CN201936191U - Cleaning robot - Google Patents

Abstract

A cleaning robot, comprising a body and a recharge base, the body includes: a cleaning device disposed at the bottom of the body, a control device disposed inside the body, a charging terminal disposed outside the body, and a charging terminal connected to the charging terminal A connected rechargeable battery, an induction device and an infrared receiver located outside the body, and a driving mechanism controlled and connected by the induction device and the control device; the recharge base includes: an infrared transmitter located outside the recharge base, and The charging output electrode matched with the charging terminal of the main body. The utility model has the advantages that it can automatically charge when the electric energy is reduced, can complete various obstacle avoidance actions and has the ability not to fall from cliffs and steps, etc. In addition, it can carry out cleaning in various modes according to different path planning, So that it is convenient, quick and thorough to achieve the purpose of cleaning.

Description

cleaning robot

technical field

The utility model belongs to the field of intelligent robots, in particular to a cleaning robot.

Background technique

Traditional vacuum cleaners need to rely on manual work to clean the family room. The patent with the notification number CN2631410Y discloses a vacuum cleaner for automatic cleaning. And the left and right wheels, the left and right wheels are respectively driven by the left and right wheel motors, and the vacuum cleaner is also provided with a sensor for sensing obstacles, and the sensor is electrically connected with the control circuit of the left and right wheel motors. When the vacuum cleaner is working, its left and right wheels are driven by the wheel motor installed in the vacuum cleaner to drive the vacuum cleaner to move for automatic cleaning. The relative position of the sensor changes, and a displacement occurs between the baffle inside the front panel and the sensing head of the sensor. The sensor transmits the displacement signal to the control circuit to change the rotation speed of the left and right wheel motors, thereby changing the rotation speed of the left and right wheels, so that the vacuum cleaner turns around obstacles and continues to move forward. The disadvantages of this vacuum cleaner in the prior art are: first, when entering the lower part or step part, it is easy to drop and damage, because it cannot sense the lower part or step part of the cleaning area; second, when the charging voltage of the battery is reduced When it is lower than the predetermined standard, it needs to be manually charged before returning to the cleaning area to perform cleaning operations.

Utility model content

In view of this, the main purpose of the present utility model is to provide a cleaning robot, which not only prevents falling when used on stairs, desktops, etc., but also has the feature of intelligent charging.

In order to achieve the above purpose, the technical solution of the present utility model is achieved as follows: a cleaning robot, characterized in that it includes: a body and a refill seat, the body includes: a cleaning device located at the bottom of the body, located at the bottom of the body The internal control device, the charging terminal located outside the body, and the rechargeable battery connected to the charging terminal, the sensing device and infrared receiver located outside the body, and the driving mechanism controlled and connected by the sensing device and the control device ; The recharging station includes: an infrared transmitter located outside the recharging station, and a charging output electrode matched with the charging terminal of the main body.

Both the body and the recharge base are equipped with induction windows.

The driving mechanism includes left and right driving wheels and a guide wheel at the front, and the left and right driving wheels are respectively driven by left and right wheel motors.

The cleaning device includes a dust suction fan assembly, a dust box, a filter screen, and a dust suction pipeline, and also includes a side sweep brush and a cylindrical middle sweep brush, and the middle sweep brush is contacted with a Relative to the rotating cylindrical floor brush, the middle sweeping brush is driven by a middle sweeping motor, and the side sweeping brush is driven by a side sweeping motor.

The dust box is provided with a mop, and a mop is arranged on the mop.

The sensing device includes a wall detection sensor for sensing obstacles and walls, and a ground detection sensor for sensing cliffs.

The control device includes a main control chip and a management drive module, and the main control chip is connected to the management drive module.

The management drive module includes: left and right wheel drive circuits for left and right wheel motors, middle sweep drive circuits for middle sweep motors, side sweep drive circuits for side sweep motors, and current sampling circuits for vacuum fans , the left ground detection circuit for the left azimuth, the left middle ground detection circuit for the left middle azimuth, the right ground detection circuit for the right azimuth, the right middle ground detection circuit for the right middle azimuth, the left middle ground detection circuit for the left azimuth The left infrared receiving and wall detection circuit, the middle infrared receiving and wall detection circuit for the front position, the right infrared receiving and wall detection circuit for the right position, the top infrared receiving circuit for the upper position, and the left position The left wall collision circuit, the right wall collision circuit for the right position, the power input detection circuit for charging, the recharge base input detection circuit and the charging control circuit, the current sampling circuit and voltage sampling circuit for the rechargeable battery.

The recharging base is provided with a decorative lamp for placing essence.

The control device has a remote controller.

Compared with the prior art, the utility model has the following beneficial effects:

First, intelligent charging is carried out automatically. The communication between the infrared receiver on the main body and the infrared emitter on the recharging base is transmitted to the main chip after being demodulated by the infrared receiving circuit. When the electric energy in the rechargeable battery When the total amount is insufficient and drops to a predetermined value, the infrared transmitter on the recharge base sends out a signal, the infrared receiver on the main body receives the signal, and controls the main body to return to the recharge base for charging.

Second, to realize intelligent obstacle avoidance and cliff detection, the main control chip stores the control program of the body, obstacle avoidance algorithm and infrared communication algorithm, controls and drives the left and right wheels to move forward, backward, turn left and turn right, and the cliff sensor is used to detect the front Stairs and other cliff-like roads prevent the robot from falling. When there is an obstacle, the wall detection sensor will give a signal. Various obstacle avoidance actions are used to judge whether the height difference in the movement direction of the body exceeds the height limit range when the body encounters stairs or steps, so as to prevent the body from falling from a high place.

Thirdly, cleaning in various modes can be carried out according to different path planning. The driving mechanism is controlled by the sensing device and the control device, so that the robot can walk autonomously, and the speed can be selected from slow and fast. Work, such as: left spiral type, right spiral type, broken line type, straight line type, along the wall mode, around the column mode, free mode, etc., the remote control can manually control the required cleaning direction and location, convenient and quick to achieve cleaning, cleaning effect more thorough.

Description of drawings

Fig. 1 is the structural representation of the body of the present utility model;

Fig. 2 is a schematic diagram of the bottom surface structure of the body of the present invention;

Figure 3 is a schematic diagram of the installation of the dust box of the body of the present invention;

Figure 4 is a schematic diagram of the installation of the fan assembly of the main body of the present invention;

Figure 5 is a schematic diagram of the installation of the fan box cover of the main body of the present invention;

Fig. 6 is the installation schematic diagram of the filter screen of the body of the present utility model;

Fig. 7 is a schematic diagram of installation of the mop of the body of the present invention;

Fig. 8 is a schematic diagram of installation of the carriage of the main body of the present invention;

Fig. 9 is a schematic diagram of installation of the mid-sweep brush and the floor brush of the main body of the present invention;

Fig. 10 is a schematic diagram of the installation of the side sweeping brush of the body of the present invention;

Figure 11 is a schematic diagram of the installation of the left and right driving wheels of the main body of the present invention;

Figure 12 is a schematic diagram of the installation of the front guide wheel of the body of the present invention;

Figure 13 is a schematic diagram of the installation of the rechargeable battery of the main body of the present invention;

Fig. 14 is a schematic structural view of the recharging seat of the present invention;

Fig. 15 is a schematic diagram of charging from the main body of the present invention to the charging station;

Fig. 16 is the electrical schematic diagram of the main circuit of the present utility model;

Fig. 17 is a schematic diagram of the button control circuit of the present invention;

Fig. 18 is a schematic diagram of the left wheel drive circuit of the present utility model;

Fig. 19 is a schematic diagram of the right wheel drive circuit of the present utility model;

Fig. 20 is a schematic diagram of the ground detection circuit of the present utility model;

Fig. 21 is a schematic diagram of the infrared receiving and wall detection circuit of the present invention;

Fig. 22 is a schematic diagram of the front collision circuit of the present invention;

Fig. 23 is a schematic diagram of the mid-sweep driving circuit of the present invention;

Fig. 24 is a schematic diagram of the side scan driving circuit of the present invention;

Fig. 25 is a schematic diagram of the LED indicating circuit of the present invention.

Detailed ways

Shown in Fig. 1 is the body 1 of the cleaning robot of the present utility model, and it comprises: front shell 2, and front shell 2 is installed in the place ahead of body 1, and front shell 2 can move up and down, left and right relative to body 1 when subjected to external force, and external force eliminates It can be automatically reset afterwards. Referring to Fig. 2, a cleaning device is provided at the bottom of the main body 1, a dust box 3 and a handle 4 are provided on the main body 1, a dust box button 5, a power indicator button 6 and a function button 7 are arranged on the top of the body 1, and the function button 7 Including: speed adjustment button, start/stop cleaning button and return charging button. The top of the front shell 2 is provided with an infrared signal receiving head 8, and an induction window 9 is provided at the front of the front shell 2, and a charging pole piece 10 is located at the bottom of the induction window 9, and a power switch is located behind the side of the main body 1. 15 and DC socket 16.

As shown in Figures 3 to 13, the dust box 3 is detachably connected to the rear of the body 1, and the air outlet window 12 is arranged on the dust box 3, and the dust box 3 can be pulled out by pressing the button 5 of the dust box, and the dust box 3 can be sucked out. The dust blower assembly 25 can be ejected from the dust box 3, and the dust suction fan generates negative pressure to suck the dust from the dust suction pipeline into the dust box 3, turn the dust suction blower assembly 25 over, unscrew the two fasteners, and open the blower box Cover, open filter screen layer support 26, expose the filter screen 27 that wherein is provided with, dust box 3 is turned over, expose the dragging plate 13 of setting, on dragging plate 13, mop 14 is installed, and mop can tear off conveniently, is convenient to cleaning. The bottom of the body 1 is provided with a floor brush 17 and a middle sweep brush 18. The middle sweep brush 18 is in contact with the floor brush 17 and rotates relatively. The middle sweep motor drives the middle sweep brush 18 at the entrance of the front dust suction pipeline to rotate. , and drive the roller-type floor brush 17 to rotate, and sweep the large and small dust into the front dust suction pipeline. The side sweep brush 24 is disassembled and connected to the bottom side through the screws on the side sweep spindle. When the robot is working, the side sweep brush 24 can be rotated and cleaned to ensure that every corner of the room can be cleaned.

The left wheel 19 and the right wheel 20 are installed on the left and right sides of the body 1 bottom by screws, and the front wheel 21 is a guide wheel, which is directly aligned with the card position and connected to the bottom front of the body 1. The left wheel 19, the right wheel 20, and the front wheel 21 jointly support the whole body, and the left and right wheels are respectively driven by the left and right wheel motors to drive the body to realize various walking functions such as forward and reverse rotation, in-situ steering, and variable speed walking.

When the front shell 2 is subjected to external force, it can move up, down, left, and right relative to the main body 1. After the external force is eliminated, it can automatically reset under the action of the spring. On the inner side of the front shell 2, there are two left and right photoelectric switch swing rods. If there is an obstacle in front of the robot, the corresponding side of the front shell is pressed, and the photoelectric switch pendulum transmits the displacement signal to the control circuit of the motor to change the rotation speed of the left and right wheels, so that the robot can avoid obstacles intelligently.

Open the bottom battery cover 22 to expose the rechargeable battery 28. In addition, a ground detection sensor 23 is provided at the bottom to judge whether the height difference in the direction of movement of the body exceeds the height limit range, so as to prevent the body from falling from a high place.

Shown in Figure 14 is the recharging seat of the cleaning robot of the present utility model including: an infrared emitting head 30 located outside the recharging seat, a power indicator light 31 and a charging indicator light 32 are all arranged on the recharging seat, and the recharging There is also an LED decorative light 33 on the seat, on which a small amount of essence can be placed to purify the air. The decorative light switch 34 is arranged on it. On the recharging seat, the charging output electrode matched with the charging terminal of the main body It includes a charging positive pole 35 and a charging negative pole 36. In addition, the recharging base also has a charging power supply DC socket 37, and an induction window 38 is also provided on the recharging base. As shown in FIG. 15 , the infrared emitter emits an optical signal to guide the main body back to the recharging base, and the charging pole piece 10 of the main body is docked with the charging positive pole 35 and the charging negative pole 36 of the recharging base for charging.

Figure 16 is an electrical schematic diagram of the main circuit of the present invention, the main control chip is connected to each management drive module, and the management drive module includes: left and right wheel drive circuits for left and right wheel motors, and middle sweep motors for middle sweep Drive circuit, used for the side sweep drive circuit of the side sweep motor, used for the current sampling circuit of the vacuum fan, for the left ground detection circuit for the left position, for the left center ground detection circuit for the left position, for the right position The ground detection circuit on the right side, the right ground detection circuit for the right middle position, the left infrared receiver and wall detection circuit for the left position, the middle infrared receiver and wall detection circuit for the front position, and the right side for the right position Infrared receiving and wall detection circuit, the top infrared receiving circuit for the upper position, the left wall impact circuit for the left position, the right wall impact circuit for the right position, the power input detection circuit for charging, and the recharging stand The input detection circuit and the charging control circuit are used for the current sampling circuit and the voltage sampling circuit of the rechargeable battery.

The main chip is STM32F101, LQFP100, its PE2 pin controls the right wheel forward, PE3 pin controls the right wheel back, PE4 pin detects the speed of the right wheel, PE5 pin controls the right wheel off the ground, PCO pin is connected to the middle sweep current sampling, PC1 pin is connected to vacuum Fan current sampling, PC2 pin is connected to left wheel current sampling, PC3 pin is connected to right wheel current sampling, PAO-WKUP pin controls battery voltage, PA1 pin controls battery temperature, PA2 pin controls charging current, PA3 pin controls left ground detection, PA4 pin controls left Middle ground inspection, PA5 pin controls the right middle ground inspection, PA6 pin controls the right ground inspection, PA7 pin controls the left ground inspection, PC4 pin controls the left middle wall inspection, PC5 pin controls the middle wall inspection, PB0 pin controls the right middle wall inspection, PB1 Foot control right wall inspection, PE7 foot infrared receiving power control, PE8 foot left infrared signal, PE9 foot front infrared signal, PE10 foot right infrared signal, PE11 foot top infrared signal, PE12 foot left front collision, PE13 foot right front collision, PE14 foot Middle sweep forward, PE15 middle sweep backward, PB10 middle sweep forward control, PB14 foot ultraviolet signal control, PB15 foot display chip selection, PD8 foot display clock, PD9 foot display data, PD10 foot edge sweep current, PD11 and PD12 feet Power input detection, PD13 foot buzzer control, PD14 foot backlight control, PC6 foot charging PWM, PC7 foot dust fan control, PC8 foot middle sweep motor control, PC9 foot display power control, PA8 foot side sweep control, PA9 foot UART1_TX, PA10 pin UART1_RX, PA12 pin wall detection launch control, PE1 pin left wheel back switch, PE0 pin control left wheel forward switch, PB9 pin left wheel backward control, PB8 pin left wheel forward control, PB7 pin right wheel forward control, PB6 pin right wheel Backward control, PB5 front wheel speed, PD7 left wheel off the ground switch, PD6 left wheel speed detection, PD5 infrared emission, PD4 ground detection emission, PD3 foot button 2, PD2 foot button 1, PD0 foot button 0.

As shown in Figure 17, C73, button 0 is connected to the PD1 pin of the main chip, C1, button 1 is connected to the PD2 pin of the main chip, C25, button 2 is connected to the PD3 pin of the main chip

As shown in Figure 18, the left wheel is driven by the left wheel motor, connected to the PD6 pin of the main chip through the resistor R1, which is the speed detection of the left wheel, and connected to the PD7 pin of the main chip through the resistor R2, which is the ground switch of the left wheel. The left wheel drive circuit includes: transistor Q5, whose emitter is connected to the collector of transistor Q2 and connected to resistor R15, the emitter of transistor Q41 is connected to the emitter of Q2, the base of Q41 is connected to the collector of Q5 through resistor R92, and the transistor The emitter of Q12 is connected to resistor R65, the base is connected to resistor R95, and then connected to diode D51. The collector of Q12 is connected to field effect transistor Q45 through resistor R44, and Q45 is connected to field effect transistor Q17, which is a reverse switch for the left wheel. Transistor Q7, its emitter is connected to the collector of triode Q25 and connected to resistor R20, the emitter of triode Q42 is connected to the emitter of Q25, the base of Q42 is connected to the collector of Q7 through resistor R93, and the emitter of triode Q22 is connected to Resistor R66, the base is connected to resistor R94, and then connected to diode D59, the collector of Q22 is connected to field effect transistor Q46 through resistor R109, and Q46 is connected to field effect transistor Q18, which is the forward switch of the left wheel.

As shown in Figure 19, the right wheel is driven by the right wheel motor, connected to the PE4 pin of the main chip through the resistor R3, which is the speed detection of the right wheel, and connected to the PE5 pin of the main chip through the resistor R4, which is the right wheel off the ground switch. The right wheel drive circuit includes: transistor Q6, the emitter of which is connected to the collector of transistor Q39 and connected to resistor R16, the emitter of transistor Q43 is connected to the emitter of Q39, the base of Q43 is connected to the collector of Q6 through resistor R101, The emitter of the triode Q21 is connected to the resistor R67, the base is connected to the resistor R62, and then connected to the diode D61. The collector of Q21 is connected to the field effect transistor Q47 through the resistor R108, and Q47 is connected to the field effect transistor Q19, which is the reverse switch of the right wheel. The emitter of the transistor Q8 is connected to the collector of the transistor Q40 and connected to the resistor R21, the emitter of the transistor Q44 is connected to the emitter of Q40, the base of Q44 is connected to the collector of Q8 through the resistor R117, and the emitter of the transistor Q23 is connected to Resistor R68, the base is connected to resistor R119, and then connected to diode D62. The collector of Q23 is connected to field effect transistor Q48 through resistor R118, and Q48 is connected to field effect transistor Q20, which is the forward switch of the right wheel.

As shown in Figure 20, the left ground detection circuit includes D1 and D10, D1 is PT204, D10 is IR204, connected to the left ground detection control pin PA7 of the main chip, the left middle ground detection circuit includes D3 and D11, D3 is PT204, D11 IR204, connected to the left middle ground detection control pin PA4 of the main chip, the right middle ground detection circuit includes D2 and D12, D2 is PT204, D12 is IR204, connected to the right middle ground detection control pin PA5 of the main chip, the right ground detection The circuit includes D4 and D13, D4 is PT204, D13 is IR204, connected to the right ground detection control pin PA6 of the main chip.

As shown in Figure 21, the infrared receiving and wall detection circuit on the left includes D5, D14 and U7, D5 is PT204, D14 is IR204, the model of U7 is FM-4038LN-5AS, connected to the left wall detection pin PA7 of the main chip, the middle Infrared receiving and wall detection circuit includes D6, D15, U8, D7, D16, D8, D17, D6 is PT204, D15 is IR204, D7 is PT204, D16 is IR204, D8 is PT204, D17 is IR204, U8 is IRM -8601S, connected to the middle wall detection pin PC5 of the main chip, the infrared receiving circuit on the top includes U5, the model of U5 is IRM-8601S, the right infrared receiving and wall detection circuit includes D9, D18 and U6, D9 is PT204, and D18 is The model of IR204 and U6 adopts FM-4038LN-5AS, which is connected to the right wall detection pin PB1 of the main chip.

As shown in Figure 22, the left front crash circuit includes Q4 and D21, Q4 is PT-928-6C, D21 is IR-928-6C, which is connected to the PE12 pin of the main chip, and the right front crash circuit includes Q3 and D22, Q3 It is PT-928-6C, and D22 is IR-928-6C, which is connected to the PE13 pin of the main chip.

As shown in Figure 23, the base of Q49 is connected to the PB10 pin of the main chip through R159, the base of Q50 is connected to R163 to the PE15 pin of the main chip, the base of Q51 is connected to the PE14 pin of the main chip through R172, and the The base connects R173 to the PC8 pin of the main chip.

As shown in Figure 24, the base of Q30 is connected to R38 and R76, the emitter and collector of Q31 are connected to C34, the base is connected to C36, the emitter of Q32 is connected to D41, and the collector is connected to D39. This circuit is connected to the main chip PD10 pin and PA8 pin.

As shown in Figure 25, the base of Q35 is connected to R43 to pin PC9 of the main chip, the base of Q34 is connected to R42 to pin PD9 of the main chip, the base of Q33 is connected to R41 to pin PD8 of the main chip, and the base of Q33 is connected to pin PD8 of the main chip. The base connects R29 to the PB15 pin of the main chip.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the protection scope of the present utility model.

Claims (10)

1. A cleaning robot, characterized in that it comprises: a body and a recharging seat, The body includes: a cleaning device at the bottom of the body, a control device inside the body, a charging terminal outside the body, a rechargeable battery connected to the charging terminal, and an induction device outside the body and an infrared receiver, as well as a driving mechanism controlled and connected by a sensing device and a control device; The recharging base includes: an infrared emitter arranged outside the recharging base, and a charging output electrode matched with the charging terminal of the main body. 2. The cleaning robot according to claim 1, characterized in that: the outside of the main body and the recharging base are provided with sensing windows. 3. The cleaning robot according to claim 2, wherein the driving mechanism comprises left and right driving wheels and a guide wheel located at the front, and the left and right driving wheels are respectively driven by left and right wheel motors. 4. The cleaning robot according to claim 3, characterized in that: the cleaning device comprises a dust suction fan assembly, a dust box, a filter screen, and a dust suction pipeline, and also includes a side sweeping brush and a cylindrical The middle sweeping brush, the middle sweeping brush is in contact with a relatively rotating cylindrical floor brush, the middle sweeping brush is driven by the middle sweeping motor, and the side sweeping brush is driven by the side sweeping motor drive. 5. The cleaning robot according to claim 4, wherein the dust box is provided with a mop, and a mop is provided on the mop. 6. The cleaning robot according to claim 5, wherein the sensing device comprises a wall detection sensor for sensing obstacles and walls, and a ground detection sensor for sensing cliffs. 7. The cleaning robot according to claim 6, wherein the control device comprises a main control chip and a management drive module, and the main control chip is connected to the management drive module. 8. The cleaning robot according to claim 7, characterized in that, the management drive module comprises: a left and right wheel drive circuit for the left and right wheel motors, a middle sweep drive circuit for the middle sweep motor, and a middle sweep drive circuit for the side sweep The side sweep drive circuit of the motor is used for the current sampling circuit of the vacuum fan, the left ground detection circuit is used for the left position, the left middle ground detection circuit is used for the left middle position, and the right ground detection circuit is used for the right position. The right middle ground detection circuit for the right middle position, the left infrared receiving and wall detection circuit for the left position, the middle infrared receiving and wall detection circuit for the front position, the right infrared receiving and wall detection circuit for the right position, The top infrared receiving circuit for the upper position, the left wall bumping circuit for the left position, the right wall bumping circuit for the right position, the power input detection circuit for charging, the recharging station input detection circuit and the charging control circuit , Current sampling circuit and voltage sampling circuit for rechargeable batteries. 9. The cleaning robot according to any one of claims 1 to 8, characterized in that: the recharging base is provided with a decorative lamp for placing fragrance. 10. The cleaning robot according to claim 9, characterized in that: said control device has a remote controller.

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