Subway passenger room cleaning robot

Abstract

The utility model discloses a metro passenger room cleaning robot, relates to the technical field of metro passenger room cleaning devices, and aims to solve the problem that an existing robot is not suitable for metro passenger room cleaning. Comprising a shell, a chassis, a power supply device and a seat cleaning assembly, a cleaning assembly, a rolling and dragging assembly and a driving wheel assembly are installed on the chassis. The seat cleaning assembly comprises an electric transverse moving device, a rotating brush, a rotating brush motor and a motor mounting seat, the electric transverse moving device is fixedly connected with the chassis, the motor mounting seat is fixedly connected with a movable sliding table of the electric transverse moving device, the rotating brush motor is mounted in the motor mounting seat, the rotating brush is fixedly connected with the output end of the rotating brush motor, and the rotating brush is obliquely arranged; the electric transverse moving device and the rotating brush motor are connected with a power supply device. The robot is convenient to move in the passenger room, and can comprehensively clean the floor and seats of the passenger room.

Description

Technical Field

[0001] This utility model relates to the technical field of subway passenger compartment cleaning devices, and in particular to a subway passenger compartment cleaning robot. Background Technology

[0002] As a vital component of urban public transportation, the cleanliness of subway passenger compartments is receiving increasing attention from operating companies. Daily cleaning of subway cars encompasses both floor and seat cleaning, primarily carried out manually at night when trains are not in operation. However, manual cleaning suffers from low efficiency, high labor intensity, and inconsistent cleaning quality. With the increasing prevalence of robotic applications, using robots for passenger compartment cleaning is gradually emerging as a solution.

[0003] For example, commercial cleaning robots can be driven by staff to effectively clean areas such as shopping malls and corridors. However, these robots are bulky and have difficulty entering and exiting subway passenger compartments. The handrails and other fixtures inside the passenger compartments also make it difficult for the cleaning robots to move around. In addition, they cannot clean the floor under the seats or the seats in the passenger compartment. Therefore, they are not suitable for cleaning subway passenger compartments.

[0004] For example, patent number 202010497895.X, patent title: A subway interior cleaning robot system and method, including a telescopic guide rail mechanism for robot movement; a steel pipe clamping mechanism for clamping adjacent steel pipes in subway car aisles; a seat cleaning mechanism for cleaning subway seats; and a floor cleaning mechanism for cleaning the subway floor. However, due to the robot's large size, it has difficulty entering and exiting passenger compartments and has blind spots in its cleaning; furthermore, it can only move using handrails and cannot move autonomously in connecting passages or other areas without handrails, requiring manual assistance for boarding and transfer within the car.

[0005] Traditional home cleaning robots are only suitable for cleaning indoor environments with low levels of dirt, and are not suitable for cleaning subway passenger compartments with high levels of dirt and large areas, nor can they clean passenger seats.

[0006] Therefore, in order to improve the efficiency of daily cleaning of subway passenger compartments, free up manpower, and ensure cleaning results, a robot for daily cleaning of subway passenger compartments has been proposed. Utility Model Content

[0007] To address the aforementioned technical problems, the purpose of this utility model is to provide a subway passenger compartment cleaning robot.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] A subway passenger compartment cleaning robot is provided, comprising a housing, a chassis, and a power supply device, wherein the housing is fixedly connected to the chassis, and characterized in that it further comprises a seat cleaning component;

[0010] The chassis is equipped with a cleaning assembly, a rolling assembly, and a drive wheel assembly.

[0011] The seat cleaning assembly includes an electric traverse device, a rotating brush, a rotating brush motor, and a motor mounting base. The electric traverse device is fixedly connected to the chassis, and the motor mounting base is fixedly connected to the moving slide of the electric traverse device. The rotating brush motor is installed in the motor mounting base, and the rotating brush is fixedly connected to the output end of the rotating brush motor. The rotating brush is tilted, and the electric traverse device and the rotating brush motor are connected to the power supply device.

[0012] Compared with the prior art, the present invention has the following technical effects:

[0013] The subway passenger compartment cleaning robot provided in this application includes a cleaning component and a roller / mop component that can perform garbage sweeping, vacuuming, and mopping operations on the subway passenger compartment floor. The seat cleaning component can automatically clean the seats. The drive wheel component allows the robot to smoothly pass through gaps in the platform and doors to enter the passenger compartment, reducing the robot's blind spots. Together with the cleaning component, roller / mop component, and seat cleaning component, they ensure efficient cleaning of the train passenger compartment and reduce blind spots. The rotating brush of the seat cleaning component, in conjunction with the brush motor, can simultaneously perform all-around cleaning of the seat surface and backrest as the robot moves along the seat. The electric lateral movement device ensures that even when there are objects such as toolboxes or fire extinguishers under the seat that the robot cannot reach, it can still perform a thorough cleaning of the seat. Attached Figure Description

[0014] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0015] Figure 1 This is a schematic diagram of the subway passenger compartment cleaning robot during passenger compartment cleaning, according to an embodiment of this utility model.

[0016] Figure 2 for Figure 1 A schematic diagram of a subway passenger compartment cleaning robot;

[0017] Figure 3 for Figure 2 A schematic diagram of the structure of the seat cleaning component;

[0018] Figure 4 for Figure 2 A schematic diagram of components mounted on the mid-chassis;

[0019] Figure 5 for Figure 4 Side view of components mounted on the mid-chassis;

[0020] Figure 6 for Figure 4 A bottom view of the components mounted on the mid-chassis;

[0021] Figure 7 for Figure 5 A schematic diagram of the structure of a medium-sized garbage collection box.

[0022] Figure label:

[0023] 10-Chassis, 20-House, 31-Screw slide, 32-Moving slide, 33-Motor mounting base, 34-Rotating brush motor, 35-Rotating brush, 36-Reducer, 37-Transverse motor, 41-Disc brush, 42-Gear motor, 43-Garbage collection box, 431-Box body, 432-Extension plate, 433-Rotating plate, 434-Return spring, 44-Flange, 45-Disc brush assembly mounting bracket, 51-Roller mounting bracket, 52-Roller, 53-Roller lifting mechanism, 61-Servo motor, 62-Mecanum wheel, 63-Auxiliary wheel. Detailed Implementation

[0024] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] See details Figures 1 to 7 As shown, the subway passenger compartment cleaning robot provided in this embodiment of the utility model includes a chassis 10, a housing 20, a power supply device, and a seat cleaning component, with the housing 20 fixedly connected to the chassis 10.

[0027] The chassis 10 is equipped with a cleaning assembly, a rolling assembly, and a drive wheel assembly;

[0028] The seat cleaning assembly includes an electric lateral movement device, a rotating brush 35, a rotating brush motor 34, and a motor mounting base 33. The electric lateral movement device is fixedly connected to the chassis 10. The motor mounting base 33 is fixedly connected to the moving slide 32 of the electric lateral movement device. The rotating brush motor 34 is installed in the motor mounting base 33. The rotating brush 35 is fixedly connected to the output end of the rotating brush motor 34. The rotating brush 35 is tilted. The electric lateral movement device and the rotating brush motor 34 are connected to a power supply device.

[0029] In practice:

[0030] The chassis 10 of the cleaning robot is used to support other components. The chassis 10 is equipped with cleaning components, drive wheel components, a rolling / mopping component, a seat cleaning component, and other auxiliary parts. The seat cleaning component extends upwards through the housing 20. Auxiliary parts include a lidar component, a fall protection sensor component, and a mounting bracket for the cleaning component.

[0031] The drive wheel assembly includes four servo motors, a reducer, Mecanum wheels 62, and auxiliary wheels 63, enabling the robot to move in all directions. The auxiliary wheels 63 are located in front of the four Mecanum wheels 62, improving the robot's ability to cross ditches. The lidar assembly includes a lidar adjustment bracket and a lidar sensor, used for mapping and autonomous navigation. The fall protection sensor assembly includes four fall protection sensors and a fall protection sensor mounting bracket. The fall protection sensors are mounted at the four corners of the robot chassis 10 via the mounting bracket. They detect whether the robot is suspended by diffuse reflection of light. When the robot is suspended, the light emitted by the fall protection sensors cannot be reflected back to the receiver from the ground. Upon receiving the fall protection signal, the control system stops the robot. The drive wheel assembly is connected to the chassis 10, and the lidar adjustment bracket and the fall protection sensor mounting bracket are connected to the chassis 10 by bolts.

[0032] The seat cleaning component includes an electric transverse movement device, a rotary brush motor 34, a rotary brush 35, and a motor mounting base 33. The electric transverse movement device includes a transverse movement motor 37, a reducer 36, a screw rod slide 31, and a moving slide 32. The screw rod slide 31 is installed on the chassis 10. The reducer 36 is installed at the input end of the screw rod slide 31 in a downward folding manner. The transverse movement motor 37 is installed at the input end of the reducer 36. The transverse movement motor 37 drives the screw rod of the screw rod slide 31 to rotate through the reducer 36, thereby driving the moving slide 32 to move. The motor mounting base 33 is installed on the moving slide 32 of the electric transverse movement device. The rotary brush motor 34 is an ultra-thin brushless motor and is installed on the motor mounting base 33. The rotary brush 35 uses seat-shaped bristles and is installed at the output end of the rotary brush motor 34, which can clean the seat without dead angles. Further, the rotary brush 35 is inclined and forms a certain angle with the electric transverse movement device. With the seat-shaped bristles of the rotary brush 36, it realizes the comprehensive cleaning of the seat. The angle between the rotary brush 35 and the electric transverse movement device is an acute angle, and it can move above the seat to cooperate with the profiling brush to clean the seat.

[0033] The cleaning component includes two sets of reduction motors 42, flanges 44, and disk brushes 41. The reduction motors 42 are fixed to the chassis 10 by bolts. The flanges 44 are installed on the output shafts of the reduction motors 42. The disk brushes 41 are connected to the flanges 44 by bolts. The disk brushes 41 are disk-shaped nylon long-haired brushes. The two sets of disk brushes 41 are arranged vertically with partial overlap to reduce the cleaning blind area. The two disk brushes 41 rotate towards each other to sweep the garbage into the garbage collection box 43. The disk brushes 41 are inclined forward by 10° and outward by 2° to ensure that all the garbage is swept into the garbage collection box 43.

[0034] The garbage collection box 43 supporting the cleaning component is fixed to the bottom of the chassis 10 and is located behind the cleaning component. An extension plate 432 is installed at the front of the garbage collection box 43, and the extension plate 432 extends forward to the rear of the part where the disk brush 41 contacts the ground to ensure that the disk brush 41 sweeps the garbage along the extension plate 432 into the garbage collection box 43. The bottom of the garbage collection box 43 is a garbage discharge port. The rotating plate 433 closing the garbage discharge port is a rotatable structure and can only rotate downward in one direction. A return spring 434 (at the end close to the garbage inlet) is installed at the front end of the rotating plate 433 to prevent the rotating plate 433 from rotating during cleaning and causing the garbage to fall. A limiting plate is provided on the inner side wall of the garbage collection box 43 on the side far from the garbage inlet, which cooperates with the return spring 434 to ensure the one-way rotation of the rotating plate 433. To ensure the automatic opening of the garbage collection box 43, a base station for the service robot can also be set. When the service robot returns to the garbage dumping position of the base station, the lifting device set in the base station will move upward,带动 the rear end of the rotating plate 433 to move upward, and the garbage will fall into the garbage recycling device in the base station. The base station can also set an automatic charging device to charge the robot.

[0035] The mopping assembly includes a mop 52, a mopping motor (not shown in the figure), a mopping mounting frame 51, and a mopping lifting mechanism 53. The mop 52 is installed inside the mopping mounting frame 51, which is hinged to the chassis 10. The mop 52 is rotatably mounted inside the mopping mounting frame 51, and the mopping motor drives the mop 52 to rotate within the mopping mounting frame 51. The two ends of the mopping lifting mechanism 53 are hinged to the chassis 10 and the mopping mounting frame 51, allowing the mop 52 to move upwards and downwards under the drive of the lifting mechanism 53. The lifting mechanism 53 is used to adjust the ground clearance of the mopping assembly. When not performing mopping operations, it raises the mopping assembly to improve the robot's passability and operating speed; when performing mopping operations, the lifting mechanism 53 lowers the mopping assembly, bringing the mop 52 into contact with the ground and applying downward pressure to ensure effective mopping.

[0036] The housing 20 is a one-piece structure, mounted on the chassis 10. The cleaning components, rolling / dragging components, and drive wheel components are also mounted on the chassis 10. Auxiliary components such as cameras, ultrasonic sensors, safety edges, a touchscreen, power on / off buttons, an emergency stop button, and LED strips are mounted on the housing 20. The cameras are designed to detect dirt and grime, monitoring the level of dirt on the floor and seats in real time during cleaning. Dirtier areas require longer cleaning times, and the robot reports the location of any debris it cannot clean. An ultrasonic sensor is mounted on each of the robot's four sides for obstacle avoidance during movement and rotation, supplementing the blind spots of the lidar. Safety edges are located at the bottom of the housing 20 to detect collisions with obstacles. The touchscreen, power on / off button, and emergency stop button are all mounted on the housing 20. The touchscreen controls the robot and displays its status, the power on / off button powers on and off the power supply and robot system, and the emergency stop button stops all robot actions in an emergency. LED strips are located at the four corners of the housing 20, using color changes to indicate robot status changes.

[0037] The power supply unit can use lithium iron phosphate batteries, equipped with a wireless charging receiver. The power supply unit is installed inside the housing 20 or on the chassis 10, providing power to the robot. Power is switched on and off using the power button on the housing 20. The wireless charging receiver can charge the battery at the base station. The power supply unit connects to the cleaning components, rolling components, drive wheel components, and seat cleaning components, providing power. To control the cleaning robot, a control system is also provided. This control system is used for the robot's autonomous navigation and the control of actuators such as motors in various components.

[0038] After the cleaning robot is powered on and enters the carriage, it turns on the two disc brush motors 41 and the roller mop motor to start sweeping and mopping. When it reaches the seats, the electric lateral movement device moves the rotating brush 35 of the seat cleaning component to the position of fully covering the seats, turns on the rotating brush motor 34 to clean the seats, and turns off the rotating brush motor 34 after the seats are cleaned. The electric lateral movement device drives the rotating brush 35 of the seat cleaning component to reset. After cleaning one carriage, the robot automatically moves to the next carriage to clean.

[0039] The subway passenger compartment cleaning robot provided in this application includes a cleaning component and a roller / mop component that can perform garbage sweeping, vacuuming, and mopping operations on the subway passenger compartment floor. The seat cleaning component can automatically clean the seats. The drive wheel component allows the robot to smoothly pass through gaps in the platform and doors to enter the passenger compartment, reducing the robot's blind spots. Together with the cleaning component, roller / mop component, and seat cleaning component, they ensure efficient cleaning of the train passenger compartment and reduce blind spots. The rotating brush of the seat cleaning component, in conjunction with the brush motor, can simultaneously perform all-around cleaning of the seat surface and backrest as the robot moves along the seat. The electric lateral movement device ensures that even when there are objects such as toolboxes or fire extinguishers under the seat that the robot cannot reach, it can still perform a thorough cleaning of the seat.

[0040] As one possible implementation, the electric traverse device also includes a lead screw slide 31, a reducer 36, and a traverse motor 37; the lead screw slide 31 is mounted on the chassis 10, the movable slide 32 is slidably connected to the lead screw slide 31, the output end of the traverse motor 37 is drivenly connected to the input end of the reducer 36, and the output end of the reducer 36 is drivenly connected to the lead screw of the lead screw slide 31.

[0041] The system employs a combination of a transverse motor 37, a reducer 36, and a lead screw slide 31. During operation, the transverse motor 37 drives a movable slide 32 along the lead screw slide 31, thereby adjusting the position of the rotating brush 35 mounted on the movable slide 32. This ensures that even when there are obstacles under the seat, the rotating brush 35 can still thoroughly clean the seat. The electric transverse device can be purchased as a separate component. Alternatively, a ball screw-like design can be used. The motor mounting base 33 is mounted on the adjusting nut of the ball screw, and both ends of the ball screw are rotatably connected to the chassis 10. The transverse motor 37 is connected to the ball screw via the reducer 36, allowing it to rotate on the chassis 10. This, in turn, adjusts the position of the motor mounting base 33 mounted on the adjusting nut, ultimately adjusting the position of the rotating brush 35. To ensure stability during the adjustment of the rotating brush 35's position, guide strips can be installed on both sides of the ball screw to prevent the rotating brush 35 from wobbling during position adjustment (as it rotates with the screw). Alternatively, two ball screws of the same model can be used, arranged in parallel. The screws of the ball screws are rotatably connected to the chassis 10, and the reducer 36 synchronously drives the two ball screws. The motor mounting base 33 is connected to the adjusting nuts of both ball screws, which can realize the stable position adjustment of the rotating brush 35.

[0042] In one possible implementation, the cleaning assembly includes a disc brush 41, a geared motor 42, and a waste collection box 43. The geared motor 42 is fixedly connected to the chassis 10, and the disc brush 41 is fixedly connected to the output end of the geared motor 42 via a flange 44. The waste collection box 43 is located behind the disc brush 41, and a waste inlet is provided on the side of the waste collection box 43 facing the disc brush 41. The disc brush 41 and the geared motor 42 are in two sets, with the edges of the two sets of disc brushes 41 overlapping and rotating in opposite directions at the same speed. The disc brush 41 extends into the waste inlet. Furthermore, the forward tilt angle of the disc brush 41 is 10 degrees, and the outward tilt angle is 2 degrees.

[0043] The use of two sets of disc brushes 41, combined with partial overlap, ensures effective cleaning of the floor and avoids missing any cleaning areas. The disc brushes 41 extend into the garbage inlet of the garbage collection box 43, allowing them to better sweep garbage into the box and guarantee cleaning efficiency. The forward and outward tilt angles of the disc brushes 41 further enhance their cleaning effectiveness.

[0044] As one possible implementation, the garbage collection box 43 includes a box body 431, an extension plate 432, a rotating plate 433, and a return spring 434; the extension plate 432 is located at the garbage inlet and extends obliquely downward to below the disc brush 41; the rotating plate 433 is rotatably connected to the box body 431 to close the garbage discharge port at the bottom of the box body 431; a limit plate (not shown in the figure) is provided on the side of the inner cavity of the box body 431 away from the garbage inlet; one side of the rotating plate 433 abuts against the limit plate; and the two ends of the return spring 434 are fixedly connected to the inner wall of the box body 431 and the side of the rotating plate 433 away from the limit plate, respectively.

[0045] The extension plate 432 provides guidance for the garbage swept by the disc brush 41, allowing it to be swept into the garbage collection box 43 more effectively. The rotating plate 433 at the garbage discharge port, together with the return spring 434 and the limit plate, enables the turntable to rotate in one direction, preventing garbage from accidentally falling during the cleaning operation.

[0046] In one possible implementation, the roller mop assembly is located behind the cleaning assembly and includes a roller mop mounting frame 51, a roller mop 52, a roller mop motor, and a roller mop lifting mechanism 53. The fixed end of the roller mop mounting frame 51 is hinged to the chassis 10, the roller mop 52 is rotatably connected to the roller mop mounting frame 51, the roller mop motor (not shown in the figure) is fixedly connected to the roller mop mounting frame 51, the output end of the roller mop motor is drively connected to the roller mop 52, and the two ends of the roller mop lifting mechanism 53 are hinged to the chassis 10 and the roller mop mounting frame 51, respectively.

[0047] The roller mounting frame 51, which is matched with the roller trailer 52, enables the installation of the roller trailer 52. The roller trailer lifting mechanism 53 can drive the roller mounting frame 51 to move downward and upward, thereby adjusting the working position and non-working position of the roller trailer 52. In the working position, the roller trailer 52 is in contact with the ground and performs roller trailer operations on the ground. In the non-working position, the roller trailer 52 is separated from the ground, which improves the robot's mobility.

[0048] As one possible implementation, the drive wheel assembly includes a servo motor 61, a Mecanum wheel 62, and an auxiliary wheel 63; the Mecanum wheel 62 is fixedly connected to the chassis 10 and is drivenly connected to the servo motor 61, and the auxiliary wheel 63 is fixedly connected to the chassis 10 and is located in front of the Mecanum wheel 62.

[0049] The servo motor 61 is connected to the Mecanum wheel 62, which can drive the Mecanum wheel 62 to move, improving the mobility of the cleaning robot. In conjunction with the auxiliary wheel 63, it improves the cleaning robot's ability to overcome obstacles.

[0050] As one possible implementation, the cleaning robot also includes a fall protection sensor; the fall protection sensor is installed at the bottom of the chassis 10. Furthermore, the cleaning robot also includes a lidar, an ultrasonic sensor, and a camera; the lidar, ultrasonic sensor, and camera are located at the front of the housing 20, and protective contact edges are provided at the edges of the housing 20.

[0051] The auxiliary components ensure the stable operation of the cleaning robot.

[0052] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0053] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A subway passenger room cleaning robot comprising a shell, a chassis and a power supply device, the shell is fixedly connected with the chassis, characterized in that, Also include seat cleaning assembly; The chassis is provided with a cleaning assembly, a rolling mop assembly and a driving wheel assembly; The seat cleaning assembly comprises an electrically-driven horizontal moving device, a rotating brush, a rotating brush motor and a motor mounting seat, the electrically-driven horizontal moving device is fixedly connected with the chassis, the motor mounting seat is fixedly connected with a moving slide table of the electrically-driven horizontal moving device, the rotating brush motor is fixedly connected with the motor mounting seat, the rotating brush is fixedly connected with an output end of the rotating brush motor, the rotating brush is obliquely arranged, and the electrically-driven horizontal moving device and the rotating brush motor are connected with the power supply device.

2. The subway passenger room cleaning robot according to claim 1, characterized by, The electrically-driven horizontal moving device further comprises a screw slide table, a speed reducer and a horizontal moving motor; The screw slide table is mounted on the chassis, the moving slide table is slidingly connected with the screw slide table, an output end of the horizontal moving motor is transmissionally connected with an input end of the speed reducer, and an output end of the speed reducer is transmissionally connected with a screw rod of the screw slide table.

3. The subway passenger room cleaning robot according to claim 1, characterized in that, The cleaning assembly comprises a disc brush, a speed reducer motor and a garbage collection box; The speed reducer motor is fixedly connected with the chassis, the disc brush is fixedly connected with an output end of the speed reducer motor through a flange, the garbage collection box is arranged behind the disc brush, and a garbage inlet is arranged on a side of the garbage collection box facing the disc brush. The disc brush and the speed reducer motor are two groups, the edge portions of the two groups of disc brushes are overlapped, and the two groups of disc brushes rotate at the same speed, and the disc brushes extend into the garbage inlet.

4. The subway passenger room cleaning robot according to claim 3, characterized by, The disc brush has a front inclination angle of 10 degrees and an outer inclination angle of 2 degrees.

5. The subway passenger room cleaning robot according to claim 3, characterized by, The garbage collection box comprises a box body, an extension plate, a rotating plate and a restoring spring; The extension plate is arranged at the position of the garbage inlet and extends obliquely downward to below the disc brush, the rotating plate is rotationally connected with the box body, the rotating plate closes a garbage discharge opening at the bottom of the box body, a limiting plate is arranged on a side of an inner cavity of the box body away from the garbage inlet, one side of the rotating plate is abutted against the limiting plate, and two ends of the restoring spring are fixedly connected with a cavity wall of the box body and a side of the rotating plate away from the limiting plate.

6. The subway passenger room cleaning robot according to claim 1, wherein The rolling mop assembly is arranged behind the cleaning assembly and comprises a rolling mop mounting rack, a rolling mop, a rolling mop motor, a rolling mop lifting mechanism; A fixed end of the rolling mop mounting rack is hingedly connected with the chassis, the rolling mop is rotationally connected with the rolling mop mounting rack, the rolling mop motor is fixedly connected with the rolling mop mounting rack, an output end of the rolling mop motor is transmissionally connected with the rolling mop, and two ends of the rolling mop lifting mechanism are hingedly connected with the chassis and the rolling mop mounting rack respectively.

7. The subway passenger room cleaning robot according to claim 1, wherein The driving wheel assembly comprises a servo motor, a Mecanum wheel and an auxiliary wheel; The Mecanum wheel is fixedly connected with the chassis and transmissionally connected with the servo motor, and the auxiliary wheel is fixedly connected with the machine shell and located in front of the Mecanum wheel.

8. The subway passenger room cleaning robot according to claim 1, wherein, The cleaning robot further comprises an anti-falling sensor; The anti-falling sensor is mounted at the bottom of the chassis.

9. The subway passenger room cleaning robot according to claim 1, wherein, The cleaning robot further comprises a laser radar, an ultrasonic sensor and a camera; The laser radar, the ultrasonic sensor and the camera are arranged in front of the machine shell, and a protective touch edge is arranged at an edge position of the machine shell.

Images