting structure, and the seat can be detachably mounted on the pedal through the seat mounting structure. The baffle 13 is located on both sides of the robot and extends to the opposite sides of the pedal 12, and is used to support and shield the driver from danger from the sides.

[0034] Reference Figure 3 The control lever 11 includes: a throttle lever 111, a steering lever 112, a brake lever 113, and forward / reverse gear buttons. The throttle lever 111, brake lever 113, and forward / reverse gear buttons (not shown) are mounted on the steering lever 112 for easy operation. The first control signal includes: a first speed control signal, a first steering control signal, a braking control signal, and a first forward / reverse control signal. The throttle lever 111 generates a first speed control signal to control the speed of the main body; the steering lever 112 generates a first steering control signal to control the steering of the main body; the brake lever 113 generates a braking control signal to control the braking of the main body; and the forward / reverse gear buttons generate a first forward / reverse control signal to control the forward or backward movement of the main body.

[0035] The accelerator lever 111 generates a first rotation angle signal by rotation, which serves as a first speed control signal. The steering lever 112 generates a first rotation angle signal by rotation, which serves as a first steering control signal. The steering lever 112 includes a rotating rod 1121, two gears 1122, and a first angle sensor 1123. One gear 1122 is mounted on the rotating rod 1121, and the other gear 1122 is coaxially connected to the first angle sensor 1123. The first angle sensor 1123 measures the rotation angle of the rotating rod 1121 through the meshing of the two gears 1122, which serves as the first rotation angle signal. The brake lever 113 generates a pressing signal by pressing, which serves as a braking control signal. The brake lever 113 includes a pressing handle 1131, a pull cable 1132, a rotating rod 1133, and a rotation sensor 1134. The pressing handle is connected to the pull cable 1132, the pull cable 1132 is connected to the rotating rod 1133, and the rotating rod 1133 is connected to the sensing shaft of the rotation sensor 1134 for measuring the pressing signal of the pressing handle 1131. Specifically, when the pressing handle is pressed, the pressing handle pulls the pull cable 1132, which drives the rotating rod 1133 to rotate, thereby causing the rotation sensor 1134 to sense an angle signal, which serves as the pressing signal. The forward and reverse gear buttons are located on the steering handle 112 or the main body, and the button status signal serves as the first forward and reverse control signal.

[0036] Reference Figures 4 to 7 The traction rod 2 includes a handle 21 and a steering rod 22. The handle 21 is connected to the steering rod 22, and the steering rod 22 is rotatably connected to the main body 4. The second control signal includes a second speed control signal, a second steering control signal, and a second forward / backward control signal. The handle 21 generates a second speed control signal to control the speed of the main body, and the steering rod 22 generates a second steering control signal to control the steering of the main body 4. The handle 21 or the forward / backward button controls the forward or backward movement of the main body 4 using the second forward / backward control signal.

[0037] Reference Figure 5The handle 21 is a rotary handle, generating a second rotation signal through rotation. The rotary handle includes: a rotary handle 211, a second angle sensor 212, a mounting shaft 213, and a reset structure 214. The rotary handle 211 is mounted on the mounting shaft 213, generating the second rotation signal and capable of rotating on the mounting shaft 213. The second angle sensor 212 is disposed on the rotary handle 211 or the mounting shaft 213, measuring the rotation angle of the rotary handle 211, which serves as a second speed control signal. The mounting shaft 213 is fixedly connected to the steering rod 22, and the rotary handle 211 and the mounting shaft 213 are reset via the reset structure 214. In this embodiment, the reset structure 214 is a reset spring. The second angle sensor 212 also measures the rotation direction of the rotary handle 211, which serves as a second forward / backward control signal, controlling the direction of the main body to move forward or backward. Alternatively, the forward / backward button status signal can be used as the second forward / backward control signal to control the direction of the main body to move forward or backward. The second angle sensor is a Hall sensor or an angle encoder.

[0038] The steering rod 22 includes a connecting rod 221 and a third angle sensor 222; the connecting rod 221 is connected to the handle 21 and rotatably connected to the main body; the third angle sensor 222 is used to measure the rotation angle of the connecting rod 221, that is, the rotation angle of the steering rod 22, as a second steering control signal.

[0039] The steering rod 22 further includes: a pivot box 223, a pivot shaft 224, and a mounting bracket 225. The connecting rod 221 is fixedly connected to the pivot box 223, and the pivot shaft 224 is disposed on the pivot box 223. The connecting rod 221 and the pivot box 223 rotate relative to the main body through the pivot shaft 224. The pivot shaft 224 is mounted on the mounting bracket 225, and the mounting bracket 225 is mounted on the main body. The connecting rod 221 and the pivot box 223 are rotatably connected to the main body and the mounting bracket 225 through the pivot shaft 224. The third angle sensor 222 is mounted on the pivot shaft 24.

[0040] The traction rod 2 also includes a start / stop button 23. The start / stop control unit is used to control the working state of the traction rod, which includes a start state and a stop state. When the start / stop button 23 controls the traction rod to be in the start state, the user can control the speed and direction of the main body through the traction rod; when the start / stop button 23 controls the traction rod to be in the stop state, the traction rod cannot control the speed and direction of the main body.

[0041] The mode switching component 3 includes a rear control panel 31. The rear control panel 31 is disposed on the main body. For ease of operation while driving, in this embodiment, the rear control panel 31 is disposed at the rear end of the main body near the control lever 11. The rear control panel 31 is provided with a switching control button 32 for generating a switching signal to switch the motion control mode of the main body.

[0042] Furthermore, the mode switching component 3 also includes a front control panel. The front control panel is located on the front side of the main body, near the pull rod, for easy user operation. The front control panel also includes a switching control button 32.

[0043] The controller selects either the first control signal of the driving component 1 or the second control signal generated by the tow bar 2 based on the switching signal from the switching button 32, and uses this selection to control the speed and direction of the main body. The first speed control signal, the braking control signal, the first forward / reverse control signal, and the first steering control signal of the first control signal are used to control the speed, braking, forward / reverse direction, and steering of the main body, respectively. The second speed control signal, the second forward / reverse control signal, and the second steering signal of the second control signal are used to control the speed, forward / reverse direction, and steering of the main body, respectively.

[0044] Furthermore, the cleaning robot also includes an automatic following module; the automatic following module is used to generate a third control signal to control the speed and direction of the main body (i.e., the vehicle body) through an automatic following algorithm. The motion control mode also includes an automatic following mode.

[0045] In another embodiment, refer to Figure 6 The handle 21 is a pull handle; the pull handle generates a pull signal by pulling; specifically, the pull signal includes: pull direction and pull direction, the pull direction generated by the pull handle is used as a second forward and backward control signal, and the pull magnitude generated by the pull handle is used as a second speed control signal.

[0046] Reference Figure 7The pull handle includes: an arc-shaped pull rod 51, a force sensor 52, an inner shaft 53, and a bracket 54; the pull handle generates a pulling force magnitude and direction through the arc-shaped pull rod 51, the pulling force magnitude serving as a second speed control signal, and the pulling force direction serving as a second forward / backward control signal; the arc-shaped pull rod 51 is connected to the force sensor 52, the force sensor 52 is used to sense the pulling force magnitude and direction of the arc-shaped pull rod 51, serving as the second speed control signal and the second forward / backward control signal; the arc-shaped pull rod 51 and the force sensor 52 are connected through the inner shaft 53, specifically, one end of the inner shaft 53 is connected to the arc-shaped pull rod 51, and the other end of the inner shaft 53 is connected to the force sensor 52; the force sensor 52 is fixedly disposed inside one end of the bracket 54, the inner shaft 53 is disposed inside the other end of the bracket 54, and one end of the arc-shaped pull rod 51 is slidably sleeved and connected to the other end of the bracket 54.

[0047] The pull handle also includes: a fixing member 55, a sleeve 56, a linear bearing 57, a first damping shaft 58, and a damping fixing plate 59; the inner shaft 53 is fixed to the force sensor 52 by the fixing member 55. The inner shaft 53 is sleeved inside the sleeve 56 and connected to the arc-shaped tie rod 51 through the sleeve 56. One end of the sleeve 56 is sleeved on the inner wall of one end of the arc-shaped tie rod 51. The linear bearing 57, the first damping shaft 58, and the damping fixing plate 59 are fixed inside the bracket 54. The sleeve 56 is sleeved on the linear bearing 57 and the first damping shaft 58. The first damping shaft 58 is mounted on the fixing member 55 through the damping fixing plate 59. The sleeve 56 is slidably connected to the bracket 54 through the linear bearing 57, the first damping shaft 58, and the damping fixing plate 59, so that the arc-shaped tie rod 51, the inner shaft 53, and the sleeve 56 can move along the axial direction of the bracket 54, so that the force sensor 52 can sense the tension signal. The fixing component 55 includes a hinge 520 and a first bearing 521. The inner shaft 53 is fixed and connected to the force sensor 52 via the hinge 520, achieving force balance when the pull rod 51, the inner shaft 53, and the sleeve 56 rotate, allowing the pull rod 51 to stop at any angle. This allows the user to rotate the arc-shaped handle during operation, facilitating user operation and adapting to changes in hand force during human operation, thus improving hand comfort. The inner shaft 53 is fixed to the hinge 520 via the first bearing 521, allowing the inner shaft 53 to slide at the hinge 520. A damping fixing piece 59 is installed on the first bearing 521. The pull handle 1 also includes a sealing ring 122; a sealing ring 122 is provided between the arc-shaped pull rod 11 and the bracket 14 to provide dustproof and waterproof sealing for the arc-shaped pull rod 11 and the internal structure of the bracket 14.

[0048] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0049] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A cleaning robot, characterized in that, include: Driving components, tow bar, mode switching components, and main body; The driving component is used to generate a first control signal to control the speed and direction of the main body; The traction rod generates a second control signal for controlling the speed and direction of the main body; the mode switching component generates a switching signal for switching the motion control mode of the main body; the motion control mode includes: a mode for controlling the speed and direction of the main body through the first control signal and a mode for controlling the speed and direction of the main body through the second control signal.

2. The cleaning robot as described in claim 1, characterized in that, Also includes: Controller; The controller is communicatively connected to the driving component, the tow bar, and the mode switching component, and is used to select the first control signal or the second control signal according to the switching signal of the mode switching component, and to control the speed and direction of the main body.

3. The cleaning robot as described in claim 1, characterized in that, The driving component is mounted at the rear end of the main body, and the tow bar is mounted at the front end of the main body.

4. The cleaning robot as described in claim 3, characterized in that, The traction rod is rotatably mounted on the front end of the main body, and the main body is provided with a groove for placing the traction rod.

5. The cleaning robot as described in claim 1, characterized in that, The driving component includes a joystick; the joystick is used to generate a first control signal that controls the speed and direction of the main body.

6. The cleaning robot as described in claim 1, characterized in that, The traction rod includes a handle and a steering rod; the handle is connected to the steering rod; the second control signal includes a second forward / backward control signal, a second speed control signal, and a second steering control signal; the handle is used to generate a second forward / backward control signal to control the body to move forward or backward and a second speed control signal to control the speed of the body; the steering rod is used to generate a second steering control signal to control the steering of the body.

7. The cleaning robot as described in claim 6, characterized in that, The handle is a rotary handle, which generates a rotation direction and a rotation angle by rotating. The rotation direction and the rotation angle are respectively used as the second forward / backward control signal and the second speed control signal.

8. The cleaning robot as described in claim 6, characterized in that, The handle is a pull handle, which generates the direction and magnitude of the pull force by pulling. The direction and magnitude of the pull force serve as the second forward / backward control signal and the second speed control signal, respectively.

9. The cleaning robot as described in claim 8, characterized in that, The pull handle includes an arc-shaped pull rod and a force sensor; the arc-shaped pull rod is used to generate the magnitude and direction of the pull force; the force sensor is connected to the arc-shaped pull rod and is used to sense the magnitude and direction of the pull force of the arc-shaped pull rod.

10. The cleaning robot according to any one of claims 6-8, characterized in that, The steering rod includes a connecting rod and a third angle sensor; the connecting rod is connected to the handle and rotatably connected to the main body; the third angle sensor is used to measure the rotation angle of the connecting rod, and the rotation angle serves as a second steering control signal.

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