CN107788916B - Smart home cleans all-in-one machine - Google Patents

Abstract

The invention discloses an intelligent home cleaning all-in-one machine, which comprises a casing, the bottom surface of which is provided with universal wheels; the bottom surface of the casing is provided with a fan-shaped infrared generator with an angle of 120-150 degrees; sensor; the bottom surface of the housing is provided with a groove for placing the floor mopping mechanism on one side of the tail end; the cleaning mechanism includes side brushes, main brushes, dust suction devices and dust boxes; intelligent control system includes a controller and is connected with all The motor, map generation module, memory storage module, GPS navigation device and analysis module respectively connected to the above controller, the cleaning map is generated through the map generation module, and the analysis module ensures that the cleaning area is fully covered without missing a scan, and the GPS navigation device plans the most Excellent cleaning route; rechargeable battery. It realizes the flexible access to the mop, and through the control of the intelligent system, the cleaning space is fully covered, effectively avoiding missed cleaning, and improving the cleaning effect.

Description

Smart home cleaning all-in-one machine

technical field

The invention relates to the technical field of household cleaning equipment, in particular to an intelligent household cleaning all-in-one machine.

Background technique

The sweeping robot, also known as the lazy sweeper, is a smart household appliance that can automatically vacuum the ground. Because it can detect factors such as room size, furniture placement, and floor cleanliness, and rely on built-in programs to formulate reasonable cleaning routes, it has a certain degree of intelligence, so it is called a robot. Sweeping robots generally use brush sweeping and vacuum methods to absorb ground debris into their own garbage storage boxes, thereby completing the function of ground cleaning. At present, most of the sweeping robots on the market use random routes or bow-shaped routes to plan the cleaning routes. The cleaning efficiency of random routes is low, and it is easy to miss or repeatedly clean the same area, resulting in poor cleaning effect and low efficiency. ; and although the cleaning efficiency of the bow-shaped route is much higher than that of the random route, the planning of the map is often relatively rigid. Generally, the map is generated at the first cleaning and the route is planned, and then it has been cleaned according to this route. The disadvantage of the setting is that if there is a moving object that obstructs the sweeper during the first sweep, the sweeper will often mark this area as an obstacle when it is cleaned again later, and this area will continue to be missed The problem.

Contents of the invention

It is an object of the present invention to solve at least the above-mentioned problems and to provide at least the advantages which will be described later.

Another purpose of the present invention is to provide a smart home cleaning all-in-one machine, which realizes the flexible use of mops, and through the control of the intelligent system, the cleaning space is fully covered, effectively avoiding missed cleaning, and improving the cleaning effect.

In order to achieve these objects and other advantages according to the present invention, a smart home cleaning all-in-one machine is provided, including:

The casing is set as a cylinder, and the bottom surface of the casing is provided with a universal wheel that props the casing off the ground and drives the movement of the casing; one end of the casing is set as the front end, and the The opposite end of the front end is set as the tail end, and an infrared generator is arranged on the bottom surface of the housing and on one side of the front end; the infrared generator is fan-shaped, and the fan-shaped angle is 120-150 degrees ; The front end of the housing is provided with an ultrasonic sensor; the bottom surface of the housing is provided with a groove near the tail end, and a touch switch is arranged in the groove;

The cleaning mechanism includes a side brush, a main brush, a dust suction device and a dust box; the number of the side brushes is two, and the two side brushes are symmetrically arranged at the bottom of the housing on both sides close to the front end; The main brush is arranged on the bottom surface of the housing on the axis connecting the front end and the tail end, and is close to the front end side, and the dust suction device is arranged in two, and are respectively arranged on the sides of the main brush Front and rear sides; the dust box is connected to the dust suction device, and the dust box is arranged on the rear side of the main brush and embedded in the housing;

mopping mechanism, which is clamped in the groove, and the mopping mechanism includes a mop, a mop frame and a water tank, the mop is arranged on the first end of the mop frame, and the second end of the mop frame is connected to the The groove is movably connected, the water tank is arranged above the groove, and is in liquid communication with the mop rack, and the opening and closing of the water tank is controlled by the touch switch;

An intelligent control system, which includes a controller and a motor respectively connected to the controller, a map generation module, a memory storage module, a GPS navigation device and an analysis module; the controller is connected to the infrared generator and the ultrasonic sensor, and According to the signals sent by the infrared generator and the ultrasonic sensor, instructions are sent to the motor, so that the motor drives the universal wheel, the infrared generator, the ultrasonic sensor, and the side brush respectively according to the instructions of the controller. , the action of the main brush and the dust collection device; the controller controls the motor to drive the universal wheel to reciprocate within a range of less than two meters in width, and controls the motion trajectory to be arc-shaped; the map generation module records the The running track of the universal wheel and generate a map, and then send the map to the memory storage module for storage; the GPS navigation device is arranged on the bottom surface of the housing and is connected with the memory storage module to The movement route of the universal wheel is planned on the map saved in the memory storage module, and the memory storage module associates and saves the movement route with the map; the analysis module is connected with the memory storage module, and Analyzing the map stored in the memory storage module to find out the unmarked area within the map range and the motion track of the universal wheel has not reached, and then send the information of the area to the map generation module and A controller, the controller controls the universal wheel to move to the area, and determines the environmental information of the area through the return signals of the infrared generator and the ultrasonic sensor, and sends the environmental information to the map generation module, so that the map generation module supplements the area on the generated map;

A rechargeable battery is arranged inside the casing and provides power for the motor.

Preferably, in the smart home cleaning all-in-one machine, the mop rack is a hollow box, the side panels of the mop rack are movably connected to the bottom plate of the mop rack, and the mop rack has built-in multiple The spring is used to make the distance between the bottom plate and the top plate of the mop rack adjustable according to the pressure on the bottom plate of the mop rack.

Preferably, in the smart home cleaning all-in-one machine, the rotation direction of the main brush is the same as the movement direction of the housing; the amount of bristles in the middle 1/3 of the main brush is less than the bristles at both ends of the main brush , 1/3 of the bristles at the left and right ends of the main brush are respectively inclined towards the middle of the main brush.

Preferably, in the smart home cleaning all-in-one machine, the analysis module analyzes the unmarked area within the map range and the motion track of the universal wheel does not reach the area according to the Cartesian coordinate system.

Preferably, in the smart home cleaning all-in-one machine, the intelligent control system further includes a comparison module, and when the smart home cleaning all-in-one machine cleans the same space, the map generation module is the first five times Maps are generated during cleaning, and the final map is obtained based on the 5 generated maps;

The map generation module sends the generated 5 maps to the comparison module for comparison, and the comparison module judges the difference point information of the 5 maps for the same area, if 3 or more of the maps are for the same area If the marker information of the regions is the same, the corresponding regions on the final map are marked according to the marker information.

Preferably, in the smart home cleaning all-in-one machine, the GPS navigation device plans the running route of the universal wheel on the final map.

Preferably, in the smart home cleaning all-in-one machine, anti-collision rubber strips are provided on the outer edge of the side of the housing.

The present invention at least includes the following beneficial effects:

The invention improves the conventional sweeping robot so that it can not only clean the ground, but also wipe the ground with a mopping cloth after installing a mopping mechanism on the bottom surface, so as to realize the integration of sweeping and mopping for household cleaning, and at the same time The cleaning method can be flexibly selected, making household cleaning smarter, more convenient and cleaner.

By installing a fan-shaped infrared generator at the front end of the device housing, and the fan-shaped angle is 120-150 degrees, the range of infrared rays emitted by the infrared generator covers the front and side of the forward direction of the basic covering device, thereby making the controller According to the intensity, range, height, speed, current, resistance and other parameters of the infrared return information, the approximate shape of the obstacle in front can be calculated, and then the corresponding cleaning instructions can be made according to the environment, such as: surround, turn back, spiral, stick side, turn around, etc. Through the use of the fan-shaped infrared generator, the accuracy of the judgment of the device casing on obstacles in all directions in front is ensured, and the subsequent cleaning method of the device is more suitable for the environment in which it is located, so that the cleaning efficiency of the device is remarkable. Improve and strengthen the cleaning effect.

By setting up an intelligent control system in the all-in-one machine, through the cooperation between the controller and each module, especially the analysis module, the analysis module analyzes the map generated by the map generation module, so that the track of the universal wheel of the all-in-one machine is spread all over The entire cleaning area, without leaving any blind spots, realizes the all-in-one cleaning of the smart home cleaning machine without dead ends, making home cleaning more convenient and thorough. At the same time, through the cooperation of the generated map and the GPS navigation device, the GPS navigation device can reasonably arrange the cleaning route according to the map, thereby significantly improving the cleaning efficiency of the all-in-one machine.

Other advantages, objectives and features of the present invention will partly be embodied through the following descriptions, and partly will be understood by those skilled in the art through the study and practice of the present invention.

Description of drawings

Fig. 1 is a schematic diagram of the looking-up structure of the smart home cleaning all-in-one machine according to the present invention;

Fig. 2 is a schematic structural view of the mopping mechanism of the present invention;

Fig. 3 is a running track diagram of the smart home cleaning all-in-one machine according to the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

It should be understood that terms such as "having", "comprising" and "including" used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

As shown in Fig. 1, Fig. 2 and Fig. 3, the present invention provides a smart home cleaning all-in-one machine, comprising: a housing 1, which is configured as a cylinder, and the bottom surface of the housing 1 is provided with a housing 1 The universal wheel 2 that props off the ground and drives the movement of the housing 1; one end of the housing 1 is set as the front end, and the end opposite to the front end is set as the tail end, on the bottom surface of the housing 1 and An infrared generator 3 is arranged on one side of the front end; the infrared generator 3 is fan-shaped, and the angle of the fan is 120-150 degrees; the front end of the housing 1 is provided with an ultrasonic sensor 4; A groove 5 is arranged on the bottom surface of the housing 1 near the tail end, and a touch switch is arranged in the groove 5 .

The cleaning mechanism includes a side brush 6, a main brush 7, a dust suction device 8 and a dust box 9; the number of the side brushes 6 is set to 2, and the 2 side brushes 6 are symmetrically arranged at the bottom of the housing 1 near the Both sides of the front end; the main brush 7 is arranged on the bottom surface of the housing 1 on the axis connecting the front end and the tail end, and is close to the front end side, and the dust suction device 8 is set to two , and are respectively arranged on the front and rear sides of the main brush 7; the dust box 9 is connected to the dust collection device 8, and the dust box 9 is arranged on the rear side of the main brush 7 and embedded in the housing within 1.

Mopping mechanism, which is clamped in the groove 5, the mopping mechanism 5 includes a mopping cloth 10, a mopping cloth frame 11 and a water tank 12, the mopping cloth 10 is arranged on the first end of the mopping cloth frame 11, the The second end of the mop rack 11 is movably connected with the groove 5, the water tank 12 is arranged above the groove 5, and is in liquid communication with the mop rack 11, and the opening and closing of the water tank 12 is controlled by The touch switch.

Intelligent control system, it comprises controller and the motor that is connected respectively with described controller, map generation module, memory storage module, GPS navigation device 13 and analysis module; Described controller is connected with described infrared generator 3 and ultrasonic sensor 4. According to the signals sent by the infrared generator 3 and the ultrasonic sensor 4, an instruction is sent to the motor, so that the motor drives the universal wheel 2 and the infrared generator respectively according to the instructions of the controller. 3. The action of the ultrasonic sensor 4, the side brush 6, the main brush 7 and the dust collection device 8; the controller controls the motor to drive the universal wheel 2 to reciprocate within a width of less than two meters, and controls the trajectory It is arc-shaped; the map generation module records the running track of the universal wheel 2 and generates a map, and then sends the map to the memory storage module for storage; the GPS navigation device 13 is arranged on the housing 1 and connected with the memory storage module to plan the movement route of the universal wheel 2 on the map stored in the memory storage module, and the memory storage module associates the movement route with the map and Save; the analysis module is connected to the memory storage module, and analyzes the map stored in the memory storage module to find out the unmarked and unreached areas within the range of the map and the movement track of the universal wheel 2 area, and then send the information of the area to the map generation module and the controller, the controller controls the universal wheel 2 to move to the area, and passes the return signal of the infrared generator 3 and the ultrasonic sensor 4 Determine the environment information of the area, and send the environment information to the map generation module, so that the map generation module can supplement the area on the generated map.

A rechargeable battery is arranged inside the casing 1 and provides power for the motor.

In the above solution, the specific method of using the smart home cleaning all-in-one machine is: turn on the power, the user sets the all-in-one machine to clean in the space for the first time, and the controller controls the universal wheel to reciprocate on the ground along the arc route During the cleaning process, the map generation module generates a map with obstacle information according to the travel route of the universal wheel and the signals returned to the control by the infrared generator and the ultrasonic sensor. After the entire space is cleaned, the analysis The module analyzes the generated map, finds the area where the obstacle information is not marked and the universal wheel does not reach, the controller controls the universal wheel to reach the corresponding area, and judges whether there is an obstacle or is blank in the area through the infrared generator and ultrasonic sensor area, and carry out corresponding cleaning according to the judgment result, and supplement the information of the area to the generated map to form a complete map. The GPS navigation device plans the cleaning route according to the generated map, and saves it in the memory storage module , when cleaning the same space next time, the controller only needs to retrieve the corresponding map and plan the cleaning route from the memory storage module, and then clean the space according to the corresponding route, so that the cleaning route is complete and there is no missing area. It ensures the thoroughness and completeness of the cleaning, and by calling the map for cleaning, it makes the running track of the all-in-one machine more reasonable, thereby improving the cleaning efficiency. In addition, during the cleaning process, the user can also install the mop mechanism in the groove at the bottom of the housing according to needs, and then realize the integrated sweeping and mopping of the ground. At the same time, the touch switch set in the groove will be squeezed and closed when the mop mechanism is installed, so as to achieve the purpose of continuously inputting cleaning liquid or water from the water tank to the mop, that is, to achieve the purpose of continuous wet mopping, making the cleaning effect more effective. significantly. Among them, the setting of the ultrasonic sensor enables the device to respond freely to transparent obstacles appearing in front. During the cleaning process of the all-in-one machine, the continuous rotation of the side brush sweeps the dust and garbage in the front to the middle of the device, and the dust suction device in front of the main brush in the middle of the all-in-one machine absorbs the dust and garbage once and sucks them into the dust box Then the main brush continues to clean, so that the remaining dust or garbage is sucked into the dust box by the dust suction device at the back of the main brush under the push of the main brush, and the cleaning of the ground is cleaner and easier through the two suctions before and after the main brush. Thoroughly, at the same time, the vacuum device in front of the main brush can first suck a part of the hair into the dust box, thus effectively preventing the main brush and side brush from being entangled by hair, and also reducing the upward movement of fine dust, making the all-in-one machine more convenient to clean and easy to use Longer life, better cleaning effect. By limiting the cleaning track of the shell to an arc-shaped reciprocating motion within a width of less than two meters, it is different from the existing random track motion or bow-shaped reciprocating motion track. Through a large number of experiments, it is found that the arc-shaped track can significantly Reduces the formation of watermarks from wiping on floors, resulting in significantly improved cleaning results.

In a preferred solution, the mop rack 11 is a hollow box, the side plate 14 of the mop rack is movably connected to the bottom plate 15 of the mop rack, and a plurality of springs 16 are built in the mop rack, so that all The distance between the bottom plate 15 and the top plate 17 of the mop rack is adjustable according to the pressure that the bottom plate 15 of the mop rack bears.

In the above solution, by setting a spring in the middle of the mop rack, the bottom plate of the mop rack has a certain degree of elasticity for pressing the mop, so as to ensure the effect of road surface wiping when the height of the road surface is different.

In a preferred solution, the rotation direction of the main brush 7 is the same as the movement direction of the housing 1; the amount of bristles in the middle 1/3 of the main brush 7 is less than the bristles at both ends of the main brush 7, the main brush 1/3 of the bristles at the left and right ends are inclined towards the middle of the main brush 7 respectively.

In the above solution, the amount of bristles in the middle of the main brush is less, and the bristles at both ends are inclined to the middle, so that a V-shaped passage is formed during the cleaning process, and dust and garbage are easier to move to the tip of the passage, which is more convenient for dust collection. The device sucks dust and garbage into the dust box, and the fewer bristles in the middle will not affect the suction of the vacuum device and reduce hair entanglement.

In a preferred solution, the analysis module analyzes the unmarked area within the map range and the motion track of the universal wheel 2 does not reach the area according to the Cartesian coordinate system.

In the above solution, the floor or desktop cleaned by the all-in-one machine is a plane. Through the generated map, the analysis module can traverse the map in the Cartesian coordinate system, that is, in the X-axis and Y-axis directions, and then find the map. The method is simple and easy to implement, and the result is accurate for the area that is not marked and the universal wheel does not move.

In a preferred solution, the intelligent control system also includes a comparison module. When the smart home cleaning all-in-one machine is cleaning the same space, the map generation module generates maps during the first five cleanings, and according to the generated The 5 maps of the final version of the map are summarized. The map generation module sends the generated 5 maps to the comparison module for comparison, and the comparison module judges the difference point information of the 5 maps for the same area, if 3 or more of the maps are for the same area If the marker information of the regions is the same, the corresponding regions on the final map are marked according to the marker information.

In the above solution, by generating 5 maps and comparing the 5 maps to obtain the final map, the all-in-one machine can effectively avoid the interference of moving objects on map generation when generating maps, thereby avoiding the interference caused by moving objects. The map in the space was generated incorrectly, resulting in the disadvantage of missing scans. Of course, the user can also set the all-in-one machine to generate the final version of the map after cleaning any number of times according to needs.

In a preferred solution, the GPS navigation device 13 plans the running route of the universal wheel 2 on the final map.

In the above solution, the GPS navigation device plans the cleaning route on the final map, making the cleaning route and scope more reasonable and ensuring the cleaning effect.

In a preferred solution, anti-collision rubber strips are provided on the outer edge of the side of the housing 1 .

In the above solution, by arranging anti-collision rubber strips on the side edges of the housing, the housing is protected, avoiding damage to the all-in-one machine due to bumping, and improving the service life of the all-in-one machine.

Although the embodiment of the present invention has been disclosed as above, it is not limited to the use listed in the specification and implementation, it can be applied to various fields suitable for the present invention, and it can be easily understood by those skilled in the art Therefore, the invention is not limited to the specific details and examples shown and described herein without departing from the general concept defined by the claims and their equivalents.

Claims (7)

1. An all-in-one smart home cleaning machine, comprising: The casing is set as a cylinder, and the bottom surface of the casing is provided with a universal wheel that props the casing off the ground and drives the movement of the casing; one end of the casing is set as the front end, and the The opposite end of the front end is set as the tail end, and an infrared generator is arranged on the bottom surface of the housing and on one side of the front end; the infrared generator is fan-shaped, and the fan-shaped angle is 120-150 degrees ; The front end of the housing is provided with an ultrasonic sensor; the bottom surface of the housing is provided with a groove near the tail end, and a touch switch is arranged in the groove; The cleaning mechanism includes a side brush, a main brush, a dust suction device and a dust box; the number of the side brushes is two, and the two side brushes are symmetrically arranged at the bottom of the housing on both sides close to the front end; The main brush is arranged on the bottom surface of the housing on the axis connecting the front end and the tail end, and is close to the front end side, and the dust suction device is arranged in two, and are respectively arranged on the sides of the main brush Front and rear sides; the dust box is connected to the dust suction device, and the dust box is arranged on the rear side of the main brush and embedded in the housing; mopping mechanism, which is clamped in the groove, and the mopping mechanism includes a mop, a mop frame and a water tank, the mop is arranged on the first end of the mop frame, and the second end of the mop frame is connected to the The groove is movably connected, the water tank is arranged above the groove, and is in liquid communication with the mop rack, and the opening and closing of the water tank is controlled by the touch switch; An intelligent control system, which includes a controller and a motor respectively connected to the controller, a map generation module, a memory storage module, a GPS navigation device and an analysis module; the controller is connected to the infrared generator and the ultrasonic sensor, and According to the signals sent by the infrared generator and the ultrasonic sensor, instructions are sent to the motor, so that the motor drives the universal wheel, the infrared generator, the ultrasonic sensor, and the side brush respectively according to the instructions of the controller. , the action of the main brush and the dust collection device; the controller controls the motor to drive the universal wheel to reciprocate within a range of less than two meters in width, and controls the motion trajectory to be arc-shaped; the map generation module records the The running track of the universal wheel and generate a map, and then send the map to the memory storage module for storage; the GPS navigation device is arranged on the bottom surface of the housing and is connected with the memory storage module to The movement route of the universal wheel is planned on the map saved in the memory storage module, and the memory storage module associates and saves the movement route with the map; the analysis module is connected with the memory storage module, and Analyzing the map stored in the memory storage module to find out the unmarked area within the map range and the motion track of the universal wheel has not reached, and then send the information of the area to the map generation module and A controller, the controller controls the universal wheel to move to the area, and determines the environmental information of the area through the return signals of the infrared generator and the ultrasonic sensor, and sends the environmental information to the map generation module, so that the map generation module supplements the area on the generated map; A rechargeable battery is arranged inside the casing and provides power for the motor. 2. The smart home cleaning all-in-one machine according to claim 1, wherein the mop rack is a hollow box, the side panels of the mop rack are movably connected to the bottom plate of the mop rack, and the mop rack has a built-in There are multiple springs, so that the distance between the bottom plate and the top plate of the mop rack can be adjusted according to the pressure on the bottom plate of the mop rack. 3. The smart home cleaning all-in-one machine according to claim 1, wherein the rotation direction of the main brush is the same as the movement direction of the housing; the middle 1/3 of the main brush has less bristles than the main brush For the bristles at both ends, 1/3 of the bristles at the left and right ends of the main brush are respectively inclined towards the middle of the main brush. 4. The all-in-one smart home cleaning machine according to claim 1, wherein the analysis module analyzes the unmarked area within the map range and the motion track of the universal wheel does not reach the area according to the Cartesian coordinate system. 5. The all-in-one smart home cleaning machine according to claim 1, wherein the intelligent control system further includes a comparison module, and when the all-in-one smart home cleaning machine is cleaning the same space, the map generation module Maps were generated during the first 5 cleanings, and the final map was obtained based on the generated 5 maps; The map generation module sends the generated 5 maps to the comparison module for comparison, and the comparison module judges the difference point information of the 5 maps for the same area, if 3 or more of the maps are for the same area If the marker information of the regions is the same, the corresponding regions on the final map are marked according to the marker information. 6. The smart home cleaning all-in-one machine according to claim 5, wherein the GPS navigation device plans the running route of the universal wheel on the final map. 7. The smart home cleaning all-in-one machine according to claim 1, wherein, the outer edge of the side of the housing is provided with anti-collision rubber strips.