CN212089412U - Cleaning robots and cleaning systems - Google Patents

Abstract

The utility model provides a cleaning robot and a cleaning system. A driving component of the cleaning robot is connected with a control component; a chassis control module receives an input command through an interaction module; a navigation component is arranged inside the body and receives the cleaning area information transmitted by the chassis control module, The route is planned according to the information, and the chassis control module controls the movement of the drive assembly according to the route, and controls the vacuum assembly to clean the area; the negative pressure bellows of the vacuum assembly is connected to the manual vacuum cleaner and the automatic vacuum cleaner through the three-way interface, and the detection switch is connected to the The chassis control module is connected, and the chassis control module detects that the manual vacuum cleaner is inserted into the three-way interface through the detection switch, and switches the automatic mode to the manual mode to realize the cleaning of the dead corners in the cleaning area. The utility model can switch the automatic mode to the manual mode according to the insertion situation of the manual vacuum cleaner, and can realize the cleaning of the dead corners without other cleaning tools, thus meeting the comprehensive cleaning requirements.

Description

Cleaning robots and cleaning systems

technical field

The utility model relates to the field of intelligent cleaning, in particular to a cleaning robot and an intelligent terminal.

Background technique

Domestic hotel intelligent robots are mainly machinery and equipment for reception, meal delivery, and patrol, and rarely for floor cleaning functions. As the human cost increases year by year, the cleaning efficiency and cost of hotels that traditionally rely on human cleaning are becoming more and more prominent.

Although there are robots used for automatic ground cleaning, but because the robot only supports automatic mode, due to its size and environmental limitations, it often happens that the robot cannot fully clean the cleaning area, and it is easy to have dead ends, requiring additional cleaning tools to clean. The requirement to clean the entire area with the cleaning robot cannot be fulfilled.

Utility model content

In order to overcome the deficiencies of the prior art, the utility model proposes a cleaning robot and a cleaning system, which can plan a route according to the cleaning area, automatically realize the cleaning of the cleaning area, reduce the workload of manual cleaning, improve the cleaning efficiency, and reduce the cost, and can switch the automatic mode to the manual mode according to the insertion of the manual vacuum cleaner, which can clean the dead corners without other cleaning tools, which meets the comprehensive cleaning requirements.

In order to solve the above problems, a technical solution adopted by the present invention is: a cleaning robot, the cleaning robot includes: a vacuum assembly, a control assembly, a navigation assembly, a drive assembly and a body; the drive assembly and the control assembly connected to drive the cleaning robot to move according to the instructions of the control assembly; the control assembly includes an interaction module arranged on the top of the body and a chassis control module arranged inside the body, and the chassis control module passes the The interaction module receives the input instruction, and obtains the cleaning area information according to the instruction; the navigation component is arranged inside the body, receives the cleaning area information transmitted by the chassis control module, plans the route according to the information, and arranges all the The route is sent to the chassis control module, and the chassis control module controls the movement of the drive assembly according to the route, and controls the vacuum assembly to clean the cleaning area; the vacuum assembly includes a negative pressure bellows, a three-way interface , automatic vacuum cleaner, manual vacuum cleaner and detection switch, the negative pressure bellows is connected with the manual vacuum cleaner and the automatic vacuum cleaner through the three-way interface, and the detection switch is connected with the chassis control module and the chassis control module detects that the manual vacuum cleaner is inserted into the three-way interface through the detection switch, and switches the automatic mode to the manual mode to clean the dead corners in the cleaning area.

Further, the dust suction assembly includes a fan, a filter, and a dust box, the dust box is connected to the negative pressure bellows, the fan is accommodated in the filter, and the negative pressure bellows is drawn through the fan. The dust is separated from the air by a filter, and the dust is collected in the dust box.

Further, the dust suction assembly further includes a noise reduction air duct, the noise reduction air duct is arranged on the side of the filter away from the dust box, the fan is arranged inside the noise reduction air duct, and the The air outlet and the air inlet of the noise reduction air duct are arranged at intervals on the same side of the fan, and the air drawn by the fan is discharged through the noise reduction air duct to reduce noise.

Further, the cleaning robot also includes a power supply assembly, the power supply assembly includes a battery, a charging and discharging module and a charging pile control module, the battery is accommodated in the body, and the charging and discharging module and the charging pile control module. The module is arranged on the side of the battery away from the ground, and the charging and discharging of the battery is controlled by the charging and discharging module.

Further, the power supply assembly further includes a connection contact, the connection contact is arranged on one side of the body, and the chassis control module is connected to the charging pile through the connection contact to realize charging and connect with the charging pile. Pile of communication.

Further, the connection contact includes a communication contact and a charging contact. After the chassis control module confirms the communication connection with the charging pile through the communication contact, it controls the charging pile to connect to the charging pile through the charging contact. The battery is charged.

Further, the cleaning robot also includes a laser radar, the laser radar and the connection contacts are arranged on both sides of the body, and the cleaning robot identifies the slot position of the charging pile through the laser radar to complete the process. on the pile.

Further, the driving assembly includes a motor driver, a motor and a driving wheel, the driving wheel is arranged on the side of the body close to the ground, the chassis control module is connected with the motor through the motor driver, and the motor driver is based on the The instruction of the chassis control module drives the motor, thereby controlling the rotation of the driving wheel.

Further, the interaction module is arranged on the side of the body away from the ground, and includes a touch screen and a control panel. The control panel receives an input instruction through the touch screen, parses the instruction, and parses the information obtained by the instruction. The content is sent to the chassis control module.

Based on the same inventive concept, the present application also proposes a cleaning system, the cleaning system includes a charging pile and a cleaning robot, and the charging pile includes a charging control module for charging the cleaning robot; the cleaning robot includes the above Said cleaning robot.

Compared with the prior art, the beneficial effect of the utility model is that: the route can be planned according to the cleaning area, the cleaning of the cleaning area can be automatically realized, the workload of manual cleaning is reduced, the cleaning efficiency is improved, and the cost is reduced, and it can be cleaned according to the manual operation. The insertion of the vacuum cleaner switches the automatic mode to the manual mode, which can clean the dead corners without other cleaning tools, which meets the cleaning requirements.

Description of drawings

1 is a structural diagram of an embodiment of a cleaning robot of the present invention;

2 is an overall structural diagram of an embodiment of the cleaning robot of the present invention;

3 is an exploded view of an embodiment of the cleaning robot of the present invention;

4 is a structural diagram of an embodiment of a three-way interface of the cleaning robot of the present invention;

5 is a top view of an embodiment of a noise reduction air duct of the cleaning robot of the present invention;

6 is a cross-sectional view of an embodiment of some components of the vacuum assembly in the cleaning robot of the present invention;

7 is a structural diagram of an embodiment of a dust push assembly of a cleaning robot of the present invention;

8 is an exploded view of an embodiment of a dust push assembly of the cleaning robot of the present invention;

Fig. 9 is the working flow chart of realizing handshake communication and charging between the chassis control module of the cleaning robot of the present invention and the charging pile;

FIG. 10 is a working flow chart of an embodiment of the cleaning robot of the present invention;

FIG. 11 is a structural diagram of an embodiment of the cleaning system of the present invention.

In the figure: 3. Vacuuming component; 2. Control component; 4. Navigation component; 5. Driving component; 1. Body; 21. Interaction module; 22. Chassis control module; 32. Three-way interface; 31. Automatic cleaning Grill; 35. Manual vacuum grill; 11. Main shell; 12. Upper shell; 13. Curved handle; 37. Fan; 33. Filter; 34. Dust box; 38. Noise reduction duct; 381. First Noise reduction air duct; 382, second noise reduction air duct; 383, diverter; 324, main body; 321, first interface; 322, second interface; 323, third interface; 351, manual dust collector; 92, battery; 91, connecting contacts; 82, lidar; 52, motor driver; 51, driving wheel; 211, touch screen; 71, ultrasonic sensor; 81, depth camera; 6, dust push assembly; 61, main bracket; 62, Spring card; 63, dust push card plate; 66, dust push card block; 64, dust derivation block; 65, dust push; 611, fixed bracket; 612, bottom plate; 631, first protrusion.

Detailed ways

Hereinafter, the present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be noted that, on the premise of no conflict, the embodiments or technical features described below can be combined arbitrarily to form new implementations. example.

Please refer to Figures 1-10, wherein Figure 1 is a structural diagram of an embodiment of the cleaning robot of the present invention; Figure 2 is an overall structural diagram of an embodiment of the cleaning robot of the present invention; Figure 3 is an implementation of the cleaning robot of the present invention Figure 4 is a structural diagram of an embodiment of the three-way interface of the cleaning robot of the present invention; Figure 5 is a top view of an embodiment of the noise reduction air duct of the cleaning robot of the present invention; A cross-sectional view of an embodiment of some components of a vacuum assembly in a robot; FIG. 7 is a structural diagram of an embodiment of a dust push assembly of a cleaning robot of the present invention; FIG. 8 is an exploded view of an embodiment of the dust push assembly of a cleaning robot of the present invention Fig. 9 is the working flow chart of the handshake communication and charging between the chassis control module and the charging pile of the cleaning robot of the present invention; Fig. 10 is the working flow chart of an embodiment of the cleaning robot of the present invention. The cleaning robot of the present utility model will be described in detail with reference to the accompanying drawings 1-10.

The cleaning robot includes: a vacuuming component 3, a control component 2, a navigation component 4, a driving component 5 and a body 1; the driving component 5 is connected with the control component 2, and drives the cleaning robot to move according to the instructions of the control component 2; The interaction module 21 on the top of the body 1 and the chassis control module 22 arranged inside the body 1, the chassis control module 22 receives the input command through the interaction module 21, and obtains the cleaning area information according to the command; the navigation component 4 is arranged inside the body 1, receives The cleaning area information transmitted by the chassis control module 22 plans a route according to the information, and sends the route to the chassis control module 22. The chassis control module 22 controls the movement of the drive assembly 5 according to the route, and controls the vacuum assembly 3 to clean the cleaning area; the vacuum assembly 3. It includes negative pressure bellows, three-way interface 32, automatic vacuum cleaner 31, manual vacuum cleaner 35 and detection switch. The negative pressure air box is connected to the manual vacuum cleaner 35 and the automatic vacuum cleaner 31 through the three-way interface 32, and the detection switch Connected to the chassis control module 22, the chassis control module 22 detects that the manual vacuum cleaner 35 is inserted into the three-way interface 32 through the detection switch, and switches the automatic mode to the manual mode to clean the dead corners in the cleaning area.

In this embodiment, the body 1 includes a main casing 11 and an upper casing 12 , wherein the upper casing 12 is fixed and covers the side of the main casing 11 away from the ground, and the interaction module 21 is arranged in the upper casing 12 .

In this embodiment, in order to facilitate the movement of the mobile cleaning robot, an arc-shaped handle 13 is provided at one end of the main casing 11 close to the upper casing 12 , and both ends of the arc-shaped handle 13 are fixed on both sides of the main casing 11 and face each other.

In this embodiment, the cleaning robot is further provided with an aromatherapy component and a sterilization component, and the chassis control module 22 opens the aromatherapy component or the sterilization component according to the instructions input by the user through the interaction module 21 to realize the aromatherapy and sterilization functions.

In a specific embodiment, the sterilization component is an ultraviolet lamp, and the ultraviolet sterilization function is realized by the ultraviolet lamp.

In this embodiment, the dust suction assembly 3 further includes a fan 37, a filter 33, and a dust box 34 arranged in the main casing 11. The dust box 34 is connected to the negative pressure bellows, and the fan 37 is accommodated in the filter 33. The fan 37 extracts the air in the negative pressure bellows, separates the dust from the air by the filter 33 , and collects the dust in the dust box 34 .

In this embodiment, in order to reduce the noise when the fan 37 draws air, the dust suction assembly 3 further includes a noise reduction air duct 38 . Inside the noise duct 38, the air outlet and the air inlet of the noise reduction duct 38 are arranged at intervals on the same side of the fan 37, and the air extracted by the fan 37 is discharged through the noise reduction duct 38 to reduce noise.

In a specific embodiment, the noise reduction air duct 38 includes a first noise reduction air duct 381 , a second noise reduction air duct 382 , a diverter 383 and a sound insulation cotton, and the first noise reduction air duct 381 and the second noise reduction air duct 381 The ducts 382 are respectively arranged on both sides of the fan 37, the air inlet of the first noise reduction air duct 381 is connected to the air inlet of the second noise reduction air duct 382, and the air outlet of the first noise reduction air duct 381 is connected to the second noise reduction air duct 382. The air outlets of the duct 382 are arranged on one side of the fan 37 at intervals. The diverter 383 is fixed at the connection of the air inlet, which is a triangular prism, one edge of the triangular prism is opposite to the fan 37, and the extracted air is diverted to the first noise reduction air duct 381 and the second noise reduction wind Road 382. The sound insulation cotton is arranged on the inner side of the first noise reduction air duct 381 and the second noise reduction air duct 382, and the noise generated is further reduced by the sound insulation cotton.

In this embodiment, the three-way interface 32 includes a main body 324, a first interface 321, a second interface 322, and a third interface 323. The main body 324 is a rectangular parallelepiped. The detection switch, the first interface 321, the second interface 322, and the third interface 323 are respectively arranged on different sides of the main body 324. The first interface 321, the second interface 322, and the third interface 323 communicate with each other through the main body 324, and are respectively connected with the negative pressure bellows, the automatic vacuum cleaner 31, and the manual vacuum cleaner 35. The opening of the automatic vacuum cleaner 31 for absorbing dust is provided at the bottom of the main casing 11 , and the hose is connected to the second interface 322 . The tee is disposed in the main casing 11 on the side of the noise reduction air duct 38 close to the ground, and the opening of the third interface 323 penetrates through the main casing 11 .

The manual vacuum cleaner 35 includes a manual vacuum pipe 351. The connection end port of the manual vacuum pipe 351 is closed, and an opening corresponding to the first interface 321 is provided on the side. Connected. When the connecting end is inserted into the main body 324 by screwing, the connecting end blocks the second interface 322, and the automatic vacuum cleaner 31 stops working. The connection end is provided with a magnetic substance. When the detection switch detects the magnetic substance on the connection end, an interruption trigger signal is generated, and the interruption trigger signal is sent to the chassis control module 22. After the chassis control module 22 detects the interruption trigger signal, Confirm that the manual vacuum cleaner 35 is inserted, and switch the working mode to manual mode.

In this embodiment, the cleaning robot further includes a power supply assembly, the power supply assembly includes a battery 92 and a charging and discharging module, the battery 92 is accommodated in the body 1, and the charging and discharging module is arranged on the side of the battery 92 away from the ground, controlled by the charging and discharging module Charge and discharge of the battery 92 .

In a specific embodiment, the charge-discharge module is an integrated circuit chip whose model is BQ24610, the battery 92 is a lithium battery, and the voltage of the lithium battery is 24V.

In this embodiment, the power supply assembly further includes a connection contact 91, which is arranged on one side of the body 1, and the chassis control module 22 is connected to the charging pile through the connection contact 91 to realize charging and communication with the charging pile.

In this embodiment, the connection contacts 91 include communication contacts and charging contacts, and the cleaning robot further includes a lidar 82. The lidar 82 and the connection contacts 91 are arranged on opposite sides of the body 1, and the cleaning robot passes the lidar 82 Identify the slot of the charging pile to complete the pile alignment. After the pile is successfully aligned, the chassis control module 22 confirms the communication connection with the charging pile through the communication contact, and controls the charging pile to charge the battery 92 through the charging contact.

In this embodiment, the charging contact includes a positive contact point and a negative electrode contact point, and the communication contact includes a sending contact and a receiving contact.

In a specific embodiment, the charging pile contains a single-chip IC, which is used to control the power switch of the charging pile. The power supply does not output voltage by default to prevent children from accidentally touching it. The chassis control module 22 includes an STM32 single-chip microcomputer chip, and the communication between the charging pile and the cleaning robot is realized by the communication between the single-chip microcomputer chip and the single-chip microcomputer IC on the charging pile.

After the cleaning robot receives the charging command, it locates through the navigation component 4, walks to the front of the charging pile, and then uses the lidar 82 to identify the size of the charging pile slot to complete the pile alignment. After the pile is aligned, the four connection contacts 91 on the back of the robot (two are charging contacts, the charging contacts are connected to the positive and negative poles of the battery 92, and the two are communication contacts, which are the receiving and sending signals of communication. contacts) will come into contact with the four metal contacts of the charging pile.

After the connection contacts 91 respectively contact the corresponding metal contacts, a handshake process is performed between the cleaning robot and the charging pile to realize charging. Among them, the handshake process is as follows: the chassis control module 22 sends a charging request to the single-chip microcomputer IC of the charging pile (sends the charging request through the communication contact); the single-chip microcomputer IC of the charging pile feeds back the ACK1 signal to the chassis control module 22 (receives the signal through the communication contact) ; The chassis control module 22 sends a confirmation request to the single-chip microcomputer IC of the charging pile (sent through the communication contact); after the charging pile receives the confirmation request sent by the chassis control module 22, it proves that the robot physically enters the pile successfully. At this time, the charging pile Turn on the switch of the charging power supply, and output 29.4V charging voltage through the positive and negative contacts of the charging contact. The charging and discharging module converts the charging voltage into a voltage that the battery 92 can receive to charge the cleaning robot.

In this embodiment, the navigation component 4 is responsible for creating maps, route planning, and relocation, and navigating the cleaning robot through the navigation component 4 . The navigation assembly 4 and the chassis control module 22 are both disposed on the side of the noise reduction air duct 38 close to the ground, and the navigation assembly 4 is farther from the ground than the chassis control module 22 .

In a specific embodiment, the navigation component 4 is the Silan positioning and navigation component 4, the model of the lidar 82 is Silan A2, and the navigation component 4 realizes the alignment between the cleaning robot and the charging pile through the lidar 82.

In a specific embodiment, the chassis control module 22 is connected to the navigation component 4, the interaction module 21 and the single chip IC of the charging pile through a serial port to realize communication.

In this embodiment, the battery 92 is arranged on the side of the chassis control module 22 close to the ground, the tee interface 32 is arranged on the side of the battery 92 perpendicular to the ground, and the lidar 82 is arranged at the bottom of the main casing 11 and is connected to the tee interface 32 is located on the same side of the main housing 11 . The three-way interface 32 is connected to the negative pressure bellows disposed on the side of the battery 92 away from the ground through a pipeline. The charging and discharging module for controlling the charging and discharging of the battery 92 is disposed on the side of the battery 92 close to the chassis control module 22 .

In this embodiment, the driving assembly 5 includes a motor driver 52, a motor and a driving wheel 51. The driving wheel 51 is arranged on the side of the body 1 close to the ground. The chassis control module 22 is connected to the motor through the motor driver 52. The motor driver 52 is based on the chassis. The command of the control module 22 drives the motor, and then controls the driving wheel 51 to rotate. The driving wheel 51 is arranged on the side of the battery 92 close to the ground, and the motor driver 52 is arranged on the side of the battery 92 perpendicular to the ground, and is connected to the motor through a serial port.

In a specific embodiment, the number of driving wheels 51 is two, which are symmetrically arranged on both sides of the bottom of the main shell 11, the model of the motor driver 52 is ZLAC706, the motor is a servo motor, and its model is ZLLG65ASM250, and the servo motor The number is two, and different driving wheels 51 are driven respectively to realize the actions such as turning and moving of the cleaning robot.

In this embodiment, the drive assembly 5 further includes an encoder, the encoder is connected to the motor or the driving wheel 51 , and the chassis control module 22 determines the running distance of the driving wheel 51 according to the feedback information of the encoder to determine the action trajectory of the cleaning robot.

In this embodiment, the interaction module 21 is arranged on the side of the body 1 away from the ground, and includes a touch screen 211 and a control panel. The control panel receives an input instruction through the touch screen 211, parses the instruction, and parses the content obtained by the instruction. It is sent to the chassis control module 22, so that the chassis control module 22 performs the corresponding operation according to the input command.

The interaction module 21 is arranged in the upper shell 12, the control panel is an Android control panel, and the user completes human-computer interaction through the touch screen 211, such as map building guidance, map modification, operation settings and other functions. The Android control panel decomposes the interactive information, and transmits the result to the navigation component 4 and the chassis control module 22 .

In a specific embodiment, the model of the control board is RK3288 or RK3299. It is connected to the touch screen 211 and other display screens, and RGB display signals are input to it. The control board can also be connected to 3G/4G modules and other devices or modules through the USB interface, and can receive users through other smart terminals through wireless or wired transmission. control command sent. The control board is also connected to the charging and discharging module through the I2C interface, and displays the acquired power information of the battery 92 through the touch screen 211 .

In this embodiment, the cleaning robot further includes a sensor, the chassis control module 22 is connected to the sensor, and the navigation component 4 receives the information sent by the sensor through the chassis control module 22, and updates the route according to the information.

In this embodiment, the sensors include a collision sensor, an infrared sensor, an ultrasonic sensor 71, and an anti-drop sensor. Among them, the collision sensor is arranged around the bottom of the main shell 11, similar to a tact switch, if it collides with an object, a physical short circuit will be generated, and an interrupt signal will be generated in the circuit to the chassis control module 22, and the chassis control module 22 will send a signal according to which collision sensor When the interruption occurs, the motor is controlled by the motor driver 52 to drive the cleaning robot to evacuate a small distance in the opposite direction. The infrared sensor is also arranged around the bottom of the main shell 11 to obtain the distance of surrounding obstacles in real time. When the chassis control module 22 determines that the obstacle distance is too close according to the information of the infrared sensor, the chassis control board feeds this information back to the navigation component 4, The navigation component 4 updates the walking route according to the distance information of the obstacle to avoid the obstacle. The ultrasonic sensor 71 is arranged around the main casing 11 and is far away from the ground relative to the infrared sensor, and is used to obtain the distance of surrounding obstacles in real time. When the chassis control module 22 determines that the distance of the obstacle is too close according to the information of the ultrasonic sensor 71, the chassis control board feeds back the information To the navigation component 4, the navigation component 4 updates the walking route according to the distance information of the obstacle to avoid the obstacle. The anti-drop sensor is also an infrared sensor, which is placed on the bottom periphery of the main shell 11. The infrared light emitted by the anti-drop sensor is perpendicular to the ground, and is used to detect the height of the machine from the ground. When there are pits or steps around the machine, the chassis control module 22 detects that the distance to the ground will suddenly become farther or nearer through the infrared sensor, and feeds this information to the navigation component 4, and the navigation component 4 updates the walking route to avoid the pit. bit or steps.

In this embodiment, the cleaning robot further includes a depth camera 81 . The depth camera 81 is disposed on the main casing 11 and is located on the side of the tee interface 32 away from the ground. The control board is connected to the depth camera 81 through a WiFi or USB interface, and sends the data sent by the depth camera 81 to the navigation component 4 through the RJ45 interface or WiFi, so that the navigation component 4 plans a route according to the data.

In this embodiment, the cleaning robot includes a dust push assembly 6 , and the dust push assembly 6 and the automatic vacuum cleaner 31 are disposed on the side of the body 1 close to the ground. The cleaning robot receives the switching instruction through the wireless communication component or the interaction module 21 connected to the control board, switches the working mode from the vacuuming mode to the dust pushing mode, and cleans the ground through the dust pushing component 6 disposed on the side of the battery 92 close to the ground.

In this embodiment, two driving wheels 51 are arranged on both sides of the dust pusher assembly 6 , the automatic dust collector 31 is arranged on one side of one of the driving wheels 51 , and the lidar 82 is fixed on the dust pusher assembly 6 .

In a specific embodiment, the dust push assembly 6 includes a main bracket 61 , a spring card 62 , a dust push card plate 63 , a dust push block 66 , a dust push block 64 and a dust push 65 . The main bracket 61 includes a fixed bracket 611 and a bottom plate 612 . The number of the two firmware brackets is fixed on the side of the bottom plate 612 away from the ground. The dust pusher assembly 6 is fixed in the main shell 11 through the fixed bracket 611 . The bottom plate 612 is provided with at least one through hole, the dust pusher plate 63 is arranged on the side of the bottom plate 612 close to the ground, and the two sides of the dust pusher plate 63 are provided with a first groove and a second groove. The groove accommodates the bottom plate 612, and the bottom plate 612 can slide relative to the dust push card plate 63 in the first groove. Inside the first groove, there are first protrusions 631 with the same number as the through holes, the first protrusions 631 pass through the through holes, and the spring card 62 is arranged on the top of the first protrusion 631 to limit the bottom plate 612 to the first protrusion 631. in a groove.

The spring card 62 is in contact with the device on the cleaning robot for pushing the dust push assembly 6. When the cleaning robot switches to the dust push mode, the device pushes the dust push assembly 6 to move in a direction close to the ground, so that the dust of the dust push assembly 6 is moved. Push the rag on 65 to the ground to clean the ground. And the elasticity of the spring card 62 is used to reduce the influence of ground fluctuations on the cleaning robot.

The dust deduction block 64 is arranged on the side of the dust push card plate 63 close to the ground, and the side of the dust deduction block 64 away from the ground is provided with a second protrusion corresponding to the second groove, and the second protrusion is nested in the second groove. . The dust pushing block 66 is fixed on the dust pushing card and the dust pushing block 64 is perpendicular to the bottom side, and the two ends are respectively fixed on the dust pushing block 64 and the dust pushing board 63 , and the dust pushing block 64 is fixed by the dust pushing block 66 .

In this embodiment, the dust pusher 65 is fixed on the side of the dust pusher block 64 away from the dust pusher board 63, and the dust pusher block 64 is provided with a through hole through which the dust pusher 65 and the dust pusher block 64 are fixed together .

The cleaning robot of the present invention will be further described below through the work flow of the cleaning robot.

The control board receives the cleaning instruction input by the user, and sends the cleaning instruction to the chassis control module 22 through the serial port. After receiving the cleaning instruction, the chassis control module 22 turns on the vacuuming assembly 3 and sends the cleaning area to the navigation assembly 4 through the serial port. The navigation component 4 completes the route planning, generates the driving wheel 51 travel data, and sends the route planning information and travel data to the chassis control module 22 through the serial port. The chassis control module 22 controls the driving wheel 51 to walk according to the walking data, and feeds back the obstacle information received by the sensor to the navigation component 4 in real time through the serial port, so that the navigation component 4 updates the walking route in real time according to the obstacle information. After judging that the cleaning area is fully covered, the chassis control module 22 confirms that the cleaning is completed. The chassis control module 22 closes the vacuuming assembly 3, and sends the cleaning completion feedback to the control panel through the serial port. After the control panel receives the cleaning completion feedback, it informs the user through the touch screen 211.

Beneficial effects: the cleaning robot of the present utility model can plan a route according to the cleaning area, automatically realize the cleaning of the cleaning area, reduce the workload of manual cleaning, improve the cleaning efficiency, and reduce the cost, and can automatically clean the cleaning area according to the insertion of the manual vacuum cleaner. The automatic mode is switched to the manual mode, and the cleaning of the dead corner can be realized without other cleaning tools, which meets the cleaning requirements.

Based on the same inventive concept, the present invention also proposes a cleaning system. Please refer to FIG. 11 , which is a structural diagram of an embodiment of the cleaning system of the present invention. The cleaning system of the present invention will be described in detail with reference to FIG. 11 .

In this embodiment, the cleaning system includes a charging pile and a cleaning robot, and the charging pile includes a charging control module for charging the cleaning robot; the cleaning robot includes the cleaning robot described in the above embodiments.

The above-mentioned embodiments are only the preferred embodiments of the present invention, and the scope of protection of the present invention cannot be limited by this. Any insubstantial changes and replacements made by those skilled in the art on the basis of the present invention belong to the scope of the present invention. The scope of protection of the present utility model.

Claims (10)

1. A cleaning robot, characterized in that the cleaning robot comprises: the device comprises a dust collection assembly, a control assembly, a navigation assembly, a driving assembly and a machine body;

the driving assembly is connected with the control assembly and drives the cleaning robot to move according to the instruction of the control assembly;

the control assembly comprises an interaction module arranged at the top of the machine body and a chassis control module arranged in the machine body, and the chassis control module receives an input instruction through the interaction module and acquires cleaning area information according to the instruction;

the navigation assembly is arranged in the machine body, receives cleaning area information transmitted by the chassis control module, plans a route according to the information, and sends the route to the chassis control module, and the chassis control module controls the driving assembly to move according to the route and controls the dust collection assembly to clean the cleaning area;

the dust absorption subassembly includes that negative pressure bellows, tee bend interface, automatic dust absorption are taken off, manual dust absorption is taken off and detection switch, negative pressure bellows passes through the tee bend interface with manual dust absorption is taken off, automatic dust absorption is taken off and is connected, detection switch with chassis control module connects, chassis control module passes through detection switch detects manual dust absorption is taken off and is inserted during the tee bend interface, it is right with the realization to switch into manual mode clean the cleaning at the regional interior dead angle.

2. The cleaning robot as claimed in claim 1, wherein the dust suction assembly includes a fan, a filter, and a dust box connected to the negative pressure bellows, the fan being received in the filter, drawing air in the negative pressure bellows by the fan, separating dust from the air by the filter, and collecting the dust in the dust box.

3. The cleaning robot as claimed in claim 2, wherein the dust suction assembly further includes a noise reduction duct disposed at a side of the filter away from the dust box, the fan is disposed inside the noise reduction duct, and an air outlet and an air inlet of the noise reduction duct are spaced apart from each other at a same side of the fan, so as to discharge air drawn by the fan through the noise reduction duct and reduce noise.

4. The cleaning robot as claimed in claim 1, further comprising a power supply module, wherein the power supply module comprises a battery and a charging and discharging module, the battery is accommodated in the cleaning robot, the charging and discharging module is disposed on a side of the battery away from the ground, and charging and discharging of the battery are controlled by the charging and discharging module.

5. The cleaning robot as claimed in claim 4, wherein the power supply module further includes a connection contact disposed at a side of the body, and the chassis control module is connected to a charging pile through the connection contact to perform charging and communication with the charging pile.

6. The cleaning robot of claim 5, wherein the connection contacts include a communication contact and a charging contact, and the chassis control module controls the charging post to charge the battery through the charging contact after confirming a communication connection with the charging post through the communication contact.

7. The cleaning robot of claim 5, further comprising a laser radar, wherein the laser radar and the connection contact are disposed at both sides of the body, and the cleaning robot recognizes the slot position of the charging pile through the laser radar to complete pile alignment.

8. The cleaning robot as claimed in claim 1, wherein the driving assembly includes a motor driver, a motor, and a driving wheel, the driving wheel is disposed on a side of the body near the ground, the chassis control module is connected to the motor through the motor driver, and the motor driver drives the motor according to a command from the chassis control module, thereby controlling the driving wheel to rotate.

9. The cleaning robot as claimed in claim 1, wherein the interactive module is disposed on a side of the body away from the ground, and includes a touch screen and a control board, and the control board receives an input command through the touch screen, parses the command, and sends a content obtained by parsing the command to the chassis control module.

10. A cleaning system is characterized by comprising a charging pile and a cleaning robot, wherein the charging pile comprises a charging control module for charging the cleaning robot;

the cleaning robot comprising a cleaning robot according to any one of claims 1-9.

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