Sweeping and mopping robot

Abstract

The utility model relates to the technical field of ground cleaning equipment, in particular to a sweeping and mopping robot. Comprising a vehicle body, a navigation positioning module, a cleaning module, an energy module and a control module. The vehicle body comprises a chassis, driving wheels installed below the chassis and a driving motor used for driving the driving wheels. The navigation positioning module is arranged on the chassis and provides navigation information for the control module; the energy module is arranged on the chassis and provides energy for the navigation module, the control module, the driving motor and the cleaning module; and the control module is arranged on the chassis. The navigation positioning module collects information around the vehicle body and transmits the information to the control module, and the control module plans a sweeping route by combining with a preloaded map and controls the driving wheels to move according to the information collected by the navigation positioning module so as to finish the action of stopping or bypassing obstacles.

Description

TECHNICAL FIELD

[0001] The utility model relates to ground cleaning equipment technical field, concretely relates to a sweeping and mopping robot. BACKGROUND

[0002] The mop is commonly used for cleaning large-scale shopping malls and outdoor roads. In the prior art, the mop has a single function, and is prone to collision with pedestrians in actual use. Manual operation is required to calibrate the cleaning route to ensure safety. For example, a mop vehicle disclosed in Chinese Patent Application Publication No. CN107476235A, published on December 15, 2017, includes a vehicle body, a seat, a control mechanism, a control module, a clean water tank, a washing tank, a running mechanism, a cleaning mechanism, a mopping mechanism, and a driving device for controlling the washing tank to swing. The washing tank is arranged at the rear of the vehicle body and is pivotally connected to the vehicle body. The washing tank can swing relative to the vehicle body about a vertical axis. The mopping mechanism is installed on the washing tank and swings with the washing tank. It can be seen that the seat is arranged on the vehicle body to manually control the mop vehicle to avoid collision with pedestrians. SUMMARY

[0003] In view of the deficiencies in the prior art, the purpose of the utility model is to:

[0004] I. Provide a full-automatic mop that combines a navigation control system to make the mop a sweeping and mopping robot with obstacle avoidance function.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a vehicle body, a navigation positioning module, a cleaning module, an energy module, and a control module are included.

[0006] The vehicle body includes a chassis, a drive wheel installed below the chassis, and a drive motor for driving the drive wheel.

[0007] The navigation positioning module is arranged on the chassis to provide navigation information for the control module.

[0008] The energy module is arranged on the chassis to provide energy for the navigation module, the control module, the drive motor, and the cleaning module.

[0009] The control module is arranged on the chassis to control the navigation module, the control module, the drive motor, and the cleaning module.

[0010] The cleaning module includes at least two front edge brushes, a roller brush, a garbage collection tank, and a mopping assembly. The front edge brushes, the roller brush, the garbage collection tank, and the mopping assembly are all installed on the chassis.

[0011] This solution uses a navigation and positioning module to collect information about the vehicle's surroundings and transmits it to a control module. The control module then uses a pre-loaded map to plan a cleaning route and controls the drive wheels based on the information collected by the navigation and positioning module to stop or avoid obstacles.

[0012] Optionally, the navigation and positioning module includes a LiDAR, a visual SLAM camera, a gyroscope, and an odometer. The vehicle body also includes a shell, on which the LiDAR and the visual SLAM camera are mounted. The LiDAR, the visual SLAM camera, the gyroscope, and the odometer are all electrically connected to the control module.

[0013] Optionally, the energy module is a lithium battery.

[0014] Optionally, the control module includes a control panel and an interaction module, wherein the control panel is mounted on the vehicle body and the interaction module is electrically connected to the control panel.

[0015] Optionally, the vehicle body is also equipped with a protective module, including a millimeter-wave radar and a buffer airbag installed on the vehicle body. The millimeter-wave radar is electrically connected to the control module, and the buffer airbag is located at the edge of the chassis.

[0016] Optionally, the vehicle body is also equipped with a clean water tank and a wastewater tank, both of which are connected to the mopping assembly.

[0017] Optionally, the mopping assembly includes a mopping frame, a drive roller assembly, a drive device, a cleaning device, and a mop belt. The drive roller assembly is mounted on the mopping frame, and the mop belt is sleeved on the drive roller assembly and driven by the drive roller assembly to generate relative friction with the ground surface. The drive device is connected to the drive roller assembly.

[0018] The drive roller assembly includes a first roller shaft, a second roller shaft, a third roller shaft, a fourth roller shaft, and a fifth roller shaft. The first roller shaft, the second roller shaft, the third roller shaft, the fourth roller shaft, and the fifth roller shaft are arranged in parallel to each other. The first roller shaft, the second roller shaft, the third roller shaft, the fourth roller shaft, and the fifth roller shaft are all rotatably connected to the mopping frame. The mop belt is sequentially sleeved on the first roller shaft, the second roller shaft, the third roller shaft, the fourth roller shaft, and the fifth roller shaft.

[0019] The cleaning device includes a water collection tank, the cleaning device is disposed in the water collection tank, the third roller is located in the water collection tank, and the mop belt is located below the third roller.

[0020] Optionally, the direction of movement of the mop belt in the mopping assembly is perpendicular to the direction of travel of the vehicle body.

[0021] Optionally, the mopping frame is also provided with a wringer roller, the position of which corresponds to the position of the second roller shaft.

[0022] Optionally, both ends of the squeezing roller are provided with water-retaining rings.

[0023] Optionally, the chassis is also equipped with a drying device for drying the mop belt.

[0024] The beneficial technical effects of this utility model are as follows: the real-time situation around the vehicle is transmitted to the control module through the lidar, visual SLAM camera, gyroscope and odometer in the navigation and positioning module, and the control module controls the movement of the vehicle, so that the equipment can complete the cleaning operation while avoiding obstacles; the millimeter-wave radar in the protection module is used to detect nearby obstacles, while the buffer airbag is used to reduce the impact of unavoidable collisions. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of this utility model;

[0026] Figure 2 This is a schematic diagram of the internal structure of the present invention;

[0027] Figure 3 This is a front view of the present invention;

[0028] Figure 4 This is a bottom view of the present invention;

[0029] Figure 5 This is a schematic diagram of the mopping component in this utility model;

[0030] Figure 6 This is a structural schematic diagram of the mopping component from another side view in this utility model;

[0031] Figure 7 This is a schematic diagram of the water-squeezing roller in this utility model;

[0032] Figure 8 This is a schematic diagram of the structure of the hot air gun in this utility model.

[0033] Reference numerals: 1-Chassis, 2-Drive wheel, 3-Drive motor, 4-Steering wheel, 5-Clean water tank, 6-Waste water tank, 7-LiDAR, 8-Visual SLAM camera, 9-Odometer, 10-Housing shell, 11-Lithium battery, 12-Wireless charging / physical contact charging dual-mode recharge module, 13-Control panel, 14-Front brush, 15-Roller brush, 16-Gas collection trough, 17-Mopping assembly, 18-Bush cushion airbag, 19-Mopping frame, 21-First roller, 22-Second roller, 23-Third roller, 24-Fourth roller, 25-Fifth roller, 26-Water collection trough, 27-Mop belt, 28-Wringer roller, 29-Water baffle, 30-Hot air gun. Detailed Implementation

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Identical components are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom surface," "top surface," "inner," and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0035] Reference Figures 1-4 As shown, a sweeping and mopping robot includes a vehicle body, a navigation and positioning module, a cleaning module, an energy module, a protection module, and a control module.

[0036] The vehicle body includes a chassis 1, two drive wheels 2 mounted below the chassis 1, a drive motor 3 for driving the drive wheels 2, and a steering wheel 4 located at the front of the vehicle body, which is controlled by a control module. The vehicle body also has a clean water tank 5 and a wastewater tank 6, both of which are connected to the mopping assembly 17.

[0037] The navigation and positioning module is mounted on the chassis 1, providing navigation information to the control module. Specifically, it includes a LiDAR 7, a visual SLAM camera 8, a gyroscope, and an odometer 9. The vehicle body also includes a housing 10, on which the LiDAR 7 and visual SLAM camera 8 are mounted. The gyroscope and odometer 9 can be located inside the housing 10, and all components—LiDAR 7, visual SLAM camera 8, gyroscope, and odometer 9—are electrically connected to the control module.

[0038] The energy module consists of a lithium battery 11 and a dual-mode recharge module 12 for wireless charging and physical contact charging, both of which are mounted on the chassis 1. The lithium battery 11 provides energy for the navigation module, control module, drive motor 3 and cleaning module.

[0039] The control module, mounted on chassis 1, controls the navigation module, control module, drive motor 3, and cleaning module. The control module includes a control panel 13 and an interaction module. The control panel 13 is mounted on the vehicle body, and the interaction module is electrically connected to it. The control panel 13 provides staff with specific vehicle information, including battery level and route planning. The interaction module includes a multimodal voice system and an RGB mood light ring, which can emit sounds to alert nearby people to move away during cleaning.

[0040] The cleaning module includes two front brushes 14, a roller brush 15, a dust collection trough 16, and a mopping assembly 17, all of which are mounted on a chassis 1. It also includes a drying device for drying the mop belt 27 of the mopping assembly 17 and a dust vacuum compression assembly for compressing the dust in the dust collection trough 16.

[0041] Reference Figure 8 As shown, the drying device is specifically a hot air gun 30, which is mounted on the chassis 1, with its hot air outlet aimed at the mop belt 27 in the mopping assembly.

[0042] The protection module includes a millimeter-wave radar and a buffer airbag 18 installed on the vehicle body. The millimeter-wave radar is electrically connected to the control module, and the buffer airbag 18 is located at the edge of the chassis 1.

[0043] like Figure 5 As shown, the mopping assembly 17 includes a mopping frame 19, a drive roller assembly, a drive device, a cleaning device, and a mop belt 27. The drive roller assembly is mounted on the mopping frame 19, and the mop belt 27 is sleeved on the drive roller assembly and driven by the drive roller assembly to generate relative friction with the ground surface. The drive device is connected to the drive roller assembly.

[0044] The drive roller assembly includes a first roller shaft 21, a second roller shaft 22, a third roller shaft 23, a fourth roller shaft 24, and a fifth roller shaft 25. The first roller shaft 21, the second roller shaft 22, the third roller shaft 23, the fourth roller shaft 24, and the fifth roller shaft 25 are arranged in parallel to each other. The first roller shaft 21, the second roller shaft 22, the third roller shaft 23, the fourth roller shaft 24, and the fifth roller shaft 25 are all rotatably connected to the mop frame 19. The mop belt 27 is sequentially sleeved on the first roller shaft 21, the second roller shaft 22, the third roller shaft 23, the fourth roller shaft 24, and the fifth roller shaft 25.

[0045] The mop frame 19 is also equipped with a wringer 28, the position of which corresponds to the position of the second roller shaft 22. Water-retaining rings 29 are provided at both ends of the wringer 28 to reduce the risk of wastewater entering the connection between the wringer 28 and the mop frame 19 during operation and causing corrosion.

[0046] The cleaning device includes a water collection tank 26, the cleaning device is installed in the water collection tank 26, the third roller shaft 23 is located in the water collection tank 26, and the mop belt 27 is located below the third roller shaft 23.

[0047] The direction of movement of the mop belt 27 in the mopping assembly 17 is perpendicular to the direction of travel of the vehicle body.

[0048] In practical use, this solution collects information about the vehicle's surroundings through a navigation and positioning module and transmits it to a control module. The control module, combined with a pre-loaded map, plans the cleaning route and controls the movement of the drive wheels 2 and the rotation of the steering wheels 4 based on the information collected by the navigation and positioning module, completing actions such as stopping or avoiding obstacles. During cleaning, the front side brushes rotate synchronously, guiding dust and debris from both sides to the center of the vehicle. Then, the V-shaped roller brush 15 in the center rolls the debris into the debris collection trough 16, where it is compressed by the debris vacuum compression component. Finally, the mopping component 17 at the rear of the vehicle absorbs the dust and collects it in the water collection trough 26, completing the sweeping and mopping process. After completing the sweeping and mopping operations, the wastewater in the water collection trough 26 is discharged into the wastewater tank 6, and a hot air gun is turned on to dry the mop belt 27.

[0049] The above description is merely a preferred embodiment of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are protected. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within the protection scope of this utility model.

Claims

1. A sweeping and mopping robot, characterized in that: It includes the vehicle body, navigation and positioning module, cleaning module, energy module, and control module; The vehicle body includes a chassis, drive wheels mounted under the chassis, and a drive motor for driving the drive wheels; The navigation and positioning module is mounted on the chassis and provides navigation information to the control module. The energy module is mounted on the chassis and provides energy to the navigation and positioning module, the control module, the drive motor, and the cleaning module. The control module is mounted on the chassis and is used to control the navigation and positioning module, the control module, the drive motor, and the cleaning module. The cleaning module includes at least two front brushes, a roller brush, a dust collection trough, and a mopping assembly, all of which are mounted on a chassis.

2. A sweeping and mopping robot according to claim 1, characterized in that: The navigation and positioning module includes a lidar, a visual SLAM camera, a gyroscope, and an odometer. The vehicle body also includes a shell, on which the lidar and the visual SLAM camera are mounted. The lidar, the visual SLAM camera, the gyroscope, and the odometer are all electrically connected to the control module.

3. A sweeping and mopping robot according to claim 1, characterized in that: The energy module is a lithium battery.

4. A sweeping and mopping robot according to claim 1, characterized in that: The control module includes a control panel and an interaction module. The control panel is mounted on the vehicle body, and the interaction module is electrically connected to the control panel.

5. A sweeping and mopping robot according to claim 1, characterized in that: The vehicle body is also equipped with a protective module, including a millimeter-wave radar and a buffer airbag installed on the vehicle body. The millimeter-wave radar is electrically connected to the control module, and the buffer airbag is located at the edge of the chassis.

6. A sweeping and mopping robot according to claim 1, characterized in that: The vehicle body is also equipped with a clean water tank and a wastewater tank, both of which are connected to the mopping assembly.

7. A sweeping and mopping robot according to claim 1, characterized in that: The mopping assembly includes a mopping frame, a drive roller assembly, a drive unit, a cleaning unit, and a mop belt. The drive roller assembly is mounted on the mopping frame, and the mop belt is sleeved on the drive roller assembly and driven by the drive roller assembly to generate relative friction with the floor surface. The drive unit is connected to the drive roller assembly. The drive roller assembly includes a first roller shaft, a second roller shaft, a third roller shaft, a fourth roller shaft, and a fifth roller shaft. The first roller shaft, the second roller shaft, the third roller shaft, the fourth roller shaft, and the fifth roller shaft are arranged parallel to each other. The first roller shaft, the second roller shaft, the third roller shaft, the fourth roller shaft, and the fifth roller shaft are all rotatably connected to the mopping frame. The mop belt is sequentially sleeved on the first roller shaft, the second roller shaft, the third roller shaft, the fourth roller shaft, and the fifth roller shaft.

8. A sweeping and mopping robot according to claim 7, characterized in that: The mopping frame is also equipped with a wringer, the position of which corresponds to the position of the second roller shaft.

9. A sweeping and mopping robot according to claim 8, characterized in that: Both ends of the squeezing roller are equipped with water-retaining rings.

10. A sweeping and mopping robot according to claim 8, characterized in that: The chassis is also equipped with a drying device for drying the mop belt.

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