CN106388722B - A kind of clean robot based on unmanned plane - Google Patents
A kind of clean robot based on unmanned plane Download PDFInfo
- Publication number
- CN106388722B CN106388722B CN201610816861.6A CN201610816861A CN106388722B CN 106388722 B CN106388722 B CN 106388722B CN 201610816861 A CN201610816861 A CN 201610816861A CN 106388722 B CN106388722 B CN 106388722B
- Authority
- CN
- China
- Prior art keywords
- robot
- robot body
- collection chamber
- dust collection
- mobile terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- 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
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Electric Vacuum Cleaner (AREA)
- Electric Suction Cleaners (AREA)
Abstract
The present invention relates to robot fields, disclose a kind of clean robot based on unmanned plane, it includes circular robot body, the robot body is internally provided with dust collection chamber, dust absorption fan is equipped in dust collection chamber, the robot body bottom is provided with driving wheel, dust collection chamber's first entrance and round brush；Dust collection chamber's first entrance is located at the front end of robot body bottom, and the round brush is placed in dust collection chamber's first access point, and with ground face contact；The robot body top center is equipped with dust collection chamber's second entrance, and strainer is equipped at dust collection chamber's second entrance；Be surrounded by the top of the robot body it is several can be with folding rotor mechanism, even circumferential arrangement of the rotor mechanism at the top of robot body；The side brush rotated synchronously with rotor mechanism is provided at the top of the rotor mechanism.The clean robot can sweep the rubbish on ground as common sweeping robot, can also clean the cobweb and dust on roof.
Description
Technical field
The present invention relates to robot field, refers in particular to a kind of clean robot based on unmanned plane.
Background technique
With the development of robot technology, robot from being formerly only available in industry, applying in national defence, also slowly start to turn
Be it is civilian, open into the family for progressing into people, into people's lives, for people with life bring conveniently, improve
The working efficiency of people, saves manpower and material resources.
Sweeping robot, be heat live in popularize most wide robot, be family nurse of new generation！Room can be cleaned
The rubbish such as hair, melon seed cases, dust.With the development of robot technology, the robot is in the future in for people's lives
Indispensable article, just as washing machine, electric cooker is the same.
But present sweeping robot can only be simple cleaning ground rubbish；It can not go the spider on cleaning roof
Spider web and dust.
Summary of the invention
It is an object of the invention to: in view of the above problems, a kind of clean robot based on unmanned plane is provided, it should
Clean robot can sweep the rubbish on ground as common sweeping robot, can also clean the cobweb and ash on roof
Dirt.
The technical solution adopted by the invention is as follows:
A kind of clean robot based on unmanned plane, it includes circular robot body, inside the robot body
It is provided with dust collection chamber, is equipped with dust absorption fan in dust collection chamber, the robot body bottom is provided with driving wheel, dust collection chamber first enters
Mouth and round brush；Dust collection chamber's first entrance is located at the front end of robot body bottom, and the round brush is placed in dust collection chamber first and enters
Mouthful at, and with ground face contact；The robot body top center is equipped with dust collection chamber's second entrance, and at dust collection chamber's second entrance
Equipped with strainer；Be surrounded by the top of the robot body it is several can be with folding rotor mechanism, the rotor mechanism is along robot
The even circumferential of bodies top is arranged；The side brush rotated synchronously with rotor mechanism is provided at the top of the rotor mechanism.
Since rotor mechanism is folded when the robot, which is in, sweeps the floor state, robot is avoided to exist by said mechanism
During sweeping the floor, rotor mechanism causes to hinder；When sweeping the floor, driving wheel drives robot body mobile, because round brush connects with ground
Touching, when robot body is mobile, round brush is also started turning, and the rubbish such as dust is sent into dust collection chamber's first entrance, in dust absorption fan
Under the action of by the rubbish such as dust sucking dust collection chamber storage；
When robot will clean roof cobweb and dust, rotor mechanism is opened, become multiselect rotor nobody
Machine drives the rubbish on robot body flight cleaning roof.When flight, rotation is brushed by the side on rotor mechanism, and then to room
The spider web and dust on top are cleared up；While cleaning, dust is sucked collection ash from dust collection chamber's second entrance by dust absorption fan work
Room.
In the present invention, body occasionally can avoid robot from blocking in corners using circle, be subject in reduction motion process
Outside hinders.
Further, the driving wheel includes left driving wheel, right driving wheel and auxiliary wheel；Wherein left driving wheel and right driving
Wheel is located at the middle part of robot body bottom, and drives respectively with the revolver driving motor and right wheel being located inside robot body
Motor is connected；The auxiliary wheel is located at the tail portion of robot body bottom.
Due to above structure, the left driving wheel and right driving wheel pass through obstructed motor respectively and drive, it is only necessary to control
The revolver driving motor revolving speed different with right wheel driving motor is just able to achieve the straight trip and turning of robot body.
Further, the round brush is equipped with the hairbrush helically arranged；The hairbrush is divided to or so two sections to be arranged in round brush
On, cover one notch of appearance in the middle part of round brush by hairbrush, and the rotation direction of two sections of left and right hairbrush is different.
Due to above structure, spiral helicine hairbrush is used on round brush, can be facilitated dust or rubbish from the one of round brush
End transports the other end to, and using the two sections of hairbrush in left and right, and rotation direction is different, is in order to which the dust at round brush both ends or rubbish are gathered rolling
The middle part of brush, to facilitate dust absorption fan that dust or rubbish are sucked dust collection chamber.
Further, the rotor mechanism includes connecting column, and one end of the connecting column is hinged at the top of robot body,
The other end is connected with the rotor mechanism fender bracket of annular；It is equipped with support frame in the rotor mechanism fender bracket, is installed on support frame
There is rotor motor, propeller is installed on the output shaft of the rotor motor.
Due to said mechanism, rotor mechanism is hinged on robot body, rotor mechanism can be facilitated to be folded in this way；
The rotor mechanism fender bracket of annular can prevent under state of flight, propeller and indoor wall collisions and damage
Further, the side brush is detachably connected on the output shaft of rotor motor, positioned at the top of propeller.
Due to above structure, side brush be mounted on the output shaft of rotor motor, by rotor motor drive just can and spiral
Paddle rotates together, and then does not need that other power-equipments are provided separately to drive side brush rotation；Since side brush is detachably to pacify
On the output shaft of rotor motor, it is that side can be brushed and be disassembled when rotor mechanism fold, side brush is avoided to roll over
It is damaged during folded.
Further, side brush 5~30 ° of the inclination upwards, constitutes taper after rotating it.
Due to above structure, inclination is to avoid touching room at the top of robot to preferably clean roof to side brush upwards
Top.
Further, the revolver driving motor, right wheel driving motor connect with rotor motor and are controlled by set on robot
The robot control system of body interior.
Further, the robot control system includes robot main controller, and starting is connected on robot main controller
Button, stop button, driving wheel motor control module, rotor motor control module and dust absorption fan control module；Wherein revolver
Driving motor and right wheel driving motor are connected with driving wheel motor control module, rotor motor and rotor motor control module phase
Even, dust absorption fan control module is connected with dust absorption fan；After robot body is arranged in the start button and stop button
Side.
The start button and stop button are for controlling starting and stopping for robot；
The driving wheel motor control module is used to control the revolving speed of revolver driving motor and right wheel driving motor, thus real
The straight trip and turning of existing robot；
The rotor motor control module is used to control the revolving speed of rotor motor, from the lifting of realization robot, straight trip, turns
It is curved；
The dust absorption fan control module is used to control start and stop and the revolving speed of dust absorption fan.
Further, front distance detection sensor is also connected on the robot main controller, distance detection in left side passes
Sensor and right side distance detection sensor；The front distance detection sensor is located at positioned at the positive side of robot body, institute
The left side that left side distance detection sensor is located at robot body is stated, the right side distance detection sensor is located at robot sheet
The right side of body.
Due to the presence of front distance detection sensor, left side distance detection sensor and right side distance detection sensor,
Can be realized robot sweep the floor and flight course in automatic detecting machine device people itself between barrier at a distance from, and then can be real
The automatic obstacle-avoiding of existing robot.
Further, also module is connected the robot control system with mobile terminal by wireless communication；The movement
Terminal includes mobile terminal case, and display screen and direction controlling key are provided on the mobile terminal case；It is described mobile whole
Mobile terminal control system is provided in end housing, the Mobile terminal control system includes mobile terminal main controller, the shifting
It is connected with direction signal receiving module and display screen on dynamic terminal main controller, wherein direction signal receiving module and direction controlling
Key is connected；Module is connected institute's mobile terminal main controller with robot main controller by wireless communication.
Due to the presence of mobile terminal, people by mobile terminal can taking human as control robot moving direction, just
In robot sweeping according to people.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
Clean robot of the invention can be realized one-machine-multi-function, the demand of sweeping the floor substantially in addition to meeting sweeping robot
Outside, moreover it is possible to roof be cleaned, the danger that artificial high altitude operation is brought is avoided.The clean robot can automatically be swept
The health on ground and roof, what also able person was controls robot by mobile terminal, makes it by the demand of people to sweep.It should
Robot mechanism is simple, a tractor serves several purposes, reduces the expense and parking space for repeatedly buying a clean robot, practicability
By force, convenient for popularization and use.
Detailed description of the invention
Fig. 1 is top view when rotor mechanism is in folded state in the present invention；
Fig. 2 is robot body chart at the bottom of in the present invention；
Fig. 3 is the top view of rotor mechanism in the open state in the present invention；
Fig. 4 is the main view of rotor mechanism in the open state in the present invention.
Specific embodiment
With reference to the accompanying drawing, the present invention is described in detail.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment 1:
A kind of clean robot based on unmanned plane, it includes circular robot body 1, in the robot body 1
Portion is provided with dust collection chamber 12, and dust absorption fan is equipped in dust collection chamber 12, and 1 bottom of robot body is provided with driving wheel, collection ash
Chamber inlet 7 and round brush 6；Dust collection chamber's entrance 7 is located at the front end of 1 bottom of robot body, and the round brush 6 is placed in dust collection chamber and enters
At mouthfuls 7, and with ground face contact；Be surrounded by the top of the robot body 1 it is several can be with folding rotor mechanism, the gyroplane
Even circumferential arrangement of the structure along 1 top of robot body；It is provided at the top of the rotor mechanism and is rotated synchronously with rotor mechanism
Side brush 11.
The number of the rotor mechanism can be 3~12, in order to make the easy to control and small in size of more rotors, this implementation
In example, the number of rotor mechanism uses 4.
The driving wheel includes left driving wheel 10, right driving wheel 8 and auxiliary wheel 9；Wherein left driving wheel 10 and right driving wheel 8
It is driven positioned at the middle part of robot body bottom 1, and respectively with the revolver driving motor and right wheel being located inside robot body 1
Motor is connected；The auxiliary wheel 9 is located at the tail portion of 1 bottom of robot body.
It closes the position that the left driving wheel, right driving wheel and auxiliary wheel constitute isosceles triangle on robot body bottom
System.
The rotor mechanism includes connecting column 4, and one end of the connecting column 4 is hinged on 1 top of robot body, the other end
It is connected with the rotor mechanism fender bracket 2 of annular；It is equipped with support frame 5 in the rotor mechanism fender bracket 2, is equipped on support frame 5
Rotor motor is equipped with propeller 3 on the output shaft of the rotor motor.
The side brush 11 is detachably connected on the output shaft of rotor motor, positioned at the top of propeller 3.
The revolver driving motor, right wheel driving motor connect with rotor motor and are controlled by inside robot body
Robot control system.
The robot control system includes robot main controller, and start button is connected on robot main controller, is stopped
Button, driving wheel motor control module, rotor motor control module and dust absorption fan control module；Wherein revolver driving motor and
Right wheel driving motor is connected with driving wheel motor control module, and rotor motor is connected with rotor motor control module, dust absorption fan
Control module is connected with dust absorption fan；The trailing flank of robot body 1 is arranged in the start button and stop button.
Embodiment 2:
The present embodiment is substantially the same with embodiment 1, the difference is that, the round brush 6 is equipped with and helically arranges
Hairbrush；The hairbrush is divided to or so two sections to be arranged on round brush 6, makes to occur a notch in the middle part of round brush not covered by hairbrush, and left
The rotation direction of right two sections of hairbrush is different.
Using the two sections of hairbrush in left and right, and rotation direction is different, can gather the dust at round brush both ends or rubbish in round brush
Portion, to facilitate dust absorption fan that dust or rubbish are sucked dust collection chamber.
Embodiment 3:
The present embodiment is substantially the same with embodiment 1 and embodiment 2, other the difference is that, side brush 11 is to updip
Oblique 5~30 °, taper is constituted after rotating it.
Inclination can preferably clean roof to side brush upwards, avoid touching roof at the top of robot.
Embodiment 4:
The present embodiment is substantially the same with embodiment 1,2 and 3, other the difference is that, on the robot main controller also
It is connected with front distance detection sensor, left side distance detection sensor and right side distance detection sensor；The front distance
Detection sensor is located at positioned at the positive side of robot body 1, and the left side distance detection sensor is located at robot body
Left side 1, the right side distance detection sensor are located at the right side of robot body 1.
Due to the presence of front distance detection sensor, left side distance detection sensor and right side distance detection sensor,
Can be realized robot sweep the floor and flight course in automatic detecting machine device people itself between barrier at a distance from, and then can be real
The automatic obstacle-avoiding of existing robot.
Embodiment 5:
The present embodiment is substantially the same with embodiment 1,2,3 and 4, other the difference is that, the robot control system
Also module is connected with mobile terminal by wireless communication；The mobile terminal includes mobile terminal case, outside the mobile terminal
Display screen and direction controlling key are provided on shell；Mobile terminal control system is provided in the mobile terminal case, it is described
Mobile terminal control system includes mobile terminal main controller, and the movement, which is moved, is connected with direction signal reception mould on terminal main controller
Block and display screen, wherein direction signal receiving module is connected with direction controlling key；Institute's mobile terminal main controller passes through channel radio
Letter module is connected with robot main controller.
Due to the presence of mobile terminal, people by mobile terminal can taking human as control robot moving direction, just
In robot sweeping according to people.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (7)
1. a kind of clean robot based on unmanned plane, characterized in that it includes circular robot body (1), the machine
Human body (1) is internally provided with dust collection chamber (12), and dust absorption fan, robot body (1) bottom are equipped in dust collection chamber (12)
It is provided with driving wheel, dust collection chamber's first entrance (7) and round brush (6)；Dust collection chamber's first entrance (7) is located at robot body
(1) front end of bottom, the round brush (6) are placed at dust collection chamber's first entrance (7), and with ground face contact；The robot body
(1) top center is equipped with dust collection chamber's second entrance (13), and is equipped with strainer (14) at dust collection chamber's second entrance (13)；The machine
Be surrounded by the top of human body (1) it is several can be with folding rotor mechanism, circle of the rotor mechanism at the top of robot body (1)
Week is evenly arranged；The side brush (11) rotated synchronously with rotor mechanism is provided at the top of the rotor mechanism；
The driving wheel includes left driving wheel (10), right driving wheel (8) and auxiliary wheel (9)；Wherein left driving wheel (10) and right drive
Driving wheel (8) is located at the middle part of robot body bottom (1), and revolver internal with robot body (1) is located at respectively drives electricity
Machine is connected with right wheel driving motor；The auxiliary wheel (9) is located at the tail portion of robot body (1) bottom；
The round brush (6) is equipped with the hairbrush helically arranged；The hairbrush is divided to or so two sections to be arranged on round brush (6), makes to roll
There is a notch and is not covered by hairbrush in brush middle part, and the rotation direction of two sections of left and right hairbrush is different；
The rotor mechanism includes connecting column (4), and one end of the connecting column (4) is hinged at the top of robot body (1), another
It holds and is connected with the rotor mechanism fender bracket (2) of annular；Support frame (5) are equipped in the rotor mechanism fender bracket (2), support frame
(5) rotor motor is installed on, propeller (3) are installed on the output shaft of the rotor motor.
2. a kind of clean robot based on unmanned plane according to claim 1, characterized in that the side brush (11) is removable
It unloads and is connected on the output shaft of rotor motor, be located at the top of propeller (3).
3. a kind of clean robot based on unmanned plane according to claim 2, characterized in that the side brush (11) is upward
5~30 ° of inclination constitutes taper after rotating it.
4. a kind of clean robot based on unmanned plane according to claim 3, characterized in that the revolver driving electricity
Machine, right wheel driving motor connect the robot control system being controlled by inside robot body with rotor motor.
5. a kind of clean robot based on unmanned plane according to claim 4, characterized in that robot control system
System includes robot main controller, be connected on robot main controller start button, stop button, driving wheel motor control module,
Rotor motor control module and dust absorption fan control module；Wherein revolver driving motor and right wheel driving motor and driving wheel motor
Control module is connected, and rotor motor is connected with rotor motor control module, and dust absorption fan control module is connected with dust absorption fan；Institute
Start button and stop button setting are stated in the trailing flank of robot body (1).
6. a kind of clean robot based on unmanned plane according to claim 5, characterized in that the robot main controller
On be also connected with front distance detection sensor, left side distance detection sensor and right side distance detection sensor；The front
Distance detection sensor is located at the positive side of robot body (1), and the left side distance detection sensor is located at robot body
Left side (1), the right side distance detection sensor is located at the right side of robot body (1).
7. a kind of clean robot based on unmanned plane according to claim 6, characterized in that robot control system
Also module is connected system with mobile terminal by wireless communication；The mobile terminal includes mobile terminal case, the mobile terminal
Display screen and direction controlling key are provided on shell；Mobile terminal control system, institute are provided in the mobile terminal case
Stating Mobile terminal control system includes mobile terminal main controller, and direction signal is connected on the mobile terminal main controller and receives mould
Block and display screen, wherein direction signal receiving module is connected with direction controlling key；Institute's mobile terminal main controller passes through channel radio
Letter module is connected with robot main controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610816861.6A CN106388722B (en) | 2016-09-12 | 2016-09-12 | A kind of clean robot based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610816861.6A CN106388722B (en) | 2016-09-12 | 2016-09-12 | A kind of clean robot based on unmanned plane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106388722A CN106388722A (en) | 2017-02-15 |
| CN106388722B true CN106388722B (en) | 2019-04-16 |
Family
ID=57999633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610816861.6A Expired - Fee Related CN106388722B (en) | 2016-09-12 | 2016-09-12 | A kind of clean robot based on unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106388722B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106963281A (en) * | 2017-03-21 | 2017-07-21 | 南京信息工程大学 | A kind of flight cleaning robot system |
| CN107028566B (en) * | 2017-03-21 | 2019-10-11 | 上海大学 | Cleaning robot with variable attitude flying |
| ES2683917B2 (en) * | 2017-03-28 | 2019-05-23 | Univ Rey Juan Carlos | DRON CLEANER |
| CN107028550A (en) * | 2017-05-22 | 2017-08-11 | 金陵科技学院 | A kind of French window dust arrester |
| CN107334424B (en) * | 2017-06-26 | 2019-10-29 | 东莞市银通机械科技有限公司 | Novel flying type floor sweeping robot |
| CN107458591B (en) * | 2017-07-19 | 2020-07-31 | 嘉兴众衡电气科技有限公司 | An aerial photography drone with improved safety performance for snow scene photography |
| CN108201421A (en) * | 2017-11-24 | 2018-06-26 | 韦文生 | A kind of follow-on top surface cleaner |
| CN108175340A (en) * | 2018-02-12 | 2018-06-19 | 崔少曦 | Intelligent ground cleans drying machine |
| CN108261148A (en) * | 2018-03-30 | 2018-07-10 | 广东海洋大学 | One kind can flight sweeping robot |
| CN109080821B (en) * | 2018-10-12 | 2024-08-27 | 金陵科技学院 | Intelligent cleaning type unmanned aerial vehicle |
| CN111820818A (en) * | 2019-04-16 | 2020-10-27 | 添可智能科技有限公司 | Cleaning equipment and its brushes |
| CN110013200B (en) * | 2019-05-30 | 2024-04-02 | 安徽工程大学 | Ceiling cleaning robot |
| CN111545502A (en) * | 2020-04-23 | 2020-08-18 | 曹树梁 | Dust removing device for desert sunlight absorption surface unmanned helicopter |
| CN113349684B (en) * | 2021-07-05 | 2022-10-21 | 武汉岂明芯科技有限公司 | Household intelligent cleaning device based on Internet of things and use method thereof |
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| US9993852B2 (en) * | 2014-08-20 | 2018-06-12 | Elwha Llc | Surface cleaning unmanned aerial vehicle |
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| Publication number | Publication date |
|---|---|
| CN106388722A (en) | 2017-02-15 |
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