阅读说明：本技术 一种喷擦一体化清洁机器人及其控制方法 (Spraying and wiping integrated cleaning robot and control method thereof ) 是由 齐立哲 于 2021-09-26 设计创作，主要内容包括：本发明公开了一种喷擦一体化清洁机器人及其控制方法,机器人包括：机器人机身、行走装置,机器人机身上设置有控制柜、监控摄像机、双目相机、机械臂、喷洒清洁装置和擦拭清洁装置,喷洒清洁装置包括有喷头组件,擦拭清洁装置包括有擦拭组件,喷头组件和擦拭组件设置在机械臂上,机械臂上设置视觉检测装置；控制柜内设置有供电模块、PC机、PLC控制器、机械臂控制器和无线通信模块,PC机分别与行走装置、监控摄像机、双目相机、视觉检测装置、PLC控制器、机械臂控制器和无线通信模块连接；PLC控制器分别与喷洒清洁装置和擦拭清洁装置电性连接。本发明具有智能化程度高、移动灵活性高、工作范围广的特点,实现了喷洒和擦拭清洁一体化。(The invention discloses a spraying and wiping integrated cleaning robot and a control method thereof, wherein the robot comprises: the robot comprises a robot body and a walking device, wherein a control cabinet, a monitoring camera, a binocular camera, a mechanical arm, a spraying cleaning device and a wiping cleaning device are arranged on the robot body, the spraying cleaning device comprises a spray head component, the wiping cleaning device comprises a wiping component, the spray head component and the wiping component are arranged on the mechanical arm, and a visual detection device is arranged on the mechanical arm; the control cabinet is internally provided with a power supply module, a PC (personal computer), a PLC (programmable logic controller), a mechanical arm controller and a wireless communication module, wherein the PC is respectively connected with the walking device, the monitoring camera, the binocular camera, the vision detection device, the PLC, the mechanical arm controller and the wireless communication module; the PLC controller is respectively electrically connected with the spraying cleaning device and the wiping cleaning device. The invention has the characteristics of high intelligent degree, high moving flexibility and wide working range, and realizes the integration of spraying and wiping cleaning.)

1. A spray-wipe integrated cleaning robot, comprising: the robot comprises a robot body and a walking device arranged at the bottom of the robot body, wherein a control cabinet, a monitoring camera, a binocular camera, a mechanical arm, a spraying cleaning device and a wiping cleaning device are arranged on the robot body;

the control cabinet is internally provided with a power supply module, a PC (personal computer), a PLC (programmable logic controller), a mechanical arm controller and a wireless communication module, wherein the power supply module provides electric energy for the robot; the PLC controller is respectively and electrically connected with the spraying cleaning device and the wiping cleaning device, and the mechanical arm controller is connected with the mechanical arm.

2. The spraying and wiping integrated cleaning robot as claimed in claim 1, wherein the traveling device is an AGV trolley, the AGV trolley comprises an AGV control module, and the AGV control module is electrically connected with the PC.

3. The spray and wipe integrated cleaning robot of claim 1, wherein the visual inspection device is a monocular visual camera or a binocular visual camera.

4. The integrated spraying and wiping cleaning robot as claimed in claim 1, wherein a laser radar is arranged on the walking device, and the laser radar is electrically connected with the PC.

5. The spraying and wiping integrated cleaning robot as claimed in claim 1, wherein the spraying and cleaning device further comprises an air compressor and a main liquid storage tank, the air compressor is communicated with the spray head assembly through an air pipeline, a proportional pressure reducing valve and an electromagnetic valve are arranged on the air pipeline, the main liquid storage tank is communicated with the spray head assembly through an infusion pipeline, an atomizing pump, a first flow control valve and a one-way valve are arranged on the infusion pipeline, and the air compressor, the proportional pressure reducing valve, the electromagnetic valve, the atomizing pump and the first flow control valve are respectively and electrically connected with the PLC.

6. The spraying and wiping integrated cleaning robot as claimed in claim 5, wherein a first weighing sensor is arranged at the bottom of the main liquid storage tank, and the first weighing sensor is electrically connected with the PLC.

7. The spray-wipe integrated cleaning robot according to claim 1, wherein the wiping device comprises a wiping liquid tank, the wiping liquid tank is communicated with the wiping component through a liquid supply pipe, a wiping pump and a second flow control valve are sequentially arranged on the liquid supply pipe, the wiping component comprises a speed reduction motor and a wiping head, the speed reduction motor is in driving connection with the wiping head, the speed reduction motor drives the wiping head to rotate, the wiping head is connected with the second flow control valve, the wiping pump, the second flow control valve and the speed reduction motor are respectively electrically connected with the PLC, a second weighing sensor is arranged at the bottom of the wiping liquid tank, and the second weighing sensor is electrically connected with the PLC.

8. The integrated spraying and wiping cleaning robot as claimed in claim 1, wherein a touch screen is further arranged on the control cabinet, and the touch screen is electrically connected with the PC.

9. A control method of a spraying and wiping integrated cleaning robot is applied to the spraying and wiping integrated cleaning robot as claimed in any one of claims 1 to 8, and is characterized by comprising the following steps:

acquiring an image of an area to be cleaned through a binocular camera, and performing target identification and semantic segmentation on the image of the area to be cleaned by using a neural network algorithm through a PC (personal computer) to obtain the central coordinate position of an object to be cleaned relative to the robot;

the robot carries out autonomous positioning navigation based on the SLAM technology and moves to the position of an object to be cleaned;

the PLC controller controls the spraying cleaning device and the wiping cleaning device to be matched with the mechanical arm to spray or wipe the object to be cleaned.

10. The control method of the spray-wipe integrated cleaning robot according to claim 9, wherein the controller controls the spray cleaning device and the wipe cleaning device to cooperate with the mechanical arm to perform spray cleaning or wipe cleaning on the object to be cleaned, and specifically comprises:

acquiring three-dimensional model information of an object to be cleaned through a visual detection device arranged on a mechanical arm so as to acquire relative position information of the object to be cleaned and the robot;

planning the track of the mechanical arm;

performing spray cleaning or wiping cleaning according to the trajectory plan;

repeating the above processes until the cleaning and disinfection are finished.

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a spraying and wiping integrated cleaning robot and a control method thereof.

Background

The public places are dense and mobile, and provide good media for spreading various pathogenic sources. Especially for medical places such as hospitals, health homes and the like, various infectious disease sources are more concentrated, and huge social hazards are caused if the environment is not thoroughly cleaned and disinfected. At present, the indoor floor cleaning and disinfection are generally finished manually, so that time and labor are wasted, and the cleaning timeliness is difficult to guarantee. Therefore, it is highly desirable to reduce human involvement and enhance the involvement of the intelligent cleaning robot.

The cleaning robot can realize cleaning operation of the cleaning robot through computer programming without manual intervention, and the cleaning robot applies the technologies of computer, sensing, information, communication, navigation, artificial intelligence, automatic control and the like, and is a typical high and new technology complex. However, the existing cleaning robot has low intelligent degree, often needs manual assistance to process when encountering obstacles, and needs manual control to walk, so that the requirement of autonomous cleaning cannot be met. In addition, most cleaning robots have a single function, which results in low cleaning efficiency of the cleaning robot. In addition, most cleaning robots have the problem of single cleaning mode and only have the function of spraying cleaning, so that the cleaning effect is not ideal, and the requirements of harmlessness, residue-free and secondary pollution-free of indoor floor cleaning cannot be met.

Disclosure of Invention

The invention aims to provide a spraying and wiping integrated cleaning robot and a control method thereof, which have the characteristics of high intelligent degree, high movement flexibility and wide working range, and the spraying and wiping positions can be flexibly adjusted by matching a mechanical arm with a spray head component and a wiping component, so that the cleaning accuracy and efficiency are improved, and the spraying and wiping cleaning integration is realized.

In order to achieve the purpose, the invention provides the following scheme:

a spray-wipe integrated cleaning robot comprising: the robot comprises a robot body and a walking device arranged at the bottom of the robot body, wherein a control cabinet, a monitoring camera, a binocular camera, a mechanical arm, a spraying cleaning device and a wiping cleaning device are arranged on the robot body;

the control cabinet is internally provided with a power supply module, a PC (personal computer), a PLC (programmable logic controller), a mechanical arm controller and a wireless communication module, wherein the power supply module provides electric energy for the robot; the PLC controller is respectively and electrically connected with the spraying cleaning device and the wiping cleaning device, and the mechanical arm controller is connected with the mechanical arm.

Optionally, the running gear is an AGV trolley, the AGV trolley comprises an AGV control module, and the AGV control module is electrically connected with the PC.

Optionally, the visual detection device is a monocular visual camera or a binocular visual camera.

Optionally, a laser radar is arranged on the walking device, and the laser radar is electrically connected with the PC.

Optionally, spray cleaning device still includes air compressor machine and main liquid storage pot, the air compressor machine pass through gas transmission pipeline with the shower nozzle subassembly communicates, be provided with proportion relief pressure valve and solenoid valve on the gas transmission pipeline, main liquid storage pot pass through the infusion pipeline with the shower nozzle subassembly is linked together, last spraying pump, first flow control valve and the check valve of being provided with of infusion pipeline, air compressor machine, proportion relief pressure valve, solenoid valve, spraying pump, first flow control valve respectively with PLC controller electric connection.

Optionally, the bottom of the main liquid storage tank is provided with a first weighing sensor, and the first weighing sensor is electrically connected with the PLC controller.

Optionally, clean cleaning device including cleaning the fluid reservoir, clean the fluid reservoir pass through the feed pipe with it is linked together to clean the subassembly, it cleans pump, second flow control valve to have set gradually on the feed pipe, it includes gear motor and cleans the head to clean the subassembly, gear motor with clean first drive connection, gear motor drives it is rotatory to clean the head, clean the head with second flow control valve is connected, clean pump, second flow control valve, gear motor respectively with PLC controller electric connection, the bottom of cleaning the fluid reservoir is provided with the second weighing sensor, the second weighing sensor with PLC controller electric connection.

Optionally, a touch screen is further arranged on the control cabinet, and the touch screen is electrically connected with the PC.

The invention also provides a control method of the spraying and wiping integrated cleaning robot, which is applied to the spraying and wiping integrated cleaning robot and comprises the following steps:

acquiring an image of an area to be cleaned through a binocular camera, and performing target identification and semantic segmentation on the image of the area to be cleaned by using a neural network algorithm through a PC (personal computer) to obtain the central coordinate position of an object to be cleaned relative to the robot;

the robot carries out autonomous positioning navigation based on the SLAM technology and moves to the position of an object to be cleaned;

the PLC controller controls the spraying cleaning device and the wiping cleaning device to be matched with the mechanical arm to spray or wipe the object to be cleaned.

Optionally, the controller controls the spraying cleaning device and the wiping cleaning device to cooperate with the mechanical arm to perform spraying cleaning or wiping cleaning on the object to be cleaned, and the controller specifically includes:

acquiring three-dimensional model information of an object to be cleaned through a visual detection device arranged on a mechanical arm so as to acquire relative position information of the object to be cleaned and the robot;

planning the track of the mechanical arm;

performing spray cleaning or wiping cleaning according to the trajectory plan;

repeating the above processes until the cleaning is completed.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the spraying and wiping integrated cleaning robot and the control method thereof provided by the invention have the comprehensive functions of 'hand-eye-leg-brain', and respectively comprise the following steps: firstly, arranging a mechanical arm on a robot body for carrying a spray head component and a wiping component to realize spraying and wiping cleaning of a specific area; secondly, setting a binocular camera and a visual detection device to identify an area to be cleaned and an object to be cleaned, acquiring coordinate information of the object to be cleaned, driving the robot to move to clean, really achieving accurate cleaning and improving cleaning efficiency; thirdly, the AGV trolley is arranged as a walking device, so that autonomous movement, navigation and path planning can be realized, and the functions of autonomous positioning and map building of the cleaning robot are realized; fourthly, the computer-Personal Computer (PC) can comprehensively control each device and interact with each device to realize intelligent control and comprehensive processing of various information; in addition, set up comprehensively and spray cleaning device and clean cleaning device, realize spouting to wipe the integration clean, realize that the clean mode is diversified, improve clean effect.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a schematic diagram of a self-contained structure of a spraying and wiping integrated cleaning robot according to an embodiment of the present invention;

FIG. 2 is an exploded view of a cleaning robot according to an embodiment of the present invention;

FIG. 3 is a schematic view of a spray cleaning device according to an embodiment of the present invention;

FIG. 4 is a schematic view of a wiping device according to an embodiment of the invention;

FIG. 5 is a block diagram of the control principle of the spray-wipe integrated cleaning robot according to the embodiment of the present invention;

FIG. 6 is a flowchart of a control method of the spray-wipe integrated cleaning robot according to the embodiment of the present invention;

reference numerals: 1. an AGV trolley; 2. a heat radiation fan; 3. an emergency stop button; 4. a binocular camera; 5. a touch screen; 6. a two-fluid assembly cabinet; 7. a surveillance camera; 8. a mechanical arm; 9. a visual inspection device; 10. A showerhead assembly; 11. a wiping component; 12. a PC machine; 13. a control cabinet; 14. a robot arm controller; 15. A USB expansion port; 16. a PLC controller; 17. a demonstrator; 18. a terminal block; 19. an inverter; 20. A battery plate;

3-1, a main liquid storage tank; 3-2, a spray pump; 3-3, a transfusion pipeline; 3-4, a first flow control valve; 3-5, a one-way valve; 3-6, a spray head; 3-7, a gas pipeline; 3-8, electromagnetic valve; 3-9, proportional pressure reducing valve; 3-10, an air compressor; 3-11, a first weighing sensor;

4-1, a wiping head; 4-2, a speed reducing motor; 4-3, a second flow control valve; 4-4, wiping the pump; 4-5, wiping the liquid tank; 4-6 and a second weighing sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide a spraying and wiping integrated cleaning robot and a control method thereof, which have the characteristics of high intelligent degree, high movement flexibility and wide working range, and the spraying and wiping positions can be flexibly adjusted by matching a mechanical arm with a spray head component and a wiping component, so that the cleaning accuracy and efficiency are improved, and the spraying and wiping cleaning integration is realized.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1-2 and 5, a spraying and wiping integrated cleaning robot provided by an embodiment of the present invention includes: the robot comprises a robot body and a walking device arranged at the bottom of the robot body, wherein a control cabinet 13, a monitoring camera 7, a binocular camera 4, a mechanical arm 8, a spraying cleaning device and a wiping cleaning device are arranged on the robot body, the spraying cleaning device comprises a spray head component 10, the wiping cleaning device comprises a wiping component 11, the spray head component 10 and the wiping component 11 are arranged on the mechanical arm 8, and a visual detection device is also arranged on the mechanical arm 8;

a power supply module, a PC (personal computer) 12, a PLC (programmable logic controller) 16, a mechanical arm controller 14 and a wireless communication module are arranged in the control cabinet, the power supply module supplies electric energy to the robot, the PC 12 is respectively connected with the walking device, the monitoring camera 7, the binocular camera 4, the vision detection device 9, the PLC 16, the mechanical arm controller 14 and the wireless communication module, and the PC 12 is in communication connection with the background monitoring server through the wireless communication module; the PLC 16 is respectively electrically connected with the spraying cleaning device and the wiping cleaning device, and the mechanical arm controller 14 is connected with the mechanical arm 8;

wherein, running gear is AGV dolly 1, AGV dolly 1 contains AGV control module, AGV control module with 12 electric connection of PC.

The visual detection device 9 is a monocular visual camera or a binocular visual camera.

And the walking device is provided with a laser radar which is electrically connected with the PC 12.

Wherein, the PC 12 is also connected with a switch, a DC/DC module and an emergency stop button 3; the wireless communication module is composed of a 4G wireless router and the like. The power supply module comprises a battery panel 20, a contactor, a terminal row 18, an inverter 19, a relay board, a charging hole and the like, wherein a breaker, a fuse and the like are connected to the terminal row 18, and the mechanical arm controller 14 can be further connected with a demonstrator 17. The control cabinet 13 is further provided with a cooling fan 2 for cooling the control cabinet 13.

As shown in fig. 3, the spraying cleaning device also comprises an air compressor 3-10 and a main liquid storage tank 3-1, the air compressor 3-10 is communicated with the spray head assembly 10 through an air transmission pipeline 3-7, the spray head assembly 10 comprises spray heads 3-6, proportional pressure reducing valves 3-9 and electromagnetic valves 3-8 are arranged on the gas transmission pipelines 3-7, the main liquid storage tank 3-1 is communicated with the spray head 3-6 through a liquid conveying pipeline 3-3, the infusion pipeline 3-3 is provided with a spray pump 3-2, a first flow control valve 3-4 and a one-way valve 3-5, the air compressor 3-10, the proportional pressure reducing valve 3-9, the electromagnetic valve 3-8, the spray pump 3-2 and the first flow control valve 3-4 are respectively electrically connected with the PLC 16.

The bottom of the main liquid storage tank 3-1 is provided with a first weighing sensor 3-11, and the first weighing sensor 3-11 is electrically connected with the PLC 16.

As shown in fig. 4, the wiping cleaning device includes a wiping liquid tank 4-5, the wiping liquid tank 4-5 is communicated with the wiping component 11 through a liquid supply pipe, a wiping pump 4-4 and a second flow control valve 4-3 are sequentially arranged on the liquid supply pipe, the wiping component 11 includes a speed reduction motor 4-2 and a wiping head 4-1, the speed reduction motor 4-2 is in driving connection with the wiping head 4-1, the speed reduction motor 4-2 drives the wiping head 4-1 to rotate, the wiping head 4-1 is connected with the second flow control valve 4-3, the wiping pump 4-4, the second flow control valve 4-3 and the speed reduction motor 4-2 are respectively electrically connected with the PLC controller 16, a second weighing sensor 4-6 is arranged at the bottom of the wiping liquid tank 4-5, the second weighing sensors 4-6 are electrically connected with the PLC controller 16.

The control cabinet 13 is also provided with a touch screen 5, and the touch screen 5 is electrically connected with the PC 12. The control cabinet 13 is formed by splicing square steel brackets.

The air compressor 3-10, the main liquid storage tank 3-1, the spray pump 3-2, the wiping pump 4-4, the wiping liquid tank 4-5 and the like are arranged in the two-fluid assembly cabinet 6. The two-fluid assembly cabinet 6 is arranged on the control cabinet 13.

As shown in fig. 6, the present invention further provides a control method of a spraying and wiping integrated cleaning robot, which is applied to the spraying and wiping integrated cleaning robot, and includes the following steps:

acquiring an image of an area to be cleaned through a binocular camera, and performing target identification and semantic segmentation on the image of the area to be cleaned by using a neural network algorithm through a PC (personal computer) to obtain the central coordinate position of an object to be cleaned relative to the robot;

the robot carries out autonomous positioning navigation based on the SLAM technology and moves to the position of an object to be cleaned;

the PLC controller controls the spraying cleaning device and the wiping cleaning device to be matched with the mechanical arm to spray or wipe the object to be cleaned.

Wherein, the controller control sprays cleaning device and cleans cleaning device cooperation arm and treats that clean object sprays to clean or clean, specifically includes:

acquiring three-dimensional model information of an object to be cleaned through a visual detection device arranged on a mechanical arm so as to acquire relative position information of the object to be cleaned and the robot;

planning the track of the mechanical arm;

performing spray cleaning or wiping cleaning according to the trajectory plan;

repeating the above processes until the cleaning and disinfection are finished.

The working principle of the spraying and wiping integrated cleaning robot provided by the invention is as follows:

firstly, two modes of spray cleaning and wiping cleaning are supported, the operation can be switched manually and remotely, and the cleaning robot can also be placed in a working environment and switched to an intelligent mode for self-operation through a key;

secondly, in order to more scientifically and normatively adopt different cleaning modes aiming at different grades of different objects and more comprehensively clean the objects by 360 degrees without dead angles, the robot provided by the invention acquires environmental information through sensors such as a monocular camera and a binocular camera, performs target detection and environmental semantic segmentation on the cleaned objects through a trained deep neural network, and identifies and acquires the central coordinate position of the object to be cleaned relative to the robot;

thirdly, after the relative position of the cleaning target object is obtained, the autonomous positioning and mapping functions of the cleaning robot are realized through the SLAM technology of fusing information of various sensors such as vision, laser and the like, the coordinate position of the cleaning target object in a map is calculated, the robot moves towards the direction of the cleaning target object through real-time obstacle avoidance path planning, the perception of the surrounding environment is required to be kept in the autonomous moving process, the real-time map construction and updating are carried out, the self positioning is obtained, and the processes are repeated until the cleaning target object is close to the cleaning target object;

fourthly, after the robot approaches to cleaning nearby automatically, scanning a cleaning target through a binocular vision system on the mechanical arm, acquiring accurate three-dimensional model information of the cleaning object, particularly online characteristic information of the cleaning target, calculating an accurate position relation, fusing a flexible control parameter process of the mechanical arm, automatically generating a track of spraying cleaning and cleaning of the robot, and realizing self-adaptive online planning of the track of the robot, so that the accuracy of the cleaning track is ensured, and finally, the automatic cleaning work is realized.

The spraying and wiping integrated cleaning robot and the control method thereof provided by the invention have the comprehensive functions of 'hand-eye-leg-brain', and respectively comprise the following steps: firstly, arranging a mechanical arm on a robot body for carrying a spray head component and a wiping component to realize spraying and wiping cleaning of a specific area; secondly, setting a binocular camera and a visual detection device to identify an area to be cleaned and an object to be cleaned, acquiring coordinate information of the object to be cleaned, driving the robot to move to clean, really achieving accurate cleaning and improving cleaning efficiency; thirdly, the AGV trolley is arranged as a walking device, so that autonomous movement, navigation and path planning can be realized, and the functions of autonomous positioning and map building of the cleaning robot are realized; fourthly, the computer-Personal Computer (PC) can comprehensively control each device and interact with each device to realize intelligent control and comprehensive processing of various information; in addition, set up comprehensively and spray cleaning device and clean cleaning device, realize spouting to wipe the integration clean, realize that the clean mode is diversified, improve clean effect.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.