Cleaning robot for three-dimensional products

Abstract

The utility model discloses a three-dimensional product cleaning robot which comprises a shell, a cleaning assembly, a moving assembly, a sensor assembly and a control assembly are connected to the shell, and the control assembly controls operation of the cleaning assembly and the moving assembly. In the operation process, the control assembly regulates and controls operation of the cleaning assembly and the moving assembly according to data obtained by the sensor assembly, the sensor assembly comprises a boundary recognition sensor and an obstacle recognition sensor, and the boundary recognition sensor recognizes whether the cleaning robot reaches the boundary of the cleaned three-dimensional product or not; the cleaning robot for the three-dimensional products is suitable for cleaning various three-dimensional products, the size is small, so that the occupied area is small, the robot automatically moves and cleans the three-dimensional products, the situation that the cleaned products are damaged due to the fact that large equipment is difficult to control is avoided, and the cleaning efficiency is improved. Each face of the three-dimensional product can be cleaned through the boundary recognition sensor and the obstacle recognition sensor, and the cleaning effect is good.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and more specifically, to a cleaning robot for three-dimensional products. Background Technology

[0002] Currently, cleaning of 3D products is done either manually or using large-scale unmanned cleaning equipment, such as fully automated car wash equipment. However, this not only requires a large area and may not provide thorough cleaning, but also carries high risks. Specifically, it has the following disadvantages:

[0003] 1. High technical requirements: The operation process of self-service car wash machines is relatively complex, requiring a certain level of technical skills and knowledge from users. Users may need to go through a learning process when using them for the first time.

[0004] 2. Unstable car wash results: Since the car owner operates the car wash themselves, the results may be affected by their personal skills and experience, and are not as consistent as professional car wash services.

[0005] 3. High risk: Without real-time supervision by professional personnel, improper operation or equipment failure may occur, resulting in vehicle damage or equipment malfunction;

[0006] 4. Poor versatility: For some special vehicles or occasions with specific car washing needs, unmanned car wash machines may not be able to provide services that meet the needs, and professional car wash services are still required.

[0007] 5. Inadequate cleaning: Details are not cleaned properly.

[0008] Application content

[0009] To address the problems in related technologies, this application proposes a cleaning robot for three-dimensional products, which is suitable for cleaning various three-dimensional products, is small in size and does not easily damage the products being cleaned, and has a good cleaning effect.

[0010] Therefore, the specific technical solution adopted in this application is as follows:

[0011] A cleaning robot for three-dimensional products includes a housing, on which a cleaning component, a moving component, a sensor component, and a control component are connected. The control component is electrically connected to the cleaning component, the moving component, and the sensor component. The control component controls the operation of the cleaning component and the moving component. During operation, the control component adjusts the operation of the cleaning component and the moving component based on data acquired by the sensor component. The sensor component includes a boundary recognition sensor and an obstacle recognition sensor. The boundary recognition sensor identifies whether the cleaning robot has reached the boundary of the three-dimensional product being cleaned, preventing the cleaning robot from falling off. The obstacle recognition sensor identifies obstacles on the three-dimensional product being cleaned, so as to control the cleaning robot to avoid obstacles.

[0012] This cleaning robot is suitable for cleaning various three-dimensional products. Its small size means it occupies little space, and the robot automatically moves and cleans without damaging the products being cleaned. With boundary recognition sensors and obstacle recognition sensors, it can clean every surface of the three-dimensional product, resulting in excellent cleaning performance.

[0013] Furthermore, the cleaning component includes at least one cleaning chamber, with a cleaning component connected to the bottom of the cleaning chamber. An air extraction component is provided inside the cleaning chamber, and an air extraction port is provided at the bottom of the cleaning chamber to match the air extraction component. The cleaning chamber contains the necessary components required for robot cleaning. For specific reference, refer to existing sweeping robots, which are prior art and will not be described in detail here. The air extraction component of the cleaning chamber in this application is used to adsorb the cleaning chamber onto the outer surface of the product being cleaned during the cleaning process, preventing it from falling off during the cleaning process.

[0014] Furthermore, the cleaning component is retractable and includes a cleaning cloth detachably connected to the bottom. The cleaning cloth is rotated by a motor and connected to a spring. The spring pops the cleaning cloth downwards, allowing it to adhere tightly to the surface of the product being cleaned.

[0015] Furthermore, the cleaning component is connected to the housing via a flexible connector. The cleaning component can reach any part of the three-dimensional product being cleaned by moving away from the housing through the flexible connector, achieving all-round cleaning. The flexible connector can be a retractable rope, which cleans the parts of the three-dimensional product that are not parallel to the ground under the control of the control component.

[0016] Furthermore, the cleaning component includes a water tank and a spraying component, with the water tank located inside the cleaning component and the spraying component connected to the water tank.

[0017] Furthermore, the moving component is located at the bottom of the housing and protrudes a certain distance from the bottom of the housing, so that there is a certain space between the robot chassis and the surface of the product being cleaned. This allows the robot to move more closely to the surface of the product being cleaned and can pass through irregular curves on the surface of the product being cleaned very well. For example, it can also run smoothly through the junction of the front and rear windshields of a car.

[0018] Furthermore, the detection direction of the boundary recognition sensor is based on the bottom of the housing as a reference plane, including a 180° range around the bottom of the housing, so that the cleaning components will not fall off during the cleaning of parts of the three-dimensional product that are not parallel to the ground.

[0019] Furthermore, the obstacle recognition sensor includes a touch component that is retractable. When the touch component comes into contact with an obstacle, it retracts to trigger the obstacle recognition sensor to send a signal to the control component, which then controls the cleaning robot to avoid the obstacle.

[0020] This application also provides a cleaning method for a cleaning robot for three-dimensional products, which is implemented using the cleaning robot for three-dimensional products as described above, including:

[0021] Step 1: Obtain the outline drawing of the 3D product to be cleaned. The outline drawing includes a drawing of any one of the exterior facades of the 3D product to be cleaned.

[0022] Step 2: Several turning points are pre-set on the exterior surface of the outline drawing, or several turning points are set on the exterior surface of the cleaning 3D product in real time based on the features of the outline drawing.

[0023] Step 3: Start the cleaning robot, select any exterior facade of the three-dimensional product to be cleaned, and perform a loop cleaning operation along the connecting lines of the turning points on the facade, traversing each facade until all facades are cleaned. The connecting lines can be zigzag lines, S-lines, or loops.

[0024] The beneficial effects of this application are as follows:

[0025] 1. This cleaning robot is suitable for cleaning various three-dimensional products. Its small size means it occupies little space. The robot automatically moves and cleans without damaging the products being cleaned. Through boundary recognition sensors and obstacle recognition sensors, it can clean every surface of the three-dimensional product, resulting in a good cleaning effect.

[0026] 2. The cleaning robot of this 3D product uses an air extraction component to adhere to the surface of the 3D product being cleaned when cleaning at a certain tilt angle, which will not cause damage to the cleaning robot.

[0027] 3. The cleaning components of the cleaning robot of this three-dimensional product are retractable. The cleaning components are connected to the shell through flexible connectors. The cleaning components can reach any part of the three-dimensional product to be cleaned through the flexible connectors away from the shell, achieving all-round cleaning.

[0028] 4. The cleaning method of the cleaning robot for this three-dimensional product involves setting turning points on the three-dimensional product and performing a winding cleaning operation along the connecting lines between the turning points, traversing each facade and completing the cleaning of all facades. When used in conjunction with the cleaning robot for the three-dimensional product of this application, it can achieve fine cleaning of the three-dimensional product. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1This is a three-dimensional structural diagram of a cleaning robot for a three-dimensional product according to Embodiment 1 of this application from one angle;

[0031] Figure 2 This is a bottom view structural diagram of a cleaning robot for a three-dimensional product according to Embodiment 1 of this application;

[0032] Figure 3 This is a three-dimensional structural diagram of a cleaning robot for a three-dimensional product according to Embodiment 1 of this application from another angle;

[0033] Figure 4 This is one of the schematic diagrams showing the state of a cleaning robot for a three-dimensional product during cleaning operations according to Embodiment 1 of this application;

[0034] Figure 5 This is the second schematic diagram of the state of a cleaning robot for a three-dimensional product during cleaning operations according to Embodiment 1 of this application;

[0035] Figure 6 This is the third schematic diagram of the state of a cleaning robot for a three-dimensional product during cleaning operations according to Embodiment 1 of this application;

[0036] Figure 7 This is one of the schematic diagrams showing the state of a cleaning robot cleaning a car according to Embodiment 2 of this application;

[0037] Figure 8 This is the second schematic diagram of the state of a cleaning robot of a three-dimensional product cleaning a car according to Embodiment 2 of this application;

[0038] Figure 9 This is the third schematic diagram of the state of a cleaning robot cleaning a car according to Embodiment 2 of this application;

[0039] Figure 10 This is the fourth schematic diagram of a cleaning robot of a three-dimensional product cleaning a car according to an embodiment of this application;

[0040] Figure 11 This is the fifth schematic diagram of the state of a cleaning robot for a three-dimensional product cleaning a car according to Embodiment 2 of this application;

[0041] Figure 12 This is the sixth schematic diagram of the state of a cleaning robot cleaning a car according to Embodiment 2 of this application;

[0042] Figure 13 This is the seventh schematic diagram of the state of a cleaning robot cleaning a car according to Embodiment 2 of this application;

[0043] Figure 14This is the eighth schematic diagram of the state of a cleaning robot cleaning a car according to Embodiment 2 of this application.

[0044] In the picture:

[0045] 1. Housing; 2. Cleaning assembly; 21. Cleaning component; 22. Air extraction component; 23. Air extraction port; 3. Moving assembly; 4. Boundary recognition sensor; 5. Obstacle recognition sensor; 6. 3D product. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] Example 1

[0048] According to embodiments of this application, a cleaning robot for three-dimensional products is provided. For example... Figures 1-3 As shown, the cleaning robot for a three-dimensional product according to an embodiment of this application includes a housing 1. A cleaning component 2, a moving component 3, a sensor component, and a control component are connected to the housing 1. The control component is electrically connected to the cleaning component 2, the moving component 3, and the sensor component. The control component controls the operation of the cleaning component 2 and the moving component 3. During operation, the control component adjusts the operation of the cleaning component 2 and the moving component 3 based on the data obtained by the sensor component. The sensor component includes a boundary recognition sensor 4 and an obstacle recognition sensor 5. The boundary recognition sensor 4 identifies whether the cleaning robot has reached the boundary of the three-dimensional product being cleaned, preventing the cleaning robot from falling off. The obstacle recognition sensor 5 identifies obstacles on the three-dimensional product being cleaned, so as to control the cleaning robot to avoid obstacles.

[0049] The detection direction of the boundary recognition sensor 4 is based on the bottom of the housing 1 as a reference plane, including a 180° range around the bottom of the housing 1. The obstacle recognition sensor 5 includes a touch component, which is retractable. When the touch component contacts an obstacle, it retracts, triggering the obstacle recognition sensor 5 to send a signal to the control component. The control component then controls the cleaning robot to avoid the obstacle. The cleaning component 2 includes a cleaning chamber, with a cleaning component 21 connected to the bottom of the chamber. An air extraction component 22 is located inside the cleaning chamber, and an air extraction port 23 is provided at the bottom of the chamber to match the air extraction component 22. The cleaning component 2 is connected to the housing 1 via a flexible connector. The cleaning component 2 can reach any part of the three-dimensional product being cleaned through the flexible connector, achieving all-round cleaning. The cleaning component 2 includes a water tank and a spraying component. The water tank is located inside the cleaning component 2, and the spraying component is connected to the water tank to spray water or cleaning liquid during the cleaning process.

[0050] like Figure 4-6 The cleaning robot of this three-dimensional product is similar to other cleaning components used in a sweeping robot, and will not be described in detail here. When the cleaning robot is used to clean the inclined surface of the three-dimensional product 6, the cleaning robot reaches the turning point between the inclined surface and the flat surface according to the detection signal of the boundary recognition sensor 4. The cleaning component 2 moves to the inclined surface and cleans through the flexible connector. The cleaning exhaust component 22 is turned on, so that the cleaning component 2 is adsorbed on the inclined surface and will not fall off.

[0051] Example 2

[0052] According to an embodiment of this application, a cleaning method for a cleaning robot of a three-dimensional product is provided, taking a car as an example, including:

[0053] Step 1: Obtain the exterior view of the car to be cleaned. The exterior view includes any one of the exterior facades of the car. The exterior view can be obtained from the outside and directly transmitted to the cleaning robot, or it can be obtained by setting a camera or other structure on the cleaning robot to scan the car's exterior. The exterior view includes the roof and the four sides of the car, including the top view of the car, which includes the front hood, windshield, roof, rear windshield, and trunk lid.

[0054] Step 2: Several turning points are preset on the exterior of the input car exterior drawing, or several turning points are set on the exterior of the car in real time based on the features of the car exterior drawing. Specifically, a turning point is set at a certain distance at the turning points of the roof and the four sides of the car, and a turning point is set at a certain distance at the turning points of the hood, windshield, roof, rear windshield and trunk lid.

[0055] Step 3: Activate the cleaning robot, select any exterior facade of the 3D product to be cleaned, and perform a loop cleaning operation along the connecting lines of the turning points on the facade, traversing each facade until all facades are cleaned. Specifically, as shown... Figure 7-14 As shown,

[0056] When cleaning begins, the cleaning robot is placed on the hood, either anywhere on the hood or in any orientation. Figure 7 As shown in the diagram, there are 7 turning points. The cleaning robot moves in a straight line to turning point 1. At this point, the robot's boundary sensor 4 detects the boundary by detecting the change in downward distance. This is because the boundary sensor 4 operates on the front hood of the car. After the boundary sensor 4 exceeds the boundary of the front hood, the downward value of the boundary sensor 4 suddenly increases. At this point, the value of the boundary sensor 4 is the distance from the sensor to the ground. Conversely, within the boundary, it is the distance from the sensor to the car surface, which is a smaller value. After reaching turning point 1, the robot turns to the lower right and then moves in a straight line to turning point 2. The boundary sensor 4 again detects the boundary. After reaching turning point 2, the robot turns to the upper right and then reaches turning point 3, which is the position of the windshield and the hood. At turning point 3, because there is a gap at the junction of the windshield and the hood, the value of the boundary sensor 4 should be between the surrounding boundary and within the car surface. After reaching turning point 3, the robot moves to turning point 4 and then moves upward in a straight line to turning point 5. After reaching turning point 5, it will turn to the lower left and move to turning point 6 (turning point 6 may or may not be the boundary). After reaching turning point 6, it will move downwards in a straight line to turning point 7. Turning point 7 is the end point of the hood traversal. During the traversal, the cleaning chamber cleans the surface in close contact with it, while simultaneously spraying water to enhance the cleaning effect. Upon reaching turning point 7, the first traversal ends, and then it moves to the right to turning point 8, which is the junction of the windshield and the hood. Figure 8 As shown, after reaching turning point 8, the robot runs around the boundary of the front hood of the car for one round, and at any boundary position, it lowers the cleaning chamber along the side to clean the side of the car. When cleaning the side, when the cleaning chamber reaches the bottom, the cleaning robot moves to the nearest turning point to continue cleaning until the side has also traversed all the turning points on the front hood. After completing the cleaning of the side of the front hood, it returns to the turning point 9 of the windshield.

[0057] like Figure 9 As shown, reaching turning point 9 indicates that the cleaning of the hood and its three sides is complete. Then, using turning point 9, the device moves directly to the windshield and performs a bow-shaped traversal, similar to the hood cleaning, using boundaries as turning conditions. This continues until the windshield is cleaned, reaching turning point 10.

[0058] like Figure 10 As shown, after reaching turning point 10 on the windshield, the vehicle circles the windshield, from turning point 10 to turning point 11 to turning point 12 to turning point 13. During the transitions from turning point 10 to turning point 11 and from turning point 12 to turning point 13, the cleaning chamber is lowered sequentially to clean the sides of the car's sides on both sides of the windshield. After completion, the vehicle reaches turning point 13 and then proceeds directly to the starting point of the roof movement, turning point 14.

[0059] Starting from turning point 14, the vehicle moves in a bow shape on the roof, ending at turning point 15.

[0060] like Figure 11 As shown, starting from turning point 15 on the roof, the machine moves around both sides of the roof, from turning point 15 to turning point 16 to turning point 17 to turning point 18. After reaching turning point 18, the roof cleaning task ends, and the machine moves directly to turning point 19, reaching the windshield. On the two paths from turning point 15 to 16 and from turning point 17 to 18, the cleaning compartment is lowered to clean the surface of the car's sides.

[0061] like Figure 12 As shown, after reaching the turning point 19 of the rear windshield, the rear windshield is cleaned in a bow-shaped pattern, and then the cleaning ends at the rear windshield cleaning end point.

[0062] After reaching turning point 20, move along the path from turning point 20 to turning point 21 to turning point 22 to turning point 23. Place the cleaning chamber on the paths from turning point 20 to turning point 21 and from turning point 22 to turning point 23 to clean the sides of the car. Then, reaching turning point 23 indicates that the rear windshield cleaning task is complete, and move to the rear cover turning point 24.

[0063] like Figure 13 As shown, at the turning point 24 of the back cover, it moves in a bow shape, and after reaching the turning point 25, the cleaning of the back cover is completed.

[0064] like Figure 14As shown, after moving to turning point 25, the robot then moves to turning points 26, 27, 28, and 29. During the movement from turning point 26 to turning point 27, from turning point 27 to turning point 28, and from turning point 28 to turning point 29, the cleaning chamber is lowered to clean the side surfaces of the car. Then, it moves from turning point 29 to turning point 30, indicating that the rear cover has been cleaned. After cleaning the car, it moves from turning point 30 to turning point 31, then to turning points 32, 33, 34, 35, 36, and 37, before returning to turning point 38, roughly the same position as turning point 1. This indicates that the cleaning robot has completed the cleaning task for the entire vehicle.

Claims

1. A cleaning robot for three-dimensional products, characterized in that, The system includes a housing (1), on which a cleaning component (2), a moving component (3), a sensor component, and a control component are connected. The control component is electrically connected to the cleaning component (2), the moving component (3), and the sensor component. The control component controls the operation of the cleaning component (2) and the moving component (3). During operation, the control component adjusts the operation of the cleaning component (2) and the moving component (3) based on the data obtained by the sensor component. The sensor component includes a boundary recognition sensor (4) and an obstacle recognition sensor (5). The boundary recognition sensor (4) identifies whether the cleaning robot has reached the boundary of the three-dimensional product being cleaned, preventing the cleaning robot from falling off. The obstacle recognition sensor (5) identifies obstacles on the three-dimensional product being cleaned, so as to control the cleaning robot to avoid obstacles.

2. The cleaning robot for three-dimensional products according to claim 1, characterized in that, The cleaning component (2) includes at least one cleaning chamber, the bottom of which is connected to a cleaning component (21), and an air extraction component (22) is provided inside the cleaning chamber. An air extraction port (23) is provided at the bottom of the cleaning chamber in conjunction with the air extraction component (22).

3. A cleaning robot for three-dimensional products according to claim 1 or 2, characterized in that, The cleaning component (2) is connected to the housing (1) by a flexible connector. The cleaning component (2) can reach any part of the three-dimensional product to be cleaned by moving away from the housing (1) through the flexible connector, thus achieving all-round cleaning.

4. A cleaning robot for three-dimensional products according to claim 1 or 2, characterized in that, The cleaning component (2) includes a water tank and a spraying component. The water tank is located inside the cleaning component (2), and the spraying component is connected to the water tank.

5. A cleaning robot for three-dimensional products according to claim 1 or 2, characterized in that, The movable component (3) is located at the bottom of the housing (1) and protrudes a certain distance from the bottom of the housing (1).

6. A cleaning robot for three-dimensional products according to claim 1 or 2, characterized in that, The detection direction of the boundary recognition sensor (4) is based on the bottom of the housing (1) as the reference plane, and includes a 180° range of the bottom of the housing (1).

7. A cleaning robot for three-dimensional products according to claim 1 or 2, characterized in that, The obstacle recognition sensor (5) includes a touch component that is retractable. When the touch component touches an obstacle, it retracts to trigger the obstacle recognition sensor (5) to send a signal to the control component, which then controls the cleaning robot to avoid the obstacle.

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