Cleaning robot and cleaning service station

Abstract

The application provides a cleaning robot and a cleaning service station. The cleaning robot comprises a moving base, a mechanical arm, a cleaning workbench, a door opening mechanism and a controller. The starting end of the mechanical arm is arranged on the moving base in a liftable manner. The cleaning workbench is arranged at the end of the mechanical arm and is configured to clean the internal space and / or the outer surface of a vehicle to be cleaned. The cleaning workbench is detachably provided with at least one cleaning tool. The door opening mechanism is detachably connected with the cleaning workbench and is configured to open the door of the vehicle to be cleaned. The mechanical arm and the door opening mechanism are electrically connected with the controller. The controller is configured to control the mechanical arm to drive the cleaning workbench to be connected with the door opening mechanism and control the door opening mechanism to open the door of the vehicle to be cleaned. The cleaning robot can clean the outer surface and the internal space of the vehicle, the whole cleaning process does not need manual intervention, the cleaning efficiency can be improved, and the labor cost can be significantly reduced.

Description

Technical Field

[0001] This application belongs to the field of car wash equipment technology, specifically relating to a cleaning robot and a cleaning service station. Background Technology

[0002] With economic development and improved living standards, the number of cars has increased rapidly, leading to a surge in demand for car washes. People are demanding higher speeds and better quality car washes. Traditional car washes are mostly done manually. During the process, workers need to use water guns to rinse the vehicle's surface, and after rinsing, they need to use cloths to wipe away the water stains. The entire car wash process is time-consuming and labor-intensive. Among related technologies, there are also some specialized car washing devices, such as gantry car wash equipment. However, these devices can only clean the exterior of the car and cannot open the doors to clean the interior. Therefore, they cannot achieve fully unmanned car washing. Utility Model Content

[0003] The purpose of this application is to at least solve the problem that existing car wash equipment can only clean the exterior of a car and cannot automatically open the doors and clean the interior. This purpose is achieved through the following technical solution: The first aspect of this application proposes a cleaning robot, comprising: Mobile base; A robotic arm includes a starting end and an ending end disposed along its axial direction, wherein the starting end of the robotic arm is disposed on the movable base in a liftable manner; A cleaning workbench is disposed at the end of the robotic arm. The cleaning workbench is configured to clean the interior space and / or exterior surface of the vehicle to be cleaned. The cleaning workbench is detachably provided with at least one cleaning tool. A door opening mechanism is detachably connected to the cleaning workbench, and the door opening mechanism is configured to open the door of the vehicle to be cleaned; The controller is electrically connected to the robotic arm and the door opening mechanism. The controller is configured to control the robotic arm to drive the cleaning workbench to connect with the door opening mechanism, and to control the door opening mechanism to open the door of the vehicle to be cleaned.

[0004] According to the cleaning robot of this application, when the exterior surface of a vehicle needs cleaning, the mobile base can move around the vehicle along a preset path, and the robotic arm cleans the exterior surface of the vehicle using cleaning tools. When the interior space of the vehicle needs cleaning, the robotic arm is controlled to connect the cleaning workbench to the door opening mechanism, which automatically unlocks and opens the door of the vehicle to be cleaned. Then, the robotic arm extends into the interior space of the vehicle and cleans the interior space using cleaning tools. The posture of the robotic arm can be adjusted to perform multi-angle rotation and positioning, ensuring that the cleaning tools can cover various parts such as seats, dashboard, and door trim, completing a detailed interior cleaning job. This achieves fully automated interior cleaning, which not only ensures consistent cleaning quality but also significantly reduces labor costs. The entire cleaning process requires no human intervention, greatly improving cleaning efficiency.

[0005] In addition, the cleaning robot according to this application may also have the following additional technical features: In some embodiments of this application, the door opening mechanism includes a first bracket, a first driver, and a retaining member. The first bracket is detachably connected to the cleaning workbench. The first driver is disposed on the first bracket. The power output end of the first driver is driven to the retaining member to drive the retaining member to reciprocate relative to the first bracket in a first direction. At least a portion of the body of the retaining member extends into the door handle of the vehicle to be cleaned.

[0006] In some embodiments of this application, the abutment includes a second bracket and an abutment body connected together. The second bracket is connected to the power output end of the first driver. Along a first direction, one end of the abutment body is connected to the second bracket, and the other end of the abutment body is smoothly transitioned.

[0007] In some embodiments of this application, the first bracket is provided with a guide rod, one end of which is fixedly connected to the first bracket along a first direction, and the other end of which is slidably connected to the second bracket.

[0008] In some embodiments of this application, the door opening mechanism further includes a second driver and a positioning member. The second driver is disposed on the first bracket, and the power output end of the second driver is connected to the positioning member for transmission, so as to drive the positioning member to reciprocate relative to the first bracket along a second direction, the second direction intersecting the first direction.

[0009] In some embodiments of this application, the cleaning workbench is provided with a first quick-change connector, the first bracket is provided with a second quick-change connector, and the second quick-change connector cooperates with the first quick-change connector to lock the first bracket to the cleaning workbench. And / or, the cleaning workbench is provided with a first quick-change connector, and any one of the cleaning tools is provided with a third quick-change connector, the third quick-change connector engaging with the first quick-change connector to lock the cleaning tool to the cleaning workbench; And / or, the cleaning tool includes a clamping mechanism and a wiping mechanism, the clamping mechanism being used to clamp a high-pressure water gun or a foam gun to clean the exterior surface of the vehicle to be cleaned, the wiping mechanism being used to wipe the interior space of the vehicle to be cleaned, and the cleaning workbench being provided with a vacuum head for vacuuming the interior space of the vehicle to be cleaned.

[0010] In some embodiments of this application, the movable base is provided with a linear guide rail, which is connected to the beginning of the robotic arm to drive the robotic arm to reciprocate along the axial direction of the linear guide rail.

[0011] In some embodiments of this application, the cleaning robot further includes a first detection module, which is configured to detect first data characterizing the spatial positioning of the vehicle to be cleaned and / or second data characterizing the degree of contamination on the outer surface of the vehicle to be cleaned, and the first detection module is electrically connected to the controller.

[0012] In some embodiments of this application, the cleaning robot further includes a second detection module, which is used to detect third data characterizing the degree of pollution in the interior space of the vehicle to be cleaned, and the second detection module is electrically connected to the controller.

[0013] The second aspect of this application proposes a cleaning service station, comprising: Clean chamber; and The cleaning robot described above is located in the cleaning chamber. Attached Figure Description

[0014] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a perspective view of the cleaning robot according to an embodiment of this application; Figure 2 A three-dimensional view of the door opening mechanism of the cleaning robot according to an embodiment of this application. Figure 1 ; Figure 3 The three-dimensional form of the door opening mechanism in the embodiments of this application Figure 2 ; Figure 4This is a perspective view of the cleaning workbench of the cleaning robot according to an embodiment of this application; Figure 5 The three-dimensional cleaning service station of this application embodiment Figure 1 ; Figure 6 The three-dimensional cleaning service station of this application embodiment Figure 2 ; Figure 7 This is a perspective view of the tool rack of a cleaning service station according to an embodiment of this application.

[0015] The attached figures are labeled as follows: 100. Cleaning robots; 10. Mobile base; 20. Robotic arm; 201. Starter; 202. Ender; 30. Cleaning workbench; 31. First quick-change connector; 32. Vacuum cleaner head; 40. Door opening mechanism; 41. First bracket; 411. Horizontal plate; 412. Vertical plate; 42. First driver; 43. Supporting component; 431. Second bracket; 432. Supporting body; 44. Second driver; 45. Positioning component; 46. Second quick-connect coupling; 50. Cleaning tools; 51. Clamping mechanism; 52. Wiping mechanism; 53. Third quick-change connector; 60. Linear guide rail; 70. First detection module; 80. Second detection module; 200. Cleaning service station; 210. Cleaning compartment; 211. Tool rack; 212. Parking area; 220. Storage room; 300. Vehicles awaiting cleaning. Detailed Implementation

[0016] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0017] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0018] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0019] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented as "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0020] Unless otherwise specified, in the embodiments of this application, the first direction is the X direction shown in the figure, and the second direction is the Y direction shown in the figure.

[0021] like Figure 1 and Figure 2As shown in the embodiment of this application, a cleaning robot 100 is provided, including a mobile base 10, a robotic arm 20, a cleaning workbench 30, a door opening mechanism 40, and a controller. The mobile base 10 can be configured as an automated guided vehicle (AGV). The mobile base 10 can travel around the vehicle 300 to be cleaned along a preset path by navigation devices such as magnetic strips, tracks, lasers, or QR codes.

[0022] The robotic arm 20 includes a starting end 201 and an ending end 202 arranged along its axial direction. The starting end 201 of the robotic arm 20 is mounted on the movable base 10 in a height-adjustable manner. The robotic arm 20 can be configured as a multi-axis robotic arm, thereby facilitating the adjustment of the posture of the cleaning workbench 30 and adapting to the appearance and interior space of different vehicles. The starting end 201 of the robotic arm 20 is height-adjustable relative to the movable base 10, that is, the overall height of the robotic arm 20 in the first direction can be adjusted, thereby facilitating the ending end 202 of the robotic arm 20 to drive the cleaning workbench 30 to perform cleaning operations on the vehicle 300 to be cleaned.

[0023] A cleaning workbench 30 is located at the end 202 of the robotic arm 20. The cleaning workbench 30 is configured to clean the interior space and / or exterior surface of the vehicle 300 to be cleaned. The cleaning workbench 30 is detachably equipped with at least one cleaning tool 50. By using different cleaning tools 50, not only the exterior surface of the vehicle 300 to be cleaned can be cleaned, but also the interior space of the vehicle 300 to be cleaned can be cleaned, thereby improving the automation level and cleaning efficiency of the cleaning operation.

[0024] The door opening mechanism 40 is detachably connected to the cleaning workbench 30 and is configured to open the door of the vehicle 300 to be cleaned. The robotic arm 20 and the door opening mechanism 40 are electrically connected to a controller, which is configured to control the robotic arm 20 to connect the cleaning workbench 30 to the door opening mechanism 40 and to control the door opening mechanism 40 to open the door of the vehicle 300 to be cleaned.

[0025] Understandably, when the exterior surface of a vehicle needs cleaning, the movable base 10 can move along a preset path around the vehicle 300 to be cleaned, and the robotic arm 20 cleans the exterior surface using the cleaning tool 50. When the interior space of the vehicle needs cleaning, the robotic arm 20 is controlled to connect the cleaning workbench 30 to the door opening mechanism 40. The door opening mechanism 40 automatically unlocks and opens the door of the vehicle 300 to be cleaned, and then the robotic arm 20 extends into the interior space of the vehicle, using the cleaning tool 50 to clean the interior space of the vehicle 300. By adjusting the posture of the robotic arm 20, it can rotate and position at multiple angles, ensuring that the cleaning tool 50 can cover various parts such as seats, dashboard, and door trim, completing a thorough interior cleaning. This achieves fully automated interior cleaning, ensuring consistent cleaning quality and significantly reducing labor costs. The entire cleaning process requires no human intervention, greatly improving cleaning efficiency.

[0026] In some embodiments, combined with Figure 2 and Figure 3 The door opening mechanism 40 includes a first bracket 41, a first driver 42, and a retaining member 43. The first bracket 41 is detachably connected to the cleaning workbench 30. The first driver 42 is disposed on the first bracket 41, and the power output end of the first driver 42 is drivenly connected to the retaining member 43 to drive the retaining member 43 to reciprocate relative to the first bracket 41 in a first direction. At least a portion of the body of the retaining member 43 extends into the door handle of the vehicle 300 to be cleaned. It should be noted that the first direction can be a vertical direction or an angle with the vertical direction.

[0027] The first actuator 42 can be configured as an electric push rod, with its power output end connected to the abutment member 43. The first actuator 42 is electrically connected to the controller. By controlling the first actuator 42, the abutment member 43 is driven to reciprocate along a first direction, causing at least a portion of the abutment member 43 to extend into the door handle of the vehicle 300 to be cleaned. Then, the posture of the robotic arm 20 is controlled, causing the end cap 202 of the robotic arm 20 to move the first bracket 41 away from the vehicle. The first bracket 41 causes the abutment member 43 to press against the inner wall of the door handle and pull the door handle, thus unlocking the door handle and opening the door.

[0028] In some embodiments, combined with Figure 2 and Figure 3 The door opening mechanism 40 also includes a second driver 44 and a positioning member 45. The second driver 44 is disposed on the first bracket 41, and the power output end of the second driver 44 is connected to the positioning member 45 for transmission, so as to drive the positioning member 45 to reciprocate relative to the first bracket 41 in a second direction, which intersects with the first direction. It should be noted that the second direction can be a horizontal direction or an angle with the horizontal direction.

[0029] Specifically, the second actuator 44 can be configured as an electric push rod, with its power output end connected to the abutment member 43. The second actuator 44 is electrically connected to the controller, which drives the positioning member 45 to move towards the outer surface of the vehicle until the positioning member 45 abuts against the outer surface of the vehicle. Then, the first actuator 42 is controlled to drive the abutment member 43 to reciprocate along a first direction, causing at least a portion of the abutment member 43 to extend into the door handle of the vehicle 300 to be cleaned. Thus, during the process of unlocking and opening the door with the abutment member 43, the positioning member 45 can play a positioning role, preventing the abutment member 43 from damaging the outer surface of the vehicle.

[0030] To protect the vehicle's exterior surface, the end of the positioning component 45 facing the vehicle can be configured as a spherical component, a hemispherical component, etc. This configuration can prevent excessive pressure on the vehicle's exterior surface during the positioning process, which could lead to paint damage.

[0031] It should be noted that, in this embodiment, reference continues to be made to... Figure 2 Along the first direction, the abutment 43 is positioned above the positioning member 45. The first actuator 42 drives the abutment 43 to move from top to bottom along the first direction, such that at least a portion of the abutment 43 extends into the door handle of the vehicle 300 to be cleaned. After the door is opened, the first actuator 42 drives the abutment 43 to move from bottom to top along the first direction, so that the abutment 43 moves away from the door handle of the vehicle 300 to be cleaned, thereby facilitating the subsequent entry of the robotic arm 20 into the interior space of the vehicle for cleaning.

[0032] In some other embodiments, the abutment 43 may also be positioned below the positioning member 45 along the first direction. The first actuator 42 drives the abutment 43 to move upward along the first direction, such that at least a portion of the abutment 43 extends into the door handle of the vehicle 300 to be cleaned. After the door is opened, the first actuator 42 drives the abutment 43 to move downward along the first direction, so that the abutment 43 moves away from the door handle of the vehicle 300 to be cleaned, thereby facilitating the subsequent insertion of the robotic arm 20 into the interior space of the vehicle for cleaning.

[0033] Specifically, the first support 41 includes a horizontal plate 411 and a vertical plate 412 connected together. The horizontal plate 411 is arranged along the second direction, and the vertical plate 412 is arranged along the first direction. The horizontal plate 411 and the vertical plate 412 are connected to form an "L" shaped component. The first driver 42 is fixedly installed on the horizontal plate 411, and the second driver 44 is fixedly installed on the vertical plate 412.

[0034] In this embodiment, we continue to refer to Figure 2The abutment member 43 includes a second bracket 431 and an abutment body 432 connected to each other. The second bracket 431 is configured as a "Z"-shaped member. Along the first direction, the top end of the second bracket 431 is connected to the power output end of the first driver 42, so that the second driver 44 can drive the second bracket 431 to reciprocate along the first direction with the abutment body 432. The first bracket 41 is provided with a guide rod. Along the first direction, one end of the guide rod is fixedly connected to the cross plate 411 of the first bracket 41, and the other end of the guide rod passes through the bottom of the second bracket 431 and is slidably connected to the second bracket 431. It can be understood that by providing the guide rod, during the process of the first driver 42 driving the abutment member 43 to reciprocate along the first direction, the guide rod plays a guiding role, thereby improving the stability of the movement of the abutment member 43, reducing or avoiding the shaking of the abutment member 43, and thus preventing the abutment member 43 from scratching the outer surface of the vehicle or the door handle during movement.

[0035] The supporting body 432 is configured as a plate-like or rod-like component. Along the first direction, one end of the supporting body 432 is fixedly connected to the second bracket 431, and the other end of the supporting body 432 is smoothly transitioned, for example, the other end of the supporting body 432 has an arc-shaped surface. This configuration can prevent the supporting body 432 from scratching the door handle when it extends into the door handle.

[0036] In some embodiments, such as Figure 4 As shown, the cleaning workbench 30 is equipped with a first quick-change connector 31, such as... Figure 2 As shown, the first bracket 41 is equipped with a second quick-change connector 46. Specifically, the second quick-change connector 46 is disposed on the vertical plate 412 of the first bracket 41. The second quick-change connector 46 cooperates and locks with the first quick-change connector 31 to fix the first bracket 41 to the cleaning workbench 30. The first quick-change connector 31 and the second quick-change connector 46 can be existing quick-change discs. The quick-change discs have standard interfaces and good versatility and compatibility. By adjusting the posture of the robotic arm 20, the second quick-change connector 46 can be quickly connected to the first quick-change connector 31, thereby quickly fixing the first bracket 41 to the cleaning workbench 30. This achieves a fixed connection between the door opening mechanism 40 and the cleaning workbench 30, facilitating the opening of the vehicle door for cleaning the interior space. By adopting the first quick-change connector 31 and the second quick-change connector 46, the flexibility and automation of the cleaning robot 100 are improved.

[0037] Furthermore, the cleaning workbench 30 is equipped with a first quick-change connector 31, such as... Figure 7As shown, any cleaning tool 50 is equipped with a third quick-change connector 53, which engages and locks with the first quick-change connector 31 to fix the cleaning tool 50 to the cleaning workbench 30. The first quick-change connector 31 and the third quick-change connector 53 can also be existing quick-change discs. By adjusting the posture of the robotic arm 20, the third quick-change connector 53 can be quickly connected to the first quick-change connector 31, enabling the cleaning tool 50 to be quickly fixed to the cleaning workbench 30. This allows the end effector 202 of the robotic arm 20 to quickly change between different cleaning tools 50, facilitating cleaning operations according to different cleaning scenarios. By adopting the first quick-change connector 31 and the third quick-change connector 53, the flexibility and automation of the cleaning robot 100 are improved.

[0038] Continue to refer to Figure 7 The cleaning tool 50 includes a clamping mechanism 51 and a wiping mechanism 52. The clamping mechanism 51 can be an existing mechanical gripper, used to clamp a high-pressure water gun or foam gun for cleaning the exterior surface of the vehicle 300. The wiping mechanism 52 is used to wipe the interior space of the vehicle 300. The cleaning workbench 30 is equipped with a vacuum head 32, used to vacuum the interior space of the vehicle 300. The vacuum head 32 is connected to a vacuum cleaner via a negative pressure pipe, and the vacuum cleaner collects dust, debris, and other dirt.

[0039] Looking back Figure 1 The movable base 10 is equipped with a linear guide rail 60, which is connected to the starting end 201 of the robotic arm 20 to drive the robotic arm 20 to reciprocate along the axial direction of the linear guide rail 60. The slider of the linear guide rail 60 can be an existing roller linear guide rail 60, cylindrical linear guide rail 60, ball linear guide rail 60, etc. By setting the linear guide rail 60, the reciprocating movement of the robotic arm 20 along a first direction can be controlled to realize the lifting control of the robotic arm 20, thereby expanding the working range of the robotic arm 20 and facilitating the cleaning of the top and bottom of the vehicle.

[0040] The cleaning robot 100 also includes a first detection module 70, which is configured to detect first data characterizing the spatial positioning of the vehicle 300 to be cleaned and / or second data characterizing the degree of contamination on the outer surface of the vehicle 300 to be cleaned. The first detection module 70 is electrically connected to the controller.

[0041] like Figure 5As shown, the first detection module 70 includes multiple first sensors (e.g., positioning cameras), which are positioned at multiple corners of the cleaning chamber 210 to detect first data characterizing the spatial positioning of the vehicle 300 to be cleaned. This spatial positioning coordinate data reflects the vehicle's shape. The first detection module 70 is electrically connected to the controller to perform cleaning operations based on the spatial positioning coordinate data of the vehicle 300. The first detection module 70 can also detect second data characterizing the degree of contamination on the exterior surface of the vehicle 300. For example, if the vehicle's exterior surface still has dust, mud, or other dirt, a second cleaning can be performed based on the second data to improve the cleaning quality.

[0042] Understandably, the workflow for cleaning the exterior of a vehicle is as follows: 1. After the cleaning vehicle 300 stops at the designated location (parking area 212), the first detection module 70 sends the first data to the controller and feeds it back to the car wash robot.

[0043] 2. The first quick-connect joint 31 of the end of the robotic arm 20 202 is connected to the third quick-connect joint 53 of the clamping mechanism 51 of the tool holder 211. The high-pressure water gun is clamped by the clamping mechanism 51 and the vehicle is cleaned around the vehicle.

[0044] 3. Replace the foam gun at the end of the robotic arm 20 with a foam gun to spray foam onto the outer surface of the vehicle.

[0045] 4. Replace the high-pressure water gun at the end of the robotic arm 20 with a high-pressure water gun to perform a secondary cleaning of the vehicle's exterior surface.

[0046] 5. Inspect the vehicle's exterior cleaning effectiveness. If it is not clean, perform partial or overall cleaning of the vehicle based on the degree of contamination and location information.

[0047] like Figure 4 As shown, the cleaning robot 100 also includes a second detection module 80, which is used to detect third data characterizing the degree of pollution in the interior space of the vehicle 300 to be cleaned. The second detection module 80 is electrically connected to the controller.

[0048] The second detection module 80 includes multiple second sensors (such as positioning cameras, laser sensors, etc.) and multiple first sensors are set on the robotic arm 20 body or the cleaning workbench 30 to detect and characterize the degree of pollution in the interior space of the vehicle 300 to be cleaned. If foreign objects (paper towels, water bottles, etc.) are detected in the interior space of the vehicle, the end 202 of the robotic arm 20 can be connected to the clamping mechanism 51 according to the second data, and the foreign objects can be removed by the clamping mechanism 51.

[0049] Understandably, the workflow for cleaning the interior of a vehicle is as follows: 1. The first quick-connect joint 31 of the end of the robotic arm 20 202 is connected to the second quick-connect joint 46 of the door opening mechanism 40, and the movable base 10 moves to the door and opens the door through the door opening mechanism 40.

[0050] 2. The end effector 202 of the robotic arm 20 is replaced with a clamping mechanism 51.

[0051] 3. The second detection module 80 identifies whether there are foreign objects in the vehicle. If there are foreign objects, the clamping mechanism 51 will remove them. If valuable items such as backpacks or mobile phones are found, photos will be taken, the information will be uploaded and fed back.

[0052] 4. Remove the clamping mechanism 51 from the end 202 of the robotic arm 20, and use the vacuum cleaner head 32 to vacuum the floor mats and seat cushions inside the vehicle.

[0053] 5. The end of the robotic arm 20 is equipped with a wiping mechanism 52 to wipe the vehicle screen, floor mats, etc.

[0054] 6. Clean the interior of the car doors and trunk in sequence.

[0055] like Figure 5 and Figure 6 As shown in the illustration, this application embodiment also provides a cleaning service station 200, including a cleaning compartment 210 and a cleaning robot 100 as described above. The cleaning compartment 210 is provided with a parking area 212 for parking a vehicle 300 to be cleaned. The cleaning robot 100 is disposed in the cleaning compartment 210 and configured to travel around the vehicle 300 to be cleaned along a preset path. For example, magnetic strips may be provided around the periphery of the parking area 212, and the preset path is the laying path of the magnetic strips.

[0056] When the exterior surface of a vehicle needs cleaning, the movable base 10 can move along a preset path around the vehicle 300 to be cleaned, and the robotic arm 20 cleans the exterior surface of the vehicle using the cleaning tool 50. When the interior space of the vehicle needs cleaning, the robotic arm 20 is first controlled to connect the cleaning workbench 30 to the door opening mechanism 40. The door opening mechanism 40 automatically unlocks and opens the door of the vehicle 300 to be cleaned. Then, the robotic arm 20 extends into the interior space of the vehicle and cleans the interior space of the vehicle 300 using the cleaning tool 50. The posture of the robotic arm 20 can be adjusted to rotate and position at multiple angles, ensuring that the cleaning tool 50 can cover various parts such as seats, dashboard, and door trim, completing a detailed interior cleaning job. This achieves fully automated interior cleaning, which not only ensures consistent cleaning quality but also significantly reduces labor costs. The entire cleaning process requires no human intervention, greatly improving cleaning efficiency.

[0057] In this embodiment, the cleaning chamber 210 is equipped with a tool rack 211, which is used to store the door opening mechanism 40 and the cleaning tools 50. The tool rack 211 can be set on the side wall of the cleaning chamber 210. By setting the tool rack 211, the door opening mechanism 40 and the cleaning tools 50 can be stored, and the end effector 202 of the robotic arm 20 can easily change different tools according to the cleaning scenario.

[0058] The cleaning service station 200 also includes a storage room 220, which is separated from the cleaning compartment 210. The storage room 220 contains a water tank, foam concentrate tank, foam mixing machine, air pump, electrical control box, and vacuum cleaner. The water tank stores water and is connected to a high-pressure water gun for vehicle cleaning. The foam concentrate tank stores cleaning foam and is connected to a foam gun for spraying foam onto vehicles. The air pump connects the high-pressure water gun and foam gun, providing the necessary pressure. The electrical control box controls the service station's power supply.

[0059] The above description is merely a preferred embodiment of this application, but the scope of protection of this application 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 application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A cleaning robot, characterized in that, include: Mobile base; A robotic arm includes a starting end and an ending end disposed along its axial direction, wherein the starting end of the robotic arm is disposed on the movable base in a liftable manner; A cleaning workbench is disposed at the end of the robotic arm. The cleaning workbench is configured to clean the interior space and / or exterior surface of the vehicle to be cleaned. The cleaning workbench is detachably provided with at least one cleaning tool. A door opening mechanism is detachably connected to the cleaning workbench, and the door opening mechanism is configured to open the door of the vehicle to be cleaned; The controller is electrically connected to the robotic arm and the door opening mechanism. The controller is configured to control the robotic arm to drive the cleaning workbench to connect with the door opening mechanism, and to control the door opening mechanism to open the door of the vehicle to be cleaned.

2. The cleaning robot according to claim 1, wherein, The door opening mechanism includes a first bracket, a first driver, and a retaining member. The first bracket is detachably connected to the cleaning workbench. The first driver is disposed on the first bracket. The power output end of the first driver is connected to the retaining member to drive the retaining member to reciprocate relative to the first bracket in a first direction. At least a portion of the body of the retaining member extends into the door handle of the vehicle to be cleaned.

3. The cleaning robot according to claim 2, wherein, The abutment includes a second bracket and an abutment body connected to each other. The second bracket is connected to the power output end of the first driver. Along the first direction, one end of the abutment body is connected to the second bracket, and the other end of the abutment body is smoothly transitioned.

4. The cleaning robot according to claim 3, wherein, The first bracket is provided with a guide rod. Along the first direction, one end of the guide rod is fixedly connected to the first bracket, and the other end of the guide rod is slidably connected to the second bracket.

5. The cleaning robot according to claim 2, wherein, The door opening mechanism further includes a second driver and a positioning element. The second driver is disposed on the first bracket, and the power output end of the second driver is connected to the positioning element for transmission, so as to drive the positioning element to reciprocate relative to the first bracket along a second direction, the second direction intersecting the first direction.

6. The cleaning robot according to claim 2, wherein, The cleaning workbench is provided with a first quick-change connector, and the first bracket is provided with a second quick-change connector. The second quick-change connector cooperates with the first quick-change connector to lock and fix the first bracket to the cleaning workbench.

7. The cleaning robot of claim 1, wherein, The cleaning workbench is provided with a first quick-change connector, and any one of the cleaning tools is provided with a third quick-change connector. The third quick-change connector is engaged with the first quick-change connector to lock the cleaning tool to the cleaning workbench. And / or, the cleaning tool includes a clamping mechanism and a wiping mechanism, the clamping mechanism being used to clamp a high-pressure water gun or a foam gun to clean the outer surface of the vehicle to be cleaned, the wiping mechanism being used to wipe the interior space of the vehicle to be cleaned, and the cleaning workbench being provided with a vacuum head for vacuuming the interior space of the vehicle to be cleaned. And / or, the movable base is provided with a linear guide rail, which is connected to the beginning of the robotic arm to drive the robotic arm to reciprocate along the axial direction of the linear guide rail.

8. The cleaning robot according to any one of claims 1 to 7, wherein, The cleaning robot also includes a first detection module, which is configured to detect first data characterizing the spatial positioning of the vehicle to be cleaned and / or second data characterizing the degree of contamination on the outer surface of the vehicle to be cleaned. The first detection module is electrically connected to the controller.

9. The cleaning robot according to any one of claims 1 to 7, wherein, The cleaning robot also includes a second detection module, which is used to detect third data characterizing the degree of pollution in the interior space of the vehicle to be cleaned. The second detection module is electrically connected to the controller.

10. A cleaning service station characterized by include: Cleaning chamber; as well as The cleaning robot as described in any one of claims 1 to 9, wherein the cleaning robot is disposed in the cleaning chamber.

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