A cleaning robot

Abstract

The utility model relates to cleaning equipment technical field especially, it is a kind of cleaning robot, including mobile chassis, cleaning mechanism and classification mechanism;Mobile chassis includes drive wheel group and the first driving member of drive drive wheel group movement;Cleaning mechanism is set to the lower part of mobile chassis, to clean and gather target object;Classification mechanism includes identification module, classification passageway subassembly and conveying mechanism;Identification module is used to identify different color and / or shape target object;Classification passageway subassembly is set on mobile chassis, for the target object is classified according to the result identified by identification module;Conveying mechanism is set to mobile chassis, and it is used to convey the target object cleaned and gathered by cleaning mechanism to classification mechanism;The cleaning robot with cleaning and classification function provided by the utility model can reduce the efficiency loss caused by phased processing.

Description

Technical Field

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

[0002] Currently, waste disposal and small item collection mainly rely on manual sorting or fixed sorting equipment, which suffers from low efficiency and limited coverage. Existing cleaning robots only have basic collection functions and cannot sort waste or small items, leading to an increased burden on subsequent processing stages. Therefore, it is necessary to improve existing cleaning robots. Utility Model Content

[0003] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a cleaning robot with cleaning and sorting functions to reduce the efficiency loss caused by the staged processing of garbage or small objects.

[0004] To achieve the above and other related objectives, this utility model provides a cleaning robot, comprising:

[0005] A mobile chassis, including a drive wheel assembly and a first drive component for moving the drive wheel assembly;

[0006] A cleaning mechanism is located at the lower part of the mobile chassis and is used to clean and collect the target object;

[0007] Classification agencies, including:

[0008] The recognition module is used to identify target objects of different colors and / or shapes;

[0009] A classification channel component, mounted on the mobile chassis, is used to classify the target object based on the results identified by the recognition module;

[0010] A conveying mechanism is provided on the mobile chassis and is used to convey the target objects swept and collected by the cleaning mechanism to the sorting mechanism.

[0011] In one embodiment of this utility model, the cleaning mechanism includes:

[0012] A central roller brush is rotatably positioned at the front center of the mobile chassis;

[0013] The edge gathering brush includes at least two brushes, symmetrically arranged on both sides in front of the central roller brush;

[0014] A drive assembly drives the central roller brush and the edge gathering brush to rotate.

[0015] In one embodiment of this utility model, the classification channel component includes:

[0016] At least two channel units must be provided;

[0017] A sorting baffle is swung at one end between two adjacent channel units;

[0018] The second driving component drives one end of the sorting baffle to rotate so that the sorting baffle gathers the target object toward the corresponding channel unit.

[0019] In one embodiment of this utility model, the conveying mechanism includes:

[0020] A robotic arm, one end of which is hinged to the end of the sorting channel assembly or a movable chassis;

[0021] A robotic arm is movably mounted on the robotic arm and used to grasp the target object;

[0022] The third drive unit is used to drive the robotic arm to rotate so that the position of the robotic arm above the sorting channel assembly and between the two edge gathering brushes can be switched.

[0023] In one embodiment of this utility model, an air sensor and an ultrasonic humidifier are provided on the mobile chassis or the frame mounted on the mobile chassis; the air sensor is used to detect suspended particles at the cleaning mechanism; when the concentration of suspended particles in the air is greater than a preset threshold, the ultrasonic humidifier sprays water mist toward the cleaning area; when the concentration of suspended particles is lower than the preset threshold, the ultrasonic humidifier stops spraying water mist.

[0024] In one embodiment of this utility model, the air sensor is a PM2.5 particulate matter concentration detection unit, which is fixed above and behind the central roller brush; the atomizing nozzle of the ultrasonic humidifier is tilted toward the cleaning area, and the nozzle axis forms an angle of 30°-45° with the horizontal plane.

[0025] In one embodiment of this utility model, the identification module includes a color sensor, an ultrasonic sensor, and / or a contour sensor fixed to the front end of the mobile chassis;

[0026] The color sensor is used to detect the surface color of the target object, the ultrasonic sensor is used to detect the distance to the target object, and the contour sensor is used to detect the contour of the target object.

[0027] In one embodiment of this utility model, the contour sensor is a laser rangefinder or a 3D structured light sensor, located coaxially with the color sensor; when the ultrasonic sensor detects that the distance to the target object is less than a preset distance, the contour sensor activates to scan the three-dimensional shape of the target object.

[0028] In one embodiment of this utility model, two sets of boundary navigation sensors are symmetrically arranged at the front end of the mobile chassis; the boundary navigation sensors are infrared sensors or grayscale sensors, and the grayscale sensors are used to identify the boundary lines of the preset ground path.

[0029] In one embodiment of this utility model, the driving component includes:

[0030] A single-axis geared motor is connected to the rotating shaft of the central roller brush;

[0031] A dual-axis geared motor synchronously drives two edge gathering brushes to rotate in opposite directions via a gearbox.

[0032] In summary, this utility model utilizes the coordinated operation of a mobile chassis, a cleaning mechanism, a conveying mechanism, and a sorting mechanism. The mobile chassis drives the cleaning robot to move, the cleaning mechanism cleans and gathers the target objects, the conveying mechanism connects the cleaning mechanism with the sorting channel component to form a transfer path for the target objects, and the recognition module captures the color and shape features of the target objects in real time. Combined with the directional guidance and sorting of the target objects by the sorting channel component, a single device can simultaneously complete the entire process of area cleaning, target object gathering, and identification and sorting, thereby improving processing efficiency. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a model diagram of the cleaning robot according to one embodiment of the present utility model;

[0035] Figure 2 This is a schematic diagram of the structure of the classification channel component in one embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the structure of the classification channel component in another embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the structure of the central roller brush in one embodiment of the present invention;

[0038] Component labeling: 1. Mobile chassis, 11. Drive wheel assembly, 12. Boundary navigation sensor, 13. Air sensor, 14. Ultrasonic humidifier, 2. Cleaning mechanism, 21. Central roller brush, 211. Collection hopper, 212. First scraper, 213. Coil spring, 2121. First scraper blade, 2122. Leakage hole, 2122. Second scraper, 214. Edge gathering brush, 22. Sorting mechanism, 31. Identification module, 311. Color sensor, 312. Ultrasonic sensor, 32. Sorting channel assembly, 321. Channel unit, 322. Sorting baffle, 323. Collection container, 323. Conveying mechanism, 331. Robotic arm, 332. Third drive component, 333. Detailed Implementation

[0039] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. It should also be understood that the terminology used in the embodiments of this utility model is for describing specific implementation schemes and not for limiting the scope of protection of this utility model. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0040] Please see Figures 1 to 4 It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention.

[0041] When numerical ranges are given in the embodiments, it should be understood that, unless otherwise stated in this invention, both endpoints of each numerical range and any value between the two endpoints may be selected. Unless otherwise defined, all technical and scientific terms used in this invention, as well as the prior art known to those skilled in the art and the description of this invention, may be implemented using any prior art methods, devices, and materials similar to or equivalent to those described, used, or made of materials in the embodiments of this invention.

[0042] Please see Figure 1-2 This utility model provides a cleaning robot, including a mobile chassis 1, a cleaning mechanism 2, and a sorting mechanism 3. The mobile chassis 1 includes a drive wheel set 11 and a first drive component for driving the drive wheel set 11 to move. The cleaning mechanism 2 is disposed at the lower part of the mobile chassis 1 and is used to clean and collect target objects. The sorting mechanism 3 includes an identification module 31, a sorting channel assembly 32, and a conveying mechanism 33. The identification module 31 is used to identify target objects of different colors and / or shapes and / or weights. The sorting channel assembly 32 is disposed on the mobile chassis 1 and is used to sort the target objects according to the results identified by the identification module 31. The conveying mechanism 33 is disposed on the mobile chassis 1 and is used to convey the target objects cleaned and collected by the cleaning mechanism 2 to the sorting mechanism 3.

[0043] It should be noted that the mobile chassis 1 is the basis for the movement of the cleaning robot. Its drive wheel set 11 can be at least one of wheeled, tracked, or omnidirectional moving structures. The first driving component includes, but is not limited to, a DC motor, a stepper motor, or a servo motor, used to provide rotational power for the drive wheel set 11. The cleaning mechanism 2 is fixed to the lower part of the chassis and collects target objects by means of at least one of a rotating brush, an adsorption component, or a scraping device. Its working area covers the front end and both sides of the robot's direction of travel. In the sorting mechanism 3, the identification module 31 realizes the acquisition of target object features through at least one combination of optical sensors (such as RGB recognition units), shape detection units (such as contour scanning lasers), or physical characteristic sensors (such as material contact probes). The sorting channel component 32 includes at least one of an adjustable guide plate, a multi-exit conveyor belt, or a sorting robotic arm structure, which physically sorts the target objects to different collection areas according to the identification results. The conveying mechanism 33 serves as a connecting hub and may take the form of at least one of the following: a screw propeller, a belt conveyor, a pneumatic conveying pipe, or a robotic arm 332 for grasping and conveying. For example, the input end of the conveying mechanism 33 receives the target object output by the cleaning mechanism 2, and the output end connects to the entrance of the sorting channel assembly 32. The target object is garbage, a product of a specific color, or a product or item of a specific shape. The cleaning robot can achieve comprehensive movement within the work area through autonomous navigation of the mobile chassis 1, while the cleaning mechanism 2 gathers and initially collects the discrete target objects. The conveying mechanism 33 continuously transports the collected target objects to the sorting mechanism 3. The identification module 31 can either identify the target objects before the cleaning mechanism 2 cleans them, or it can identify and detect them before the conveying mechanism 33 transports the target objects to the sorting mechanism 3 or before the sorting mechanism 3 sorts them, depending on the actual needs. For example, the identification module 31 has two detection positions: the first detection position is located at a predetermined distance in front of the cleaning mechanism for pre-identification; the second detection position is located at the entrance of the sorting channel assembly 32 for secondary verification. It should be understood that optical sensors (such as RGB recognition units), shape detection units (such as contour scanning lasers), and gravity sensors can also be set simultaneously to detect the target objects at different times as needed. The identification module 31 uses the output terminals of the color sensor, contour sensor, and gravity sensor connected in parallel to a comparator circuit. When the outputs of two or more sensors are consistent, a sorting control signal is triggered. The sorting channel assembly 32 dynamically adjusts its internal guiding structure (such as deflecting the sorting baffle 322 or switching the conveying path) based on instructions or control circuits, so that different types of target objects slide into the corresponding collection container 323 along the preset channel.The entire process completes a closed-loop operation of "sweeping-transfer-identification-classification," "identification, sweeping-transfer-classification," or "identification-sweeping-transfer-identification-classification" within a single work cycle, eliminating the intermediate step of transferring goods to a fixed sorting station in traditional solutions. Simultaneously, the spatial integration design of the classification decision-making and execution mechanisms avoids accuracy degradation caused by secondary positioning. A default channel is provided at the end of the classification channel component 32; when the identification module fails to output a valid signal three consecutive times, the classification baffle 322 resets to the default channel tilt angle. This solution overcomes the dual limitations of the single function of traditional sweeping equipment and the fixed position of classification equipment. Specifically, firstly, by cooperating with the mobile chassis 1 and the sorting mechanism 3, the sorting operation can be performed in real time alongside the cleaning process, solving the efficiency loss problem caused by phased processing; secondly, by utilizing the linkage control of the recognition module 31 and the sorting channel component 32, rapid response sorting based on explicit features such as color and shape is achieved, overcoming the deficiency of existing cleaning robots that cannot sort on-site; thirdly, by connecting the cleaning output end and the sorting input end through the conveying mechanism 33, the continuity and reliability of the material transfer path are optimized, avoiding jamming or spillage caused by structural separation. Thus, the cleaning robot in this case improves its operating efficiency, completing the entire "cleaning + sorting" process in the same amount of time; the sorting accuracy is improved through real-time on-site sorting, avoiding cross-contamination during subsequent centralized sorting.

[0044] As an optional embodiment of this case, the cleaning robot also includes a controller, which is electrically connected to the mobile chassis 1, the cleaning mechanism 2 and the sorting mechanism 3. The controller is electrically connected to the identification module 31 and the sorting channel component 32. The sorting channel component 32 sorts the target objects sent to the sorting channel component 32 according to the target objects identified by the identification module 31. The controller is a PLC controller, an integrated control circuit board or an industrial microcomputer.

[0045] Please see Figure 1 and 4 As an optional embodiment of this case, the cleaning mechanism 2 includes a central roller brush 21, an edge gathering brush 22, and a drive assembly;

[0046] The central roller brush 21 is rotatably disposed at the front center of the mobile chassis 1; the edge gathering brush 22 includes two brushes, which are symmetrically disposed on both sides in front of the central roller brush 21; the driving component is used to drive the central roller brush 21 and the edge gathering brush 22 to rotate.

[0047] It should be noted that the drive assembly is electrically connected to the controller; the central roller brush 21 is laterally positioned in the central area of ​​the front of the mobile chassis 1, and its structure includes, but is not limited to, at least one of a spirally arranged brush roller, an interlaced scraper array, or a flexible suction belt, which gathers ground objects toward the center through rotational motion. The edge gathering brushes 22 are symmetrically distributed on both sides in front of the central roller brush 21, and their form can be at least one of a rotating disc brush, a swinging scraping arm, or a telescopic gathering rod. During operation, they cover the edge areas on both sides of the robot's travel direction, pushing corner objects toward the range of action of the central roller brush 21. The drive assembly includes two modes: independent drive and linkage drive. In independent mode, the central roller brush 21 and the edge gathering brushes 22 are driven by dedicated motors (such as DC geared motors or stepper motors); in linkage mode, a single motor drives multiple brushes to operate in coordination through a transmission mechanism (such as a synchronous belt pulley system, a planetary gearbox, or a universal coupling). During the cleaning process, the central roller brush 21 sweeps objects directly in front of the robot to the rear collection area by rotating in the opposite direction of travel. Simultaneously, the edge-gathering brushes 22 continuously push objects from the sides and corners of the robot into the central roller brush 21's area of ​​action by rotating centripetally or oscillating. These three brush groups form a composite cleaning flow field of "side-gathering - central concentration." The edge-gathering brushes 22 eliminate blind spots in traditional single-roller brush designs, while the central roller brush 21 provides efficient collection in the core area. Power distribution in the drive components ensures that the rotational speed and torque of each brush are adapted to different ground friction conditions, avoiding jamming or idling due to uneven resistance, thus maintaining a stable collection effect in complex terrain. This design addresses the core shortcomings of existing cleaning robots: weak edge cleaning ability and poor adaptability to complex terrain. The symmetrical layout of the edge gathering brush 22 completely solves the problem of target object residue in edge areas such as corners and gaps between furniture; the synergistic effect of the central roller brush 21 and the edge brushes forms a full-coverage cleaning network, overcoming the drawbacks of the limited working range of a single brush; the modular design of the drive components provides flexibility in power configuration, allowing the brush combination to adapt to different working conditions such as hard floors, carpets or outdoor gravel, thereby improving the cleaning coverage and edge area cleaning efficiency in this case, and the overall compact structure ensures good working ability in small spaces.

[0048] like Figure 4As shown, in an optional embodiment of this case, the surface of the central roller brush 21 is a bristle brush or a sponge brush; a collection hopper 211 is provided on the rear side of the central roller brush 21, and a first scraper 212 is provided on the side of the collection hopper 211 near the central roller brush 21. One end of the first scraper 212 is in contact with the central roller brush 21, and the other end of the first scraper 212 is rotatably connected to the collection hopper 211. The pivot of the first scraper 212 and the collection hopper 211 is parallel to the axial direction of the central roller brush 21. A coil spring 213 is provided at the rotatable connection between the first scraper 212 and the collection hopper 211 so that the first scraper 212 always contacts the central roller brush 21, thereby achieving self-cleaning of dirt on the surface of the central roller brush 21 to a certain extent.

[0049] like Figure 4 As shown, in an optional embodiment of this case, the first scraper plate 212 includes a first scraper blade 2121. The first scraper blade 2121 is tangentially arranged with the axial surface of the central roller brush 21, and the first scraper blade 2121 exerts a pressing force against the axial surface of the central roller brush 21 under the action of the coil spring 213. The first scraper plate 212 is provided with a material leakage hole 2122, which is arranged along the tangential direction of the first scraper blade 2121, so that when the first scraper blade 2121 scrapes off the dirt and water stains on the surface of the central roller brush 21, the dirt and water stains can smoothly enter the collection hopper 211 through the material leakage hole 2122. When the surface of the central roller brush 21 is a sponge brush, the pressing force of the first scraper blade 2121 against the surface of the central roller brush 21 can squeeze out some of the water stains on the surface of the central roller brush 21, thereby enabling the central roller brush 21 to have continuous water absorption capacity and better self-cleaning ability when working.

[0050] like Figure 4 As shown, in an optional embodiment of this case, a second scraper 214 is provided below the first scraper 212. The second scraper 214 is located below the first scraper blade 2121 and is attached to the surface of the central roller brush 21. This allows for secondary scraping of the dirt on the surface of the central roller brush 21. Furthermore, since it is located below the first scraper 212, it can guide the dirt or water stains scraped off by the first scraper 212 to the collection hopper 211, preventing them from re-adhering to the central roller brush 21.

[0051] like Figure 2 As shown in Figure 3, as an optional embodiment of this case, the sorting channel assembly 32 includes a channel unit 321, a sorting baffle 322, and a second driving member; at least two channel units 321 are provided, and one end of the sorting baffle 322 is oscillating between two adjacent channel units 321; the second driving member drives one end of the sorting baffle 322 to rotate so that the sorting baffle 322 gathers the target object toward the corresponding channel unit 321.

[0052] It should be noted that the second driving component is electrically connected to the controller; the channel units 321 constitute the classification guidance path for the target objects, and their number is set to two or more according to the classification requirements. Specific forms include, but are not limited to, at least one of inclined slides, spiral guide channels, or conveyor belt partitions. The outlet of each channel unit 321 corresponds to a different type of collection container 323. The classification baffle 322 is hinged at the diversion node of adjacent channel units 321. Its structural form can be at least one of a fan-shaped swing plate, a telescopic guide plate, or a flexible folding curtain. The swing end of the classification baffle 322 deflects under the action of the second driving component. The second driving component includes rotary drive type (such as a servo motor or stepper motor) or linear drive type (such as an electromagnetic push rod or pneumatic piston), which transmits power to the rotation axis of the classification baffle 322 through a linkage mechanism, gear rack, or direct coupling. When the identification module 31 determines the category of the target object, the controller sends a command signal to the second driving component. The output shaft of the drive unit rotates the sorting baffle 322 around the hinge point, causing the working plane of the sorting baffle 322 to deflect to a specific angle, forming a physical guide surface that leads from the common entrance to the target channel unit 321. For example, the specific angle corresponds to the channel unit entrance centerline forming an angle of 45°-60° with the horizontal plane. When the target object enters the diversion area along the conveying mechanism 33, it is slid into the corresponding collection area along the preset channel unit 321 by the directional blocking and guiding effect of the sorting baffle 322. The angle switching process of the sorting baffle 322 is completed within 200-500 milliseconds, ensuring continuous sorting efficiency in high-speed conveying scenarios. The parallel layout of the multi-channel units 321, combined with the dynamic deflection of the sorting baffle 322, realizes real-time path switching from a single entrance to multiple exits. This invention overcomes the technical bottleneck of fixed channels and poor flexibility in traditional sorting devices. The dynamic deflection setting of the sorting baffle 322 replaces multiple independent sorting mechanisms, significantly simplifying the mechanical structure; the modular arrangement of the channel unit 321 supports the flexible expansion of sorting categories; the precise angle control of the second drive component ensures that the guiding direction matches the recognition result, avoiding or reducing missorting.

[0053] like Figure 1 As shown, in an optional embodiment of this case, the conveying mechanism 33 includes a robotic arm 331, a robotic hand 332, and a third drive member 333; one end of the robotic arm 331 is hinged to the end of the sorting channel assembly 32 or the movable chassis 1; the robotic hand 332 is movably disposed on the robotic arm 331 and is used to grasp the target object; the third drive member 333 is used to drive the robotic arm 331 to rotate so that the position of the robotic hand 332 above the sorting channel assembly 32 switches between the position of the robotic hand 332 and the position of the two edge gathering brushes 22.

[0054] It should be noted that the third drive component 333 is electrically connected to the controller. The robotic arm 331 serves as a spatial positioning carrier, and its structural form includes, but is not limited to, at least one of a multi-joint series arm, a parallel four-bar linkage, or a telescopic guide rod. One end is connected to the inlet end of the sorting channel assembly 32 via a rotary hinge. The robotic arm 332 is movably mounted at the end of the robotic arm 331. Its gripping execution unit can be at least one of a pneumatic gripper, an electric gripper, an electromagnetic chuck, or a vacuum suction device, which picks up and releases the target object through opening and closing, magnetic force, or negative pressure. The third drive component 333 is integrated at the hinge point or the joint of the arm body and is powered by at least one of a rotary motor (such as a servo motor), a linear actuator (such as an electric push rod), or a hydraulic actuator. It drives the robotic arm 331 to rotate around the hinge axis in the horizontal or vertical plane, so that the working end of the robotic arm 332 switches back and forth between the inlet of the sorting channel assembly 32 and the gathering area of ​​the cleaning mechanism 2 (i.e., the central collection area between the two edge gathering brushes 22). After the cleaning mechanism 2 gathers the target objects to the central collection area, the third drive unit 333 controls the robotic arm 331 to rotate towards this area. The robotic hand 332 grabs the target objects and swings back with the robotic arm 331 to above the entrance of the sorting channel component 32. The rotation trajectory of the robotic arm 331 avoids obstacles in the robot's structure, forming a cross-sectional material transfer path. The robotic hand 332 releases the target objects at the channel entrance, allowing them to fall naturally into the recognition area of ​​the sorting mechanism 3. This breaks through the layout limitations of traditional linear conveying and solves the problem of mismatch between the cleaning output end and the sorting input end through spatial motion compensation. The rotation angle and speed of the robotic arm 331 can be based on the infrared photoelectric sensor signal of the central collection area, as indicated by the third drive unit 333. When the sensor detects the accumulation of target objects, it drives the robotic arm to rotate, achieving a timing coordination between the handling action and the cleaning progress. This solution solves the problem of mechanical interference caused by the spatial separation of the cleaning area and the sorting entrance. The spatial motion capability of the robotic arm 331 replaces the rigid conveyor track and adapts to complex machine layouts, thereby improving the flexibility of the transfer path and avoiding obstacles such as sensors on the chassis. The gripping mechanism has no specific constraints on the posture of the target object, expanding its applicability to most common types of waste. The modular robotic arm 332 design supports quick replacement of gripping modules to adapt to special waste sorting needs.

[0055] like Figure 1 As shown, in an optional embodiment of this case, an air sensor 13 and an ultrasonic humidifier 14 are provided on the mobile chassis 1 or the frame installed on the mobile chassis 1; the air sensor 13 is used to detect suspended particles at the cleaning mechanism 2. When the concentration of suspended particles in the air is greater than a preset threshold, the ultrasonic humidifier 14 sprays water mist toward the cleaning area; when the concentration of suspended particles is lower than the preset threshold, the ultrasonic humidifier 14 stops spraying water mist.

[0056] It should be noted that both the air sensor 13 and the ultrasonic humidifier 14 are electrically connected to the controller. The air sensor 13 includes, but is not limited to, at least one of a laser scattering particulate detector, a beta-ray absorber, or a charge-inductive dust counter, and is fixed to the mobile chassis 1 or a part of the frame near the cleaning area to monitor the concentration of suspended particles generated during operation in real time. The ultrasonic humidifier 14 generates micron-sized water mist using at least one of atomizing plate vibration, piezoelectric transduction, or high-frequency oscillation technology, with its nozzle facing the working area of ​​the cleaning mechanism 2. The preset threshold can be set by setting a fixed value (e.g., PM2.5 concentration 150 μg / m³). 3 The system employs either dynamic baseline offset (adding a set offset based on the environmental background value) or multi-level gradient triggering (responding to light / heavy pollution levels). Dust generated during the cleaning operation of the sweeping mechanism 2 is captured in real-time by the air sensor 13. When the detected value continuously exceeds a preset threshold, the controller activates the ultrasonic humidifier 14. High-frequency oscillation breaks the liquid water into droplets with a diameter of 5-10 μm, which are then distributed through directional nozzles to cover the cleaning area, creating a localized humidity field. After the droplets collide and agglomerate with suspended particles, they settle due to their own weight, achieving in-situ dust suppression. When the sensor detects that the concentration has fallen below the safe threshold, the humidifier immediately stops working to avoid over-humidification affecting the equipment circuitry or the ground environment. This closed-loop control directly embeds dust control into the cleaning operation process, forming an autonomous system of "detection-response-termination".

[0057] This case addresses the lack of dynamic environmental management capabilities in mobile cleaning equipment. The real-time monitoring by the air sensor 13 overcomes the location limitations of traditional fixed dust removal equipment; the directional spraying of the ultrasonic humidifier 14 achieves precise suppression of dust generation at its source; and the synchronization of the dust suppression function with the cleaning action prevents the spread of secondary pollution.

[0058] As an optional embodiment of this case, the air sensor 13 is a PM2.5 particulate matter concentration detection unit, which is fixed above and behind the central roller brush 21; the atomizing nozzle of the ultrasonic humidifier 14 is tilted towards the cleaning area, and the nozzle axis forms an angle of 30°-45° with the horizontal plane.

[0059] It should be noted that the PM2.5 particulate matter concentration detection unit, as a specific implementation of the air sensor 13, is installed in the area above and behind the central roller brush 21. This positioning allows for the capture of real-time data on the point of highest dust concentration during the cleaning process. Alternative installation locations include, but are not limited to, the airflow convergence area of ​​the edge gathering brush 22, above the feed inlet of the conveying mechanism 33, or at the inlet of the sorting channel assembly 32. The atomizing nozzle of the ultrasonic humidifier 14 employs at least one of the following structures: a conical diffusion nozzle, a swirling nozzle, or a microporous array. Its tilting design achieves a nozzle axis angle range of 30°-45° through universal joints, angle adjustment brackets, or fixing slots. This tilting angle range ensures that the water mist covers the core cleaning area while avoiding splashing into non-working areas. The area above and behind the central roller brush 21 forms a dust accumulation zone due to airflow entrainment. Sampling at this location by the PM2.5 detection unit can accurately reflect the pollution peak. When the atomizing nozzle sprays water at an angle of 30°-45°, the water mist forms an elliptical coverage area under the influence of gravity and inertia. The short axis covers the width of the brush roller, while the long axis extends to the front of the cleaning path. This angle range balances droplet suspension time and settling velocity: an angle less than 30° causes premature settling of the water mist, while an angle greater than 45° causes the droplets to rise and disperse. The spatial coordination between the nozzle angle and the detection point achieves a match between "dust source monitoring and dust suppression coverage."

[0060] like Figure 1 As shown, as an optional embodiment of this case, the identification module 31 includes a color sensor 311, an ultrasonic sensor 312 and / or a contour sensor fixed to the front end of the mobile chassis 1; the color sensor 311, the ultrasonic sensor 312 and / or the contour sensor are all electrically connected to the controller.

[0061] The color sensor 311 is used to detect the surface color of the target object, the ultrasonic sensor 312 is used to detect the distance to the target object, and the contour sensor is used to detect the contour of the target object.

[0062] It should be noted that the multiple sensors of the identification module 31 are integrated at the front end of the mobile chassis 1. The color sensor 311 includes, but is not limited to, at least one of an RGB three-channel identification unit, a spectrum analyzer, or a colorimeter, which analyzes the color attributes of the target object surface through reflected light characteristics. The ultrasonic sensor 312 adopts at least one of a transceiver probe, a split array, or a focusing orientation module, which calculates the distance to the target object through the round-trip time difference of sound waves. The contour sensor can be at least one of a 3D vision camera, a laser line scanner, or a structured light projector, which captures the three-dimensional morphological features of the target object through depth map reconstruction or geometric topology analysis. The spatial layout of each sensor meets the requirement of simultaneously covering the detection area in front of the robot's movement, avoiding mutual signal interference. The color sensor 311 actively projects a light source and receives the reflected spectrum of the object, converting the color information into a classification code; the ultrasonic sensor 312 emits high-frequency sound waves and accurately determines the instantaneous distance between the target object and the robot based on the echo delay; the contour sensor constructs a point cloud of geometric features on the surface of the target object through active grating scanning or passive visual imaging. The three sensor signals are synthesized to form a "color-distance-shape" feature matrix. The control unit connects the output signals of the color sensor, ultrasonic sensor, and contour sensor to the comparison circuit. When two or more sensor signals are consistent, a classification instruction is output: for example, objects with similar colors but different shapes are distinguished by their contours, and reflective materials are compensated for color recognition errors by using distance information. Multimodal perception overcomes the recognition bottleneck in complex scenarios such as changes in ambient light and object stacking and occlusion. This solution solves the technical limitations of traditional classification equipment that relies on single visual recognition. The multi-sensor complementary mechanism solves three major pain points: misclassification of objects with similar colors, failure to recognize reflective materials, and missed detection of stacked objects. The front-end integrated layout ensures the spatiotemporal synchronization of detection and cleaning actions, thereby improving the classification accuracy compared to single-sensor solutions, especially further improving the recognition rate of reflective waste such as metal / plastic. The distance perception function avoids the robotic arm's 331 empty grab or collision, reducing the failure rate. The contour recognition capability expands the classification dimension to shape features, adapting to the sorting needs of irregularly shaped waste such as bottles / cans / packaging boxes. The modular sensor combination supports dynamic adjustment of detection strategies according to different scenarios.

[0063] As an optional embodiment of this case, the contour sensor is a laser rangefinder or a 3D structured light sensor, located coaxially with the color sensor 311; when the ultrasonic sensor 312 detects that the distance to the target object is less than a preset distance, the contour sensor activates to scan the three-dimensional shape of the target object.

[0064] It should be noted that the contour sensor, as a three-dimensional feature acquisition unit, is specifically implemented as either a laser rangefinder or a 3D structured light sensor (such as a speckle projection type), and either can be configured or used in combination. The sensor is installed coaxially with the color sensor 311, including at least one of the following implementation methods: physical integration in the same housing, optical channel merging, or fixation to adjacent supports, ensuring synchronous acquisition of the color and contour of the same target object. The preset distance is set to an adjustable range of 3-50cm according to the robot's operational characteristics. When the ultrasonic sensor 312 detects the target object entering this threshold distance, it triggers the contour sensor to switch from standby mode to active scanning mode. The ultrasonic sensor 312 acts as a primary distance filter; when it detects the target object approaching within a preset distance (e.g., 5 cm or 0.5 m), it sends an activation signal to the controller. The contour sensor then initiates laser beam scanning or structured light projection, generating point cloud data or a depth map on the target object's surface. Due to its coaxial layout with the color sensor 311, the chromaticity information and geometric topology data acquired by both have spatiotemporal consistency, and are directly fused into a "color-shape" associated feature through coordinate mapping. This hierarchical activation mechanism avoids energy waste caused by continuous operation of the contour sensor, while ensuring the acquisition of a high-precision 3D model within the optimal recognition distance, eliminating deformation errors caused by long-distance scanning. This case solves the problem of energy efficiency balance and data coordination in multi-dimensional perception in complex scenarios. The distance triggering mechanism reduces the significant amount of ineffective power consumption of the contour sensor; the coaxial layout eliminates data matching errors caused by viewing angle differences between displaced sensors; and the hierarchical perception process optimizes the allocation of computing resources, improving real-time response.

[0065] like Figure 1 As shown, as an optional embodiment of this case, the front end of the mobile chassis 1 is symmetrically provided with two sets of boundary navigation sensors 12; the boundary navigation sensors 12 are infrared sensors or grayscale sensors, and the grayscale sensors are used to identify the boundary lines of the preset ground path.

[0066] It should be noted that the boundary navigation sensor 12 is electrically connected to the controller; the boundary navigation sensor 12 is symmetrically arranged on both sides of the front end of the mobile chassis 1, and each group of sensors works independently or cross-calibrates. Its type is limited to infrared sensors (such as reflective phototubes) or grayscale sensors (such as photoresistor arrays), and one or both can be configured or deployed in combination. The infrared sensor determines the boundary position by emitting infrared light and detecting the reflection intensity of objects; the grayscale sensor identifies physical markers (such as black guide lines, colored marking strips, or reflective tape) of the preset path based on the difference in ground reflectivity. The implementation of the boundary line of the preset ground path includes, but is not limited to, at least one of painted markings, embedded magnetic strips, or optical projection markings, which are adapted to the reflectivity characteristics of the sensors. The two symmetrically arranged groups of sensors scan the areas on both sides of the robot's travel direction in real time. When the grayscale sensor detects a sudden change in the reflectivity of the preset boundary line (such as a black line reflectivity value < 800), or the infrared sensor senses a change in the reflection intensity threshold of the boundary marker, it outputs a yaw signal to the controller. For example, a boundary marker is determined when the reflection intensity is lower than 30% of the environmental reference value. The controller compares the data differences between the sensors on both sides: if the left sensor triggers a boundary signal, it controls a right turn; if the right sensor triggers a boundary signal, it controls a left turn, achieving dynamic correction along the boundary line. The dual-sensor redundancy design eliminates the risk of single-point failure, especially addressing misjudgments caused by sudden changes in lighting or localized contamination, ensuring continuous path tracking in complex environments. This solution addresses the problems of mobile robots derailing at boundaries and poor adaptability to complex terrain. The symmetrical sensor layout provides a dual-channel verification method, solving the false triggering problem of traditional single-sensor solutions; the complementarity of infrared and grayscale sensors adapts to different lighting conditions (infrared is preferred in strong light scenarios, and grayscale is preferred in weak light scenarios). The path tracking accuracy of this solution is significantly improved compared to asymmetrical solutions, and the boundary derailment rate is reduced; dual-sensor redundancy allows the system to maintain basic navigation capabilities even in the event of a single-sided failure; the dual-mode detection mechanism of reflectivity and infrared intensity adapts to different floor materials such as ceramic tiles, wood flooring, and carpet.

[0067] As an optional embodiment of this case, the drive assembly includes a single-axis geared motor and a dual-axis geared motor; the single-axis geared motor is connected to the rotating shaft of the central roller brush 21; the dual-axis geared motor drives the two edge gathering brushes 22 to rotate in opposite directions synchronously through a gearbox.

[0068] It should be noted that the single-axis geared motor and the dual-axis geared motor are electrically connected to the controller. The single-axis geared motor serves as a dedicated drive unit for the central roller brush 21. Its power output shaft is connected to the roller brush shaft via at least one of the following methods: rigid coupling, spline sleeve, or flange connection. The motor type includes at least one of the following: DC brushed motor, brushless internal rotor motor, or stepper motor. The dual-axis geared motor achieves synchronous transmission of the two output shafts through a gearbox. The gearbox structure can be at least one of the following: planetary gear system, worm gear set, or parallel shaft gear set. The two output shafts are respectively connected to the drive ends of the two edge gathering brushes 22 via universal joints, flexible couplings, or synchronous belts, ensuring that the two brushes operate in a constant speed and opposite rotation mode.

[0069] As another optional embodiment of this case, the conveying mechanism 33 includes a swing slide, a collection port, and a third drive member;

[0070] One end of the swing slide is hinged to the end of the sorting channel assembly 32; the collection port is located at the end of the swing slide and between the two edge gathering brushes 22. The collection port includes an open plate and is used to scoop up the target object; the third driving member drives the swing slide to rotate, so that the collection port is raised and the target object slides along the swing slide toward the sorting channel assembly 32.

[0071] In summary, this utility model effectively overcomes some practical problems in the prior art, thus having high utilization value and significance.

[0072] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A cleaning robot, characterized in that, include: A mobile chassis, including a drive wheel assembly and a first drive component for moving the drive wheel assembly; A cleaning mechanism is located at the lower part of the mobile chassis and is used to clean and collect the target object; Classification agencies, including: The recognition module is used to identify target objects of different colors and / or shapes; A classification channel component, mounted on the mobile chassis, is used to classify the target object based on the results identified by the recognition module; A conveying mechanism is provided on the mobile chassis and is used to convey the target objects swept and collected by the cleaning mechanism to the sorting mechanism.

2. The cleaning robot according to claim 1, characterized in that, The cleaning mechanism includes: A central roller brush is rotatably positioned at the front center of the mobile chassis; The edge gathering brush includes at least two brushes, symmetrically arranged on both sides in front of the central roller brush; A drive assembly drives the central roller brush and the edge gathering brush to rotate.

3. The cleaning robot according to claim 1, characterized in that, The classification channel component includes: At least two channel units should be provided. A sorting baffle is swung at one end between two adjacent channel units; The second driving component drives one end of the sorting baffle to rotate so that the sorting baffle gathers the target object toward the corresponding channel unit.

4. The cleaning robot according to claim 2, characterized in that, The conveying mechanism includes: A robotic arm, one end of which is hinged to the end of the sorting channel assembly or a movable chassis; A robotic arm is movably mounted on the robotic arm and used to grasp the target object; The third drive unit is used to drive the robotic arm to rotate so that the position of the robotic arm above the sorting channel assembly and between the two edge gathering brushes can be switched.

5. The cleaning robot according to claim 2, characterized in that, An air sensor and an ultrasonic humidifier are installed on the mobile chassis or the frame mounted on the mobile chassis. The air sensor is used to detect suspended particles at the cleaning mechanism. When the concentration of suspended particles in the air is greater than a preset threshold, the ultrasonic humidifier sprays water mist toward the cleaning area.

6. The cleaning robot according to claim 5, characterized in that, The air sensor is a PM2.5 particulate matter concentration detection unit, which is fixed above and behind the central roller brush; the atomizing nozzle of the ultrasonic humidifier is tilted towards the cleaning area, and the nozzle axis forms an angle of 30°-45° with the horizontal plane.

7. The cleaning robot according to claim 1, characterized in that, The recognition module includes a color sensor, an ultrasonic sensor, and / or a contour sensor fixed to the front end of the mobile chassis. The color sensor is used to detect the surface color of the target object, the ultrasonic sensor is used to detect the distance to the target object, and the contour sensor is used to detect the contour of the target object.

8. The cleaning robot according to claim 7, characterized in that, The contour sensor is a laser rangefinder or a 3D structured light sensor, located coaxially with the color sensor; when the ultrasonic sensor detects that the distance to the target object is less than a preset distance, the contour sensor activates to scan the three-dimensional shape of the target object.

9. The cleaning robot according to claim 1, characterized in that, The mobile chassis is symmetrically equipped with two sets of boundary navigation sensors at its front end; the boundary navigation sensors are infrared sensors or grayscale sensors, and the grayscale sensors are used to identify the boundary lines of the preset ground path.

10. The cleaning robot according to claim 2, characterized in that, The driving component includes: A single-axis geared motor is connected to the rotating shaft of the central roller brush; A dual-axis geared motor synchronously drives two edge gathering brushes to rotate in opposite directions via a gearbox.

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