CN108742350B - Automatic cleaning brush head replacement method and intelligent sweeper - Google Patents
Automatic cleaning brush head replacement method and intelligent sweeper Download PDFInfo
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- CN108742350B CN108742350B CN201810685237.6A CN201810685237A CN108742350B CN 108742350 B CN108742350 B CN 108742350B CN 201810685237 A CN201810685237 A CN 201810685237A CN 108742350 B CN108742350 B CN 108742350B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- Cleaning In General (AREA)
Abstract
Discloses an automatic cleaning brush head replacement method and an intelligent sweeper. The method can comprise the following steps: acquiring the basic rotating speed of the cleaning brush head during idling; obtaining the initial rotating speed of the cleaning brush head corresponding to each ground material according to the friction coefficient of the basic rotating speed and the ground material; acquiring the real-time rotating speed of the cleaning brush head in the working process, and calculating the rotating speed index of the cleaning brush head according to the real-time rotating speed and the initial rotating speed; and setting an index threshold, and replacing the cleaning brush head when the rotating speed index is smaller than the index threshold. The invention is suitable for various floors by being provided with the plurality of cleaning brush heads, has better cleaning effect, and realizes the automatic replacement of the cleaning brush heads by calculating the rotating speed index.
Description
Technical Field
The invention relates to the field of intelligent robots and intelligent equipment control methods, in particular to an automatic cleaning brush head replacement method and an intelligent sweeper.
Background
The intelligent sweeper is a cleaning machine which is suitable for cleaning hard ground and simultaneously sucking up sewage and taking the sewage away from the site, and has the advantages of environmental protection, energy conservation, high efficiency and the like. The use of various fields is very common, and particularly, in stations, docks, airports, workshops, warehouses, schools, hospitals, restaurants, markets and other places with wide hard floors, the cleaning concept of replacing manpower with machines is in depth. However, the cleaning brush head of the existing sweeper is of a single type, and the cleaning brush head of the single type cannot adapt to various grounds, so that the cleaning effect of the sweeper is poor.
Therefore, it is necessary to develop an automatic cleaning brush head replacement method and an intelligent sweeper with better cleaning effect by replacing the brush head.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention provides an automatic cleaning brush head replacement method and an intelligent sweeper.
According to one aspect of the invention, a method for automatically replacing a cleaning brush head is provided. The method may include: acquiring the basic rotating speed of the cleaning brush head during idling; obtaining the initial rotating speed of the cleaning brush head corresponding to each ground material according to the friction coefficient between the basic rotating speed and the ground material; acquiring the real-time rotating speed of the cleaning brush head in work, and calculating the rotating speed index of the cleaning brush head according to the real-time rotating speed and the initial rotating speed; setting an index threshold, and replacing the cleaning brush head when the rotating speed index is smaller than the index threshold.
Preferably, the ground material comprises: marble floors, carpet floors, and floor floors.
Preferably, the initial rotation speed is:
ωi＝μiω0 (1)
wherein, ω isiInitial rotation speed of i-th ground material, muiCoefficient of friction, ω, for the ith floor material0I is a, b, c, a denotes a marble floor, b denotes a carpet floor, and c denotes a floor.
Preferably, the rotation speed index is:
wherein F (omega) is a rotation speed index, omega is a real-time rotation speed, AiThe weighting coefficient of the ith ground material.
According to another aspect of the present invention, an intelligent sweeper is provided, comprising: the robot comprises a robot body, wherein the bottom of the robot body is provided with a driving wheel and a driving device connected with the driving wheel;
the robot comprises a robot body, a conversion part and a control part, wherein the conversion part comprises a disc, a plurality of lifting plates and a plurality of telescopic rods, the disc is arranged at the bottom of the robot body, a plurality of through holes are formed in the disc, one end of each telescopic rod is connected to the robot body, and the other end of each telescopic rod is connected to the lifting plate arranged at the top of the disc;
the cleaning part comprises a connecting rod, a cleaning brush head and a driving motor, the driving motor is arranged on the lifting plate, one end of the connecting rod is connected to the cleaning brush head, and the other end of the connecting rod penetrates through the through hole and is connected to the driving motor;
the brush head storage bin is arranged on the side wall of the robot body and used for storing the cleaning brush head;
the control unit is in communication connection with the driving device, the telescopic rod and the driving motor;
and the conversion control unit controls the replacement of the cleaning head according to the rotating speed index of the cleaning head.
Preferably, the cleaning brush further comprises a mechanical gripper, a positioning label is arranged in the cleaning brush head, the mechanical gripper is arranged on the side wall of the robot body and can grip the cleaning brush head in the brush head storage bin.
Preferably, the number of the cleaning brush heads is multiple, the cleaning brush heads are the same or different, the cleaning brush heads are connected to the lifting plates through connecting rods, the cleaning brush heads connected to the same lifting plate are the same, and the cleaning brush heads connected to different lifting plates are the same or different.
Preferably, the cleaning robot further comprises a cleanliness detection unit, wherein the cleanliness detection unit comprises a water storage tank, a connecting conduit, a liquid level instrument, a driving motor rotating speed detection sensor and a timer, the liquid level instrument and the timer are in communication connection with the control unit, the liquid level instrument is arranged in the water storage tank, the water storage tank is arranged in the robot body and penetrates through the connecting conduit to be communicated to the cleaning brush head, and the driving motor rotating speed detection sensor is used for measuring the rotating speed of the driving motor.
Preferably, the cleaning brush further comprises a ground type analysis unit, the ground type analysis unit comprises a depth sensor and a color sensor, the depth sensor and the color sensor are arranged at the joint of the cleaning brush head and the connecting rod, and the depth sensor and the color sensor are in communication connection with the control unit.
Preferably, the cleaning device further comprises a cleaning agent supply unit, wherein the cleaning agent supply unit comprises a cleaning agent storage tank, a control valve and a liquid guide pipe, the cleaning agent storage tank is arranged on the lifting plate, one end of the liquid guide pipe is communicated with the cleaning agent storage tank through the control valve, the other end of the liquid guide pipe penetrates through the connecting rod to be communicated with the cleaning brush head, and the control valve is in communication connection with the control unit.
The invention has the beneficial effects that:
1) the intelligent sweeper is connected with the plurality of lifting plates through the plurality of cleaning brush heads respectively, the lifting plates can drive the cleaning brush heads to lift or fall, and therefore the intelligent sweeper can clean different types of ground through different cleaning brush heads, and the cleaning effect is better;
2) according to the intelligent sweeper, the brush head storage bin is arranged to store the plurality of cleaning brush heads in advance, so that when the cleanliness of the cleaning brush heads is reduced or damaged in use, the cleaning brush heads can be replaced on the spot, and the cleaning speed of the intelligent sweeper is improved;
3) the automatic replacement of the cleaning brush head is realized by calculating the rotating speed index.
The present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts.
FIG. 1 shows a flow chart of the steps of an automatic clean brush head replacement method according to the present invention.
Figure 2 shows a schematic block diagram of an intelligent sweeper, according to one embodiment of the present invention.
Fig. 3 shows a top view of a transition section according to an embodiment of the invention.
Description of the reference numerals
1. A robot body; 2. a drive wheel; 3. a disc; 4. a lifting plate; 5. a telescopic rod; 6. a through hole; 7. a cleaning section; 8. a connecting rod; 9. cleaning the brush head; 10. a brush head storage bin; 11. a mechanical gripper; 12. a cleanliness detection unit; 13. a water storage tank; 14. connecting a conduit; 15. a liquid level meter; 16. laser range finder.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
FIG. 1 shows a flow chart of the steps of an automatic clean brush head replacement method according to the present invention.
According to an aspect of the present invention, there is provided an automatic replacement method of a cleaning brush head, which may include: step 101, acquiring a basic rotating speed of a cleaning brush head during idling; 102, obtaining the initial rotating speed of the cleaning brush head corresponding to each ground material according to the basic rotating speed and the friction coefficient of the ground material; 103, acquiring the real-time rotating speed of the cleaning brush head in the working process, and calculating the rotating speed index of the cleaning brush head according to the real-time rotating speed and the initial rotating speed; and 104, setting an index threshold, and replacing the cleaning brush head when the rotating speed index is smaller than the index threshold.
In one example, the ground material includes: marble floors, carpet floors, and floor floors.
In one example, the initial rotational speed is:
ωi＝μiω0 (1)
wherein, ω isiInitial rotation speed of i-th ground material, muiCoefficient of friction, ω, for the ith floor material0I is a, b, c, a denotes a marble floor, b denotes a carpet floor, and c denotes a floor.
In one example, the speed index is:
wherein F (omega) is a rotation speed index, omega is a real-time rotation speed, AiThe weighting coefficient of the ith ground material.
Specifically, the automatic replacement method of the cleaning brush head according to the invention can comprise the following steps: acquiring the basic rotating speed of the cleaning brush head during idling; according to the coefficient of friction of basic rotational speed and ground material, the initial rotational speed that obtains the cleaning brush head that every kind of ground material corresponds is formula (1), and wherein, the ground material includes: marble floors, carpet floors and floor floors; acquiring the real-time rotating speed of the cleaning brush head in the working process, and calculating the rotating speed index of the cleaning brush head as a formula (2) according to the real-time rotating speed and the initial rotating speed; and setting an index threshold, and replacing the cleaning brush head when the rotating speed index is smaller than the index threshold.
According to an aspect of the present invention, there is provided an intelligent sweeper, comprising: the robot comprises a robot body, wherein the bottom of the robot body is provided with a driving wheel and a driving device connected with the driving wheel;
the robot comprises a robot body, a conversion part and a control part, wherein the conversion part comprises a disc, a plurality of lifting plates and a plurality of telescopic rods, the disc is arranged at the bottom of the robot body, a plurality of through holes are formed in the disc, one end of each telescopic rod is connected to the robot body, and the other end of each telescopic rod is connected to the lifting plate arranged at the top of the disc;
the cleaning part comprises a connecting rod, a cleaning brush head and a driving motor, the driving motor is arranged on the lifting plate, one end of the connecting rod is connected to the cleaning brush head, and the other end of the connecting rod penetrates through the through hole and is connected to the driving motor;
the brush head storage bin is arranged on the side wall of the robot body and used for storing the cleaning brush head;
the control unit is in communication connection with the driving device, the telescopic rod and the driving motor;
and the conversion control unit controls the replacement of the cleaning head according to the rotating speed index of the cleaning head.
Specifically, clean portion is provided with a plurality of clean brush heads, a plurality of clean brush heads are connected respectively in the lifter plate, the lifter plate can be through the extension and the shrink of telescopic link, it promotes or descends to drive clean brush head, when the machine of sweeping the floor of intelligence uses, according to the difference of ground kind, the promotion and the descending of the lifter plate of control unit control, the clean brush head that selects suitable current application scene cleans ground, clean effect is better, clean efficiency has been promoted, select suitable clean brush head can prevent that clean brush head from causing wearing and tearing destruction to ground.
Specifically, the conversion control unit controls a replacement strategy of the cleaning head according to the rotating speed index of the cleaning head, wherein the basic rotating speed of the cleaning head during idling is obtained; according to the coefficient of friction of basic rotational speed and ground material, the initial rotational speed that obtains the cleaning brush head that every kind of ground material corresponds is formula (1), and wherein, the ground material includes: marble floors, carpet floors and floor floors; acquiring the real-time rotating speed of the cleaning brush head in the working process, and calculating the rotating speed index of the cleaning brush head as a formula (2) according to the real-time rotating speed and the initial rotating speed; and setting an index threshold, and replacing the cleaning brush head when the rotating speed index is smaller than the index threshold.
Specifically, through the setting in brush head storage storehouse, intelligence machine of sweeping floor self is equipped with a plurality of clean brush heads, when the damaged or cleanliness factor of clean brush head reduces in the machine use of sweeping floor of intelligence, can change clean brush head on the spot, improves clean efficiency.
Specifically, the cleaning brush head can be a soft brush head, a nylon brush head, a hard brush head and a needle seat brush head according to different types of the cleaning ground, the ground can be a marble ground, a carpet ground, a floor tile ground and a floor ground, and the selection of different brush heads according to different types of the ground is the prior art in the field and is not repeated herein.
As a preferred scheme, the cleaning brush further comprises a mechanical gripper, wherein a positioning label is arranged in the cleaning brush head, and the mechanical gripper is arranged on the side wall of the robot body and can grip the cleaning brush head in the brush head storage bin.
Specifically, under the circumstances that clean brush head cleanliness factor reduces or damages, the control unit control machinery tongs snatchs the clean brush head in the brush head storage bin, place it subaerial, driving motor drives the reverse selection of connecting rod and uninstalls the clean brush head that needs to be changed, drive connecting rod forward rotation afterwards, be connected to the cleanliness factor height, the clean brush head of normal use, accomplish the change of clean brush head, the last control unit control machinery tongs snatchs the clean brush head who changes down, deposit it to brush head storage bin.
Preferably, the number of the cleaning brush heads is multiple, the cleaning brush heads are the same or different, the cleaning brush heads are connected to the lifting plates through connecting rods, the cleaning brush heads connected to the same lifting plate are the same, and the cleaning brush heads connected to different lifting plates are the same or different.
More preferably, the cleaning brush heads connected with the same lifting plate are the same, and the cleaning brush heads connected with different lifting plates are different, so that the intelligent sweeper can be suitable for cleaning various floors, different cleaning brush heads are used for different floors, the cleaning brush heads are prevented from being worn on the floors, and the cleaning effect is better.
Preferably, the cleaning robot further comprises a cleanliness detection unit, wherein the cleanliness detection unit comprises a water storage tank, a connecting pipe, a liquid level instrument, a driving motor rotating speed detection sensor and a timer, the liquid level instrument and the timer are in communication connection with the control unit, the liquid level instrument is arranged in the water storage tank, the water storage tank is arranged in the robot body and penetrates through the connecting pipe to be communicated to the cleaning brush head, and the driving motor rotating speed detection sensor is used for measuring the rotating speed of the driving motor.
Specifically, through the arrangement of a liquid level meter and a timer, the control unit detects the descending speed of liquid in the water storage tank in unit time; detecting the idle rotation speed of the driving motor through a driving motor rotation speed detection sensor, and then controlling the cleaning brush head to be in contact with the ground through the telescopic rod to detect the load rotation speed of the driving motor; when the descending speed of the liquid in unit time becomes low and the load rotating speed of the driving motor is reduced, the cleanliness of the cleaning brush head is judged to be low, and the cleaning brush head needs to be replaced.
Preferably, the cleaning brush further comprises a ground type analysis unit, the ground type analysis unit comprises a depth sensor and a color sensor, the depth sensor and the color sensor are arranged at the joint of the cleaning brush head and the connecting rod, and the depth sensor and the color sensor are in communication connection with the control unit.
Specifically, the control unit controls the lifting plate to descend according to different ground types, so that the cleaning brush head suitable for the current ground is cleaned, the control unit can know the type of the ground needing to be cleaned currently through the arrangement of the ground type analysis unit, and whether the height difference exists on the cleaned ground or not is detected through the arrangement of the depth sensor; detecting the change rate of the ground color along with the walking of the robot body and whether a color change period exists or not through the arrangement of the color sensor; when the ground has height difference, high color change rate and no color change period, the processing unit judges that the current ground is the marble ground; when the ground has a height difference, a color change rate of the color is low, a color change period exists, and the color change period is short, judging that the current ground is the floor; when the ground has height difference, low color change rate, long color change period and the current ground is determined to be the floor of the floor tile; when there is no height difference in the floor, it is determined that the current floor is a carpeted floor.
Preferably, the cleaning device further comprises a cleaning agent supply unit, wherein the cleaning agent supply unit comprises a cleaning agent storage tank, a control valve and a liquid guide pipe, the cleaning agent storage tank is arranged on the lifting plate, one end of the liquid guide pipe is communicated with the cleaning agent storage tank through the control valve, the other end of the liquid guide pipe penetrates through the connecting rod to be communicated with the cleaning brush head, and the control valve is in communication connection with the control unit.
Specifically, the control unit controls the opening of the control valve and the opening amplitude thereof, thereby controlling the supply of the detergent and the supply amount thereof.
More preferably, still include clean brush head storage area, the periphery in clean brush head storage area is provided with the location label, location label communication connection in the control unit, reserve brush head has been put to clean brush head storage area.
More preferably, the control unit acquires the position information of the positioning tag, and when the cleaning brush head arranged in the brush head storage bin is completely used, the control unit controls the robot body to move to the cleaning brush head storage area, so that the cleaning brush head is reassembled, and the robot body can replace the cleaning brush head in the cleaning brush head storage area.
More preferably, still include laser range finder, laser range finder sets up on the lateral wall of robot body, communication connection in the control unit.
Specifically, through the setting of laser range finder, the distance of measuring robot body and its surrounding barrier prevents that robot body from colliding with wall or pedestrian.
Examples
To facilitate understanding of the solution of the embodiments of the present invention and the effects thereof, a specific application example is given below. It will be understood by those skilled in the art that this example is merely for the purpose of facilitating an understanding of the present invention and that any specific details thereof are not intended to limit the invention in any way.
The automatic replacement method of the cleaning brush head according to the invention can comprise the following steps: acquiring the basic rotating speed of the cleaning brush head during idling; according to the coefficient of friction of basic rotational speed and ground material, the initial rotational speed that obtains the cleaning brush head that every kind of ground material corresponds is formula (1), and wherein, the ground material includes: marble floors, carpet floors and floor floors; acquiring the real-time rotating speed of the cleaning brush head in the working process, and calculating the rotating speed index of the cleaning brush head as a formula (2) according to the real-time rotating speed and the initial rotating speed; and setting an index threshold, and replacing the cleaning brush head when the rotating speed index is smaller than the index threshold.
Figure 2 shows a schematic block diagram of an intelligent sweeper, according to one embodiment of the present invention.
Fig. 3 shows a top view of a transition section according to an embodiment of the invention.
As shown in fig. 2 to 3, the intelligent sweeper comprises:
the robot comprises a robot body 1, wherein the bottom of the robot body 1 is provided with a driving wheel 2 and a driving device connected with the driving wheel;
the robot comprises a robot body 1, a conversion part and a control part, wherein the conversion part comprises a disc 3, a plurality of lifting plates 4 and a plurality of telescopic rods 5, the disc 3 is arranged at the bottom of the robot body 1, a plurality of through holes 6 are formed in the disc 3, one end of each telescopic rod 5 is connected to the robot body 1, and the other end of each telescopic rod 5 is connected to the lifting plate 4 arranged at the top of the disc 3;
the cleaning part 7 comprises a connecting rod 8, a cleaning brush head 9 and a driving motor, the driving motor is arranged on the lifting plate 5, one end of the connecting rod 8 is connected to the cleaning brush head 9, and the other end of the connecting rod passes through the through hole 6 and is connected to the driving motor;
and the control unit is in communication connection with the driving device, the telescopic rod 5 and the driving motor.
Wherein, the cleaning brush head 9 is a plurality of, and a plurality of the cleaning brush head 9 is the same or different, the cleaning brush head 9 through connecting rod 8 connect in lifter plate 4, the cleaning brush head 9 that connects in same lifter plate 4 is the same, and the cleaning brush head 9 that is connected with different lifter plates 4 is the same or different.
The conversion control unit controls a replacement strategy of the cleaning head according to the rotating speed index of the cleaning head, wherein the basic rotating speed of the cleaning head during idling is obtained; according to the coefficient of friction of basic rotational speed and ground material, the initial rotational speed that obtains the cleaning brush head that every kind of ground material corresponds is formula (1), and wherein, the ground material includes: marble floors, carpet floors and floor floors; acquiring the real-time rotating speed of the cleaning brush head in the working process, and calculating the rotating speed index of the cleaning brush head as a formula (2) according to the real-time rotating speed and the initial rotating speed; and setting an index threshold, and replacing the cleaning brush head when the rotating speed index is smaller than the index threshold.
Wherein, still include clean brush head storage area (not shown), the periphery in clean brush head storage area is provided with the location label, location label communication connection in the control unit, reserve brush head has been put to clean brush head storage area.
The cleaning robot comprises a robot body 1 and is characterized by further comprising a cleanliness detection unit 12, wherein the cleanliness detection unit 12 comprises a water storage tank 13, a connecting pipe 14, a liquid level instrument 15, a driving motor rotating speed detection sensor and a timer, the liquid level instrument 15 and the timer are in communication connection with a control unit, the liquid level instrument 15 is arranged in the water storage tank 13, the water storage tank 13 is arranged in the robot body 1 and penetrates through the connecting pipe 14 to be communicated with a cleaning brush head 9 through a connecting rod 8, and the driving motor rotating speed detection sensor is used for measuring the rotating speed of the driving motor.
The cleaning brush further comprises a ground type analysis unit (not shown), wherein the ground type analysis unit comprises a depth sensor and a color sensor, the depth sensor and the color sensor are arranged at the joint of the cleaning brush head and the connecting rod, and the depth sensor and the color sensor are in communication connection with the control unit.
The cleaning agent supplying unit (not shown) comprises a cleaning agent storage tank, a control valve and a liquid guide pipe, the cleaning agent storage tank is arranged on the lifting plate 4, one end of the liquid guide pipe is communicated with the cleaning agent storage tank through the control valve, the other end of the liquid guide pipe penetrates through the connecting rod to be communicated with the cleaning brush head 9 through the connecting rod 8, and the control valve is communicated with the control unit.
The cleaning brush head storage device comprises a brush head storage bin 10, wherein the brush head storage bin 10 is arranged on the side wall of the robot body 1 and used for storing the cleaning brush head 9.
The cleaning brush comprises a robot body 1 and is characterized by further comprising a mechanical hand grip 11, wherein a positioning label is arranged in the cleaning brush head 9, the mechanical hand grip 11 is arranged on the side wall of the robot body 1 and can grip the cleaning brush head in the brush head storage bin 10.
Wherein, still include laser range finder 16, laser range finder 16 sets up on the lateral wall of robot body 1, communication connection in the control unit.
The number of the driving wheels 2 is two, the two driving wheels are arranged on two sides of the bottom of the robot body 1, and the conversion portion is arranged between the two driving wheels 2.
In conclusion, the cleaning brush head is suitable for various floors by being provided with the plurality of cleaning brush heads, the cleaning effect is better, and the automatic replacement of the cleaning brush heads is realized by calculating the rotating speed index.
It will be appreciated by persons skilled in the art that the above description of embodiments of the invention is intended only to illustrate the benefits of embodiments of the invention and is not intended to limit embodiments of the invention to any examples given.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (9)
1. An automatic cleaning brush head replacing method comprises the following steps:
acquiring the basic rotating speed of the cleaning brush head during idling;
obtaining the initial rotating speed of the cleaning brush head corresponding to each ground material according to the friction coefficient between the basic rotating speed and the ground material;
acquiring the real-time rotating speed of the cleaning brush head in work, and calculating the rotating speed index of the cleaning brush head according to the real-time rotating speed and the initial rotating speed;
setting an index threshold, and replacing the cleaning brush head when the rotating speed index is smaller than the index threshold.
2. The method of automatically changing a cleaning brush head according to claim 1, wherein the floor material comprises: marble floors, carpet floors, and floor floors.
3. The automatic cleaning brush head replacement method according to claim 2, wherein the initial rotation speed is:
ωi＝μiω0 (1)
wherein, ω isiInitial rotation speed of i-th ground material, muiCoefficient of friction, ω, for the ith floor material0I is a, b, c, a denotes a marble floor, b denotes a carpet floor, and c denotes a floor.
4. The utility model provides an intelligence machine of sweeping floor, this intelligence machine of sweeping floor includes: the robot comprises a robot body, wherein the bottom of the robot body is provided with a driving wheel and a driving device connected with the driving wheel;
the robot comprises a robot body, a conversion part and a control part, wherein the conversion part comprises a disc, a plurality of lifting plates and a plurality of telescopic rods, the disc is arranged at the bottom of the robot body, a plurality of through holes are formed in the disc, one end of each telescopic rod is connected to the robot body, and the other end of each telescopic rod is connected to the lifting plate arranged at the top of the disc;
the cleaning part comprises a connecting rod, a cleaning brush head and a driving motor, the driving motor is arranged on the lifting plate, one end of the connecting rod is connected to the cleaning brush head, and the other end of the connecting rod penetrates through the through hole and is connected to the driving motor;
the brush head storage bin is arranged on the side wall of the robot body and used for storing the cleaning brush head;
the control unit is in communication connection with the driving device, the telescopic rod and the driving motor;
and the conversion control unit controls the replacement of the cleaning head according to the rotating speed index of the cleaning head.
5. The intelligent sweeper of claim 4, further comprising a mechanical gripper, wherein a positioning tag is disposed in the cleaning brush head, the mechanical gripper is disposed on a side wall of the robot body and is capable of gripping the cleaning brush head in the brush head storage bin.
6. The intelligent sweeper according to claim 4, wherein the number of the cleaning brush heads is plural, the plural cleaning brush heads are the same or different, the cleaning brush heads are connected to the lifting plate through connecting rods, the cleaning brush heads connected to the same lifting plate are the same, and the cleaning brush heads connected to different lifting plates are the same or different.
7. The intelligent sweeper according to claim 4, further comprising a cleanliness detection unit, wherein the cleanliness detection unit comprises a water storage tank, a connecting conduit, a liquid level meter, a driving motor rotation speed detection sensor and a timer, the liquid level meter and the timer are in communication connection with the control unit, the liquid level meter is arranged in the water storage tank, the water storage tank is arranged in the robot body and is communicated to the cleaning brush head through the connecting conduit through the connecting rod, and the driving motor rotation speed detection sensor is used for measuring the rotation speed of the driving motor.
8. The intelligent sweeper according to claim 4, further comprising a ground category analysis unit, wherein the ground category analysis unit comprises a depth sensor and a color sensor, the depth sensor and the color sensor are arranged at a joint of the cleaning brush head and the connecting rod and are in communication connection with the control unit.
9. The intelligent sweeper according to claim 4, further comprising a cleaning agent supply unit, wherein the cleaning agent supply unit comprises a cleaning agent storage tank, a control valve and a liquid guide pipe, the cleaning agent storage tank is arranged on the lifting plate, one end of the liquid guide pipe is communicated with the cleaning agent storage tank through the control valve, the other end of the liquid guide pipe is communicated to the cleaning brush head through the connecting rod, and the control valve is in communication connection with the control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810685237.6A CN108742350B (en) | 2018-06-28 | 2018-06-28 | Automatic cleaning brush head replacement method and intelligent sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810685237.6A CN108742350B (en) | 2018-06-28 | 2018-06-28 | Automatic cleaning brush head replacement method and intelligent sweeper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108742350A CN108742350A (en) | 2018-11-06 |
| CN108742350B true CN108742350B (en) | 2021-04-06 |
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| CN201810685237.6A Active CN108742350B (en) | 2018-06-28 | 2018-06-28 | Automatic cleaning brush head replacement method and intelligent sweeper |
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| CN211933914U (en) * | 2018-12-21 | 2020-11-17 | 苏州宝时得电动工具有限公司 | Robot cleaning system and base station |
| CN110558898B (en) * | 2019-07-23 | 2024-07-16 | 高殷沛 | Automatic brush device that trades of robot sweeps floor |
| CN115381351A (en) * | 2022-08-30 | 2022-11-25 | 南京工业大学 | Intelligent high-altitude cleaning method and system |
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