阅读说明：本技术 一种自走式家用吸尘器 (Self-propelled household dust collector ) 是由 不公告发明人 于 2020-03-03 设计创作，主要内容包括：本发明公开了一种自走式家用吸尘器,该自走式家用吸尘器包括吸尘柄、吸尘器本体、延伸机构、探测机构、自走机构、控制系统,所述延伸机构设置在吸尘器本体上,延伸机构使吸尘柄向前伸长,所述吸尘器本体上设置有探测机构,吸尘器本体上设置有控制系统,吸尘器本体的下方设置有自走机构,所述自走机构使吸尘器进行移动,所述探测机构对吸尘器本体前方的障碍物进行数据测量,所述控制系统对数据进行处理,本发明科学合理,使用安全方便,探测机构对吸尘器本体前方的障碍物进行数据探测,控制器对数据进行处理,并控制延伸机构使吸尘柄向前伸出,使得吸尘器可以对障碍物的底部进行吸尘打扫。(The invention discloses a self-propelled household dust collector, which comprises a dust collection handle, a dust collector body, an extension mechanism, a detection mechanism, a self-propelled mechanism and a control system, the extension mechanism is arranged on the dust collector body, the extension mechanism enables the dust collection handle to extend forwards, the dust collector body is provided with a detection mechanism, the dust collector body is provided with a control system, a self-walking mechanism is arranged below the dust collector body, the self-walking mechanism enables the dust collector to move, the detection mechanism measures data of an obstacle in front of the dust collector body, the control system processes data, the invention is scientific and reasonable, the use is safe and convenient, the detection mechanism detects the data of the obstacle in front of the dust collector body, the controller processes the data, and the extension mechanism is controlled to lead the dust absorption handle to extend forwards, so that the dust collector can absorb and clean the bottom of the obstacle.)

1. The utility model provides a self-propelled domestic dust catcher, this self-propelled domestic dust catcher includes dust absorption handle (1), dust catcher body (2), extension mechanism (3), detection mechanism (4), self-propelled mechanism (5), control system, its characterized in that: the dust collector comprises a dust collector body (2), an extending mechanism (3), a dust collection handle (1), a detection mechanism (4), a control system, a self-walking mechanism (5), a detection mechanism (4), a control system and a control system, wherein the extending mechanism (3) is arranged on the dust collector body (2), the self-walking mechanism (5) is arranged below the dust collector body (2), the dust collector moves through the self-walking mechanism (5), the detection mechanism (4) performs data measurement on an obstacle in front of the dust collector body (2), and the control system processes data;

the dust collector is characterized in that a control panel (2-1) and a support shell (2-2) are sequentially arranged in the dust collector body (2) from top to bottom, a detection mechanism (4) and a control system are arranged on the control panel (2-1) from left to right, a self-walking mechanism (5) is arranged below the support shell (2-2), an extension mechanism (3) is arranged between the control panel (2-1) and the support shell (2-2), the control system is electrically connected with the extension mechanism (3), controls the extension mechanism (3), enables a dust collection handle (1) to extend forwards through the extension mechanism (3), is electrically connected with the detection mechanism (4), detects data of obstacles encountered in the forward movement of the dust collector through the detection mechanism (4), and processes the data through the control system, the self-propelled mechanism (5) is arranged below the dust collector body (2), the self-propelled mechanism (5) is electrically connected with a control system, and the control system controls the action track of the self-propelled mechanism (5);

the detection mechanism (4) comprises a vertical plate (4-1), a rotating ball (4-2) arranged on the vertical plate (4-1) and a detector (4-3), the vertical plate (4-1) is arranged on the control panel (2-1), the vertical plate (4-1) is provided with a rotating ball (4-2), the detector (4-3) penetrates through the rotating ball (4-2), one end of the detector (4-3) is arranged on the inner wall of the dust collector body (2), the other end of the detector (4-3) is provided with an adjusting device, the adjusting device enables one end of the detector (4-3) to swing up and down in a controllable manner, and the detector (4-3) detects the distance between the obstacle and the dust collector and the distance between the edge of the lower end of the obstacle and the ground;

the detectionThe mechanism (4) detects data of the obstacle through the detector (4-3), then the detection mechanism (4) uploads the detected data to the control system, the detector (4-3) detects the distance of the obstacle in the advancing direction, the distance from the detector (4-3) to the detection point 1 is set to be L, then the detector (4-3) detects the distance of the lower end edge of the obstacle under the control of the adjusting device, and the distance from the detector (4-3) to the detection point 2 is set to be L₁Let the rotation angle of the detector (4-3) in the vertical direction be a, and assume that the height of the detector (4-3) is L₂Through a rotation angle a, distances L and L₁The control system calculates the distance L between the detection point 1 and the detection point 2 according to the sine formula of the trigonometric function₃；

The control system passes through the self height L of the detector (4-3)₂And a distance L₃Calculating the distance L between the lower edge of the obstacle and the ground₄Then the control system will control the system according to the preset data (i.e. distance L and distance L)₄And the extension mechanism (3) enables the dust absorption handle (1) to be completely extended out, the safe distance between the dust absorption handle and the obstacle) to judge whether the dust absorption handle (1) needs to move backwards or not, then the control system controls the extension mechanism (3) to enable the dust absorption handle (1) to be extended out forwards, the height of the position where the upper end of the dust absorption handle (1) starts to be Y is set, and the height of the position where the upper end of the dust absorption handle (1) is completely extended out is set as Y₁The distance after the lower end of the dust collection handle (1) is completely extended is X, and finally the control system controls the dust collection handle to be in accordance with L₄And Y₁The advancing distance of the self-propelled mechanism (5) can be calculated;

the control system will control the height Y₁The distance X and the length of the dust collection handle (1) are combined to form a triangle, a control system extends a straight line T from a horizontal plane where the edge of the lower end of the barrier is located, and the straight line T and the height Y are connected again₁And the length of the dust collection handle (1) are combined to form a new small triangle, and the length Y of one right-angle side of the small triangle₂=Y₁-L₄The length of the other right-angle side of the small triangle is set as X₁The control system passes through Y₂/Y₁=X₁X can be calculated₁Length of (2), then X and X₁The distance X of the self-propelled mechanism (5) can be obtained by subtracting₂=X-X₁The dust collector can safely suck and clean the bottom of the barrier without colliding with the barrier, wherein the intersection point formed by the straight line T and the dust collection handle (1) is the collision point of the dust collection handle (1) and the lower end of the barrier.

Technical Field

The invention relates to the technical field, in particular to a self-propelled household dust collector.

Background

A vacuum cleaner is a cleaning device that uses air to create a partial vacuum to draw dust, dirt, or other debris from a surface. The vacuum cleaner typically draws a combination of air and dust, dirt or other debris into the vacuum cleaner through a floor nozzle. Such "dirty air" typically enters a dust separator in a vacuum that separates the dust, dirt or debris from the air, a dust bin or bag collects the dust, dirt or debris separated from the air for later disposal, and the resulting "clean air" exits the dust separator for discharge from the vacuum cleaner.

Therefore, there is a need for a self-propelled household cleaner to solve the above problems.

Disclosure of Invention

The invention aims to provide a self-propelled household dust collector to solve the problems in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a self-propelled domestic dust catcher, this self-propelled domestic dust catcher includes dust absorption handle, dust catcher body, extends mechanism, detection mechanism, self-propelled mechanism, control system, its characterized in that: the dust collector comprises a dust collector body, an extending mechanism, a detection mechanism, a control system and a self-walking mechanism, wherein the extending mechanism is arranged on the dust collector body, the extending mechanism enables a dust collecting handle to extend forwards, the detection mechanism is arranged on the dust collector body, the control system is arranged on the dust collector body, the self-walking mechanism is arranged below the dust collector body and enables the dust collector to move, the detection mechanism carries out data measurement on an obstacle in front of the dust collector body, and the control system processes data. The detection mechanism carries out data detection on the obstacle in front of the dust collector body, the controller processes the data and controls the extension mechanism to enable the dust collection handle to extend forwards, so that the dust collector can collect and clean the bottom of the obstacle.

As a preferred technical proposal, the interior of the dust collector body is sequentially provided with a control panel and a supporting shell from top to bottom, a detection mechanism and a control system are arranged on the control panel from left to right, a self-propelled mechanism is arranged below the supporting shell, the extension mechanism is arranged between the control panel and the support shell, the control system is electrically connected with the extension mechanism, the control system controls the extension mechanism, the control system enables the dust absorption handle to extend forwards through the extension mechanism, the control system is electrically connected with the detection mechanism, the detection mechanism detects data of obstacles encountered by the cleaner in the forward movement, the control system processes the data, and the self-propelled mechanism is arranged below the dust collector body and is electrically connected with a control system, and the control system controls the action track of the self-propelled mechanism. The control panel provides the support to installation such as control system, detection mechanism, vacuum pump, the support shell provides the space for the dust collection box and supports, detection mechanism surveys the barrier in the place ahead, control system handles detection data, and control self-propelled mechanism's action route, self-propelled mechanism takes the dust catcher to walk under control system's control, extension mechanism makes the dust absorption handle fix on certain spatial position, and make the dust absorption handle can stretch out forward under extension mechanism's control, the front end of dust absorption handle is installed the dust absorption head, internally mounted has into the dirt pipe.

As a preferred technical scheme, the extension mechanism comprises a rotating shell arranged at the lower end of the dust collection handle and a linkage plate arranged at the upper end of the dust collection handle, wherein a telescopic rod is arranged on the rotating shell, the other end of the telescopic rod is arranged on the outer wall of the dust collector body, one end of the linkage plate is arranged on the dust collection handle, the other end of the linkage plate is arranged on a lifting device, the lifting device is arranged between the control plate and the support shell, the lifting device enables the linkage plate to ascend or descend, and the lifting device enables the dust collection handle to extend forwards or move backwards through the linkage plate. The lower extreme of rotation shell to the dust absorption handle rotates the support, the telescopic link provides the extension support to rotating shell and dust absorption handle, the connecting plate rotates with the upper end of dust absorption handle to be connected, the other end and the elevating gear fixed connection of interlock board, the interlock board carries out the removal from top to bottom under elevating gear's drive, the upper end of dust absorption handle moves down under the drive of interlock board, the telescopic link drives simultaneously and rotates the shell and stretch out forward, thereby make the dust absorption handle upper end downward, the lower extreme is forward, whole dust absorption handle stretches out forward, elevating gear makes the interlock board reciprocate on the dust catcher body.

As preferred technical scheme, detection mechanism includes the riser, sets up rolling ball and the detector on the riser, the riser sets up on the control panel, is provided with the rolling ball on the riser, the detector runs through the rolling ball, and the one end setting of detector is on the inner wall of dust catcher body, and the other end of detector is provided with adjusting device, adjusting device makes the one end of detector carry out controllable luffing motion, the detector is surveyed the distance between the barrier distance dust catcher and the distance on barrier lower extreme edge distance ground. The riser provides the support to the installation of rolling ball and the space support of detector, and the rolling ball can rotate on the riser, and the detector is installed on the rolling ball and carries out data detection to the barrier of dust catcher body front end, and adjusting device adjusts the upper and lower turned angle of detector, makes the detector can carry out data collection to the barrier of co-altitude.

As a preferred technical scheme, a dust collection box is arranged at the middle position of a supporting shell, an in-place device is arranged below the dust collection box and enables the dust collection box to ascend or descend, the supporting shell supports the dust collection box after the dust collection box is in place, a compression shaft is arranged in the dust collection box, a fixed plate is arranged on the inner wall of the dust collection box, a compression plate matched with the fixed plate is arranged on the compression shaft, the fixed plate and the compression plate are matched with each other to compress dust and garbage in the dust collection box, a dust inlet is arranged at the upper end of the dust collection box, the dust collection box is in interference connection with a dust collection handle through the dust inlet, a vacuum pump is arranged on a control panel, an air suction opening is arranged at the upper end of the dust collection box, the dust collection box is in interference connection with the vacuum pump through the air suction opening, and a rotating motor is arranged at the position corresponding to the compression shaft on the control panel, the compression shaft is connected with a rotating motor shaft. The dust collection box is used for storing dust and sundries sucked by the dust collector, the in-place device is used for limiting the position of the dust collection box and enabling the dust collection box to move up and down, the dust collection box is enabled to reach a working position, the compression shaft is connected with the rotating motor shaft and obtains rotating power from the rotating motor and drives the compression plate to rotate in the dust collection box, the compression plate is arranged on the compression shaft and scrapes the dust and the sundries entering the dust collection box and is matched with the fixed plate to compress the dust and the sundries, the dust and the sundries are prevented from floating in the dust collection box, meanwhile, the dust and the sundries in the dust collection box are conveniently cleaned, a dust inlet pipe is arranged in the dust collection handle, one end of the dust inlet pipe penetrates through the upper wall of the dust collector body and is fixed on the control panel, the dust inlet pipe is in interference fit connection with the dust collection box through the dust inlet, a vent pipe is fixed on the air inlet of the vacuum pump, one end of the air inlet penetrates through the control panel and is fixed on the control panel, and a filter screen is fixed at one end of a ventilation pipe of the air inlet, the ventilation pipe is in interference fit connection with the dust collection box through an air suction opening, and the vacuum pump enables air in the dust collection box to flow through the ventilation pipe, so that the dust collector can absorb dust and sundries.

As a preferred technical solution, the detection mechanism detects data of an obstacle through the detector, then the detection mechanism uploads the detected data to the control system, the detector performs distance detection on the obstacle in the forward direction, the distance from the detector to the detection point 1 is set to be L, then the detector performs distance detection on the lower edge of the obstacle under the control of the adjusting device, and the distance from the detector to the detection point 2 is set to be L₁Let the rotation angle of the detector in the vertical direction be a, and assume the height of the detector itself to be L₂Through a rotation angle a, distances L and L₁The control system calculates the distance L between the detection point 1 and the detection point 2 according to the sine formula of the trigonometric function₃。

Preferably, the control system passes through the self height L of the detector₂And a distance L₃Calculating the distance L between the lower edge of the obstacle and the ground₄Then the control system will control the system according to the preset data (i.e. distance L and distance L)₄And the safety distance between the extension mechanism and the obstacle when the dust collection handle is completely extended out) and then the control system controls the extension mechanism to enable the dust collection handle to be extended out forwards, the height of the upper end of the dust collection handle is set to be Y, and the height of the upper end of the dust collection handle after being completely extended out is set to be Y₁The distance after the lower end of the dust absorption handle is completely extended is X, and finally the control system controls the dust absorption handle to be L₄And Y₁The advancing distance of the self-propelled mechanism can be calculated.

Preferably, the control system adjusts the height Y₁The distance X and the length of the dust absorption handle are combined to form a triangle, and the control system is used for controlling the position of the lower end edge of the barrierThe horizontal plane extends a straight line T which is again aligned with the height Y₁And the length of the dust collection handle are combined to form a new small triangle, and the length Y of one right-angle side of the small triangle₂=Y₁-L₄The length of the other right-angle side of the small triangle is set as X₁The control system passes through Y₂/Y₁=X₁X can be calculated₁Length of (2), then X and X₁The distance X of the self-propelled mechanism can be obtained by subtracting₂=X-X₁The dust collector can safely collect and clean the bottom of the barrier without colliding with the barrier, wherein the intersection point formed by the straight line T and the dust collection handle is the collision point of the dust collection handle and the lower end of the barrier.

Compared with the prior art, the invention has the beneficial effects that:

1. the detection mechanism carries out data detection on the obstacle in front of the dust collector body, the controller processes the data and controls the extension mechanism to enable the dust collection handle to extend forwards, so that the dust collector can collect and clean the bottom of the obstacle.

2. The riser provides the support to the installation of rolling ball and the space support of detector, and the rolling ball can rotate on the riser, and the detector is installed on the rolling ball and carries out data detection to the barrier of dust catcher body front end, and adjusting device adjusts the upper and lower turned angle of detector, makes the detector can carry out data collection to the barrier of co-altitude.

3. Be provided with compression board and fixed plate in the dust collection box, the compression board is scraped and is got dust, debris etc. that get into in the dust collection box and cooperate in the fixed plate and compress dust, debris etc. prevent that dust, debris etc. from waving in the dust collection box, also conveniently clears up dust, debris etc. in the dust collection box simultaneously.

4. The control system will control the height Y₁The distance X and the length of the dust collection handle are combined to form a triangle, the control system extends a straight line T from the horizontal plane where the edge of the lower end of the barrier is located, and the straight line T and the height Y are combined again₁And the length of the dust-collecting handle are combined to form a new small triangleLength Y of one of the right-angled sides of the small triangle₂=Y₁-L₄The length of the other right-angle side of the small triangle is set as X₁The control system passes through Y₂/Y₁=X₁X can be calculated₁Length of (2), then X and X₁The distance X of the self-propelled mechanism can be obtained by subtracting₂=X-X₁The dust collector can safely collect and clean the bottom of the obstacle without colliding with the obstacle.

Drawings

FIG. 1 is a schematic view of the overall structure of the self-propelled household vacuum cleaner of the present invention;

FIG. 2 is a half sectional view showing the overall structure of the self-propelled household vacuum cleaner of the present invention;

FIG. 3 is a schematic view of the internal structure of the dust box of the self-propelled household vacuum cleaner of the present invention;

FIG. 4 is a schematic view of the self-propelled mechanism of the self-propelled household vacuum cleaner of the present invention;

FIG. 5 is a schematic structural view of the obstacle data detection mechanism of the self-propelled household vacuum cleaner of the present invention;

fig. 6 is a schematic view showing data analysis of the cleaner advance distance of the autonomous home cleaner according to the present invention.

The reference numbers are as follows: 1. a dust collection handle; 2. a cleaner body; 3. an extension mechanism; 4. a detection mechanism; 5. a self-propelled mechanism; 2-1, a control panel; 2-2, a support shell; 2-3, a dust collection box; 2-4, compressing the shaft; 2-5, fixing plates; 2-6, compressing the plate; 2-7, rotating the motor; 2-8, vacuum pump; 3-1, rotating the shell; 3-2, a linkage plate; 3-3, a telescopic rod; 4-1, a vertical plate; 4-2, rotating the ball; 4-3, and a detector.

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.

Example (b): as shown in fig. 1 to 6, the self-propelled household vacuum cleaner includes a vacuum cleaner handle 1, a vacuum cleaner body 2, an extension mechanism 3, a detection mechanism 4, a self-propelled mechanism 5, and a control system, wherein the extension mechanism 3 is mounted on the vacuum cleaner body 2, the extension mechanism 3 extends the vacuum cleaner handle 1 forward, the detection mechanism 4 is fixed on the vacuum cleaner body 2, the control system is mounted on the vacuum cleaner body 2, the self-propelled mechanism 5 is fixed below the vacuum cleaner body 2, the self-propelled mechanism 5 moves the vacuum cleaner, the detection mechanism 4 measures data of an obstacle in front of the vacuum cleaner body 2, and the control system processes the data.

The lower end of the dust collection handle 1 is rotatably provided with a dust collection head, a dust collection opening is arranged below the dust collection head, the dust collection head always enables the dust collection opening to face downwards when the dust collection handle 1 extends forwards or moves backwards, and a dust inlet pipe is arranged in the dust collection handle 1 and is a telescopic pipeline.

The telescopic rod 3-3, the electric control telescopic cylinder and the electric telescopic cylinder are all electric telescopic bars, wherein the model of the in-place electric cylinder is SDG125-013, the model of the telescopic rod 3-3, the model of the electric control telescopic cylinder and the model of the electric telescopic cylinder are SDG40-001, the model of the vacuum pump 2-8 is 2X-30A, the model of the lifting motor, the model of the rotating motor 2-7 and the model of the walking motor are JSF 42-3-30-AS-1000, and the model of the detector 4-3 is a diffuse reflection infrared sensor, and the model is KJT-FJ 18.

The vacuum cleaner body 2 is internally provided with a control panel 2-1 and a supporting shell 2-2 in sequence from top to bottom, a detection mechanism 4 and a control system are sequentially fixed on the control panel 2-1 from left to right, a power module is also fixed on the control panel 2-1 through screws, the power module is a control system, the detection mechanism 4, an extension mechanism 3, a self-walking mechanism 5, a vacuum pump 2-8, a rotating motor 2-7, an in-place electric cylinder and an electric telescopic cylinder provide power, the control system is a set of intelligent control system consisting of a single chip microcomputer, the self-walking mechanism 5 is fixed below the supporting shell 2-2 through screws, the extension mechanism 3 is fixed between the control panel 2-1 and the supporting shell 2-2, the control system is electrically connected with the extension mechanism 3 through cables, and the control system controls the extension mechanism 3, control system makes dust absorption handle 1 stretch out forward through extending mechanism 3, control system and detection mechanism 4 carry out electric connection through the cable, detection mechanism 4 carries out data detection to the barrier that meets in the dust catcher moves ahead, control system handles data, and the distance that stretches out forward promptly descends dust absorption handle 1 through data realization, self-propelled mechanism 5 is located the below of dust catcher body 2, self-propelled mechanism 5 carries out electric connection through the cable with control system, control system control self-propelled mechanism 5's action orbit.

The extension mechanism 3 comprises a rotating shell 3-1 sleeved at the lower end of the dust absorption handle 1, a linkage plate 3-2 rotatably arranged at the upper end of the dust absorption handle 1, one end of a telescopic rod 3-3 is rotatably connected to the rotating shell 3-1, supporting columns are welded at two sides of the rotating shell 3-1, a round hole is arranged on the telescopic rod 3-3, the telescopic rod 3-3 is rotatably connected with the rotating shell 3-1 through the round hole and the supporting column, the other end of the telescopic rod 3-3 is fixed on the outer wall of the dust absorption body 2 through screws, one end of the linkage plate 3-2 is rotatably installed on the dust absorption handle 1, the supporting columns are welded at two sides of the upper end of the dust absorption handle 1, a round hole is processed on the linkage plate 3-2, the linkage plate 3-2 is rotatably connected with the dust absorption handle 1 through the round hole, the supporting columns and a clamping ring, and the other end of the linkage plate 3-2 is fixed on the lifting device through screws, the lifting device is fixed between the control plate 2-1 and the supporting shell 2-2 through screws, the lifting device enables the linkage plate 3-2 to ascend or descend, and the lifting device enables the dust collection handle 1 to extend forwards or move backwards through the linkage plate 3-2.

The lifting device comprises a lifting shell, a lifting motor, a rotating gear, gear belts, transmission gear chains and lifting shafts, wherein the outer wall of the lifting shell is fixedly provided with the lifting motor through screws, the upper end and the lower end of one side of the lifting motor of the lifting shell are provided with rotating shafts, the two groups of rotating shafts are respectively fixedly provided with the rotating wheels through screws, the transmission gear chains are arranged on the rotating wheels, the lifting motor is connected with the rotating shaft at the upper end through a shaft coupling, one side of the lifting shell, far away from the lifting motor, is fixedly provided with the gear belts through screws, the rotating gear is arranged between the gear belts and the transmission gear chains, the rotating gear respectively performs gear transmission with the gear belts and the transmission gear chains, when the lifting motor does not rotate, the rotating gear does not move up and down, the central position of the rotating gear is provided with a bearing, the lifting shafts are fixedly arranged in the bearing, and the rotating gear drives the lifting shafts to move together when moving up and down, one end of the lifting shaft is fixed with one end of the linkage plate 3-2 through screws, and the lifting shell is provided with a sliding groove which vertically moves at the position of the linkage plate 3-2.

When the lifting motor rotates, the transmission gear chain starts to rotate, the rotating gear is driven by the transmission gear chain to move downwards, the linkage plate 3-2 moves downwards at the same time, the upper end of the dust collection handle 1 moves downwards under the drive of the linkage plate 3-2, and meanwhile, the telescopic rod 3-3 drives the rotating shell 3-1 to extend forwards, so that the upper end and the lower end of the dust collection handle 1 move forwards, and the whole dust collection handle 1 extends forwards.

The detection mechanism 4 comprises a vertical plate 4-1, a rotary ball 4-2 and a detector 4-3, wherein the rotary ball 4-2 and the detector are rotatably installed on the vertical plate 4-1, the upper end of the vertical plate 4-1 is welded on the inner wall of the dust collector body 2, the lower end of the vertical plate 4-1 is welded on the control panel 2-1, the rotary ball 4-2 is installed in the middle of the vertical plate 4-1, the detector 4-3 penetrates through the rotary ball 4-2, one end of the detector 4-3 is located on the inner wall of the dust collector body 2, an adjusting device is fixed at the other end of the detector 4-3, one end of the detector 4-3 swings in a controllable vertical angle, and the detector 4-3 detects the distance between an obstacle and the dust collector and the distance between the edge of the lower end of the obstacle and the ground.

The adjusting device comprises an electric control telescopic cylinder fixed on the control panel 2-1 through screws and a casing which is rotatably connected with a telescopic rod of the electric control telescopic cylinder, the casing is sleeved at the tail end of the detector 4-3, the inner wall of the casing is provided with threads, the tail end of the detector 4-3 is provided with threads, the casing and the detector 4-3 are fixed through threads, the outer wall of the casing is welded with a supporting column, a round hole is formed in the telescopic rod of the electric control telescopic cylinder, the supporting column is installed in the round hole and is fixed in position through a clamping ring, and when the telescopic rod extends out or retracts, the electric control telescopic cylinder drives one end of the detector 4-3 to swing up and down through the casing, so that the up-and-down angle adjustment of the other end is achieved.

The supporting shell 2-2 is provided with four groups, the four groups of supporting shells 2-2 are mutually matched to form a supporting platform for supporting the dust collecting box 2-3, the dust collecting box 2-3 is arranged in the middle of the supporting platform, an in-place device is arranged below the dust collecting box 2-3 and enables the dust collecting box 2-3 to ascend or descend, the supporting shell 2-2 supports the dust collecting box 2-3 in place, a supporting block and a supporting plate are arranged in the supporting shell 2-2, the supporting plate is vertically fixed in the supporting shell 2-2, a telescopic groove is processed at one side of the supporting shell 2-2 close to the dust collecting box 2-3, the supporting block is positioned in the telescopic groove, one end of the supporting block, which is contacted with the dust collecting box 2-3, is fan-shaped, a telescopic column is welded at the other end of the supporting block, penetrates through the supporting plate, and a nut is fixed on the telescopic column, the telescopic column is provided with a spring, the spring is positioned between the supporting plate and the supporting block, the telescopic rod is stretched left and right through the spring and limited in stretching range through the nut, and when the dust collection box 2-3 is lifted under the action of the in-place device, the supporting assistance of the supporting shell 2-2 is obtained through the supporting block, so that the load pressure of the in-place device is reduced.

The in-place device comprises an in-place plate, a bearing shell arranged below the in-place plate and an in-place electric cylinder fixedly connected with the bearing shell, the in-place electric cylinder is fixed on the inner wall of the dust collector body 2 through screws, an expansion rod of the in-place electric cylinder is fixed with the lower end of the bearing shell, the central position of the bearing shell is a solid body, the periphery of the bearing shell is a hollow structure, a resisting block is arranged at the position of the bearing shell corresponding to a supporting block, the supporting block retracts into the supporting shell when the resisting block extends out, an electric telescopic cylinder is fixed at one end of the resisting block positioned in the bearing shell, the resisting block resists the supporting block under the electric action of the electric telescopic cylinder, the in-place plate is fixed above the bearing shell through screws, a positioning block is fixed on the in-place plate, the positioning block positions the dust collection box 2-3 on the in-place plate, after the in-place plate is in place, the upper end surface of the in-place plate is level with the upper end surface of the supporting shell 2-2, when the arrival plate is not in the arrival position, the upper end surface is lower than the upper end surface of the supporting shell 2-2.

The dust collection box 2-3 comprises a dust collection box cover arranged on the dust collection box 2-3, the dust collection box 2-3 and the dust collection box cover are matched with each other to form a whole, the dust collection box cover can be detached, a compression shaft 2-4 is arranged at the center position in the dust collection box 2-3, a fixing plate 2-5 is vertically welded on the inner wall of the dust collection box 2-3, a compression plate 2-6 matched with the fixing plate 2-5 is welded on the compression shaft 2-4, the fixing plate 2-5 and the compression plate 2-6 are matched with each other to compress dust and garbage in the dust collection box 2-3, the dust collection box cover is arranged to be an inwards concave groove structure at the position of the compression shaft 2-6, the upper end of the compression shaft 2-4 penetrates through a groove of the dust collection box cover, and a coupler is fixed at one end of the compression shaft 2-3 in the groove through a screw, the compression shaft 2-4 is fixed on the dust collection box cover, the lower end of the compression shaft 2-4 is arranged on the dust collection box 2-3, the upper end of the dust collection box cover is provided with a dust inlet, the dust collection handle 1 is internally provided with a dust inlet pipe, one end of the dust inlet pipe penetrates through the upper wall of the dust collector body 2 and is fixed on the control panel 2-1, the dust inlet pipe is in interference connection with the dust collection box 2-3 through the dust inlet, the upper end surface of the control panel 2-1 is fixed with a vacuum pump 2-8 through screws, the upper end of the dust collection box cover is provided with an air suction opening, the air inlet and outlet of the vacuum pump 2-8 are all fixed with vent pipes, the vent at one end of the air inlet penetrates through the control panel 2-1 and is fixed on the control panel 2-1, one end of the vent pipe of the air inlet is fixed with a filter screen, the filter screen filters dust in the dust collection box 2-3, and is in interference connection with the dust collection box 2-3 through the air suction opening, the vacuum pump 2-8 makes the air in the dust collection box 2-3 flow through the vent pipe, so that the dust collector can absorb dust and sundries, the control panel 2-1 is fixed with a rotating motor 2-7 at the corresponding position of the compression shaft 2-4 through screws, the motor shaft of the rotating motor 2-7 passes through the control panel 2-1, and is fixed with a coupler through screws, the coupler on the motor shaft is matched with the coupler on the compression shaft 2-4 for shaft connection, when the dust collection box 2-3 is lifted to the working position under the support of the in-place device, the rotating motor 2-7 is connected with the compression shaft 2-4 for shaft connection, the dust collection box 2-3 is connected with the dust collection handle 1 in an interference manner, the dust collection box 2-3 is connected with the vacuum pump 2-8 in an interference manner, when the in-place device drives the dust collection box 2-3 to descend, the dust collection box 2-3 is separated from the dust collection handle 1, the vacuum pump 2-8 and the rotating motor 2-7 respectively.

The self-walking mechanism 5 comprises a walking shell, wheels, a supporting shaft, gears and a walking motor, wherein the supporting shaft is arranged in the walking shell through a supporting frame, the wheels and the gears are arranged on the supporting shaft, wheel grooves are formed in the positions of the wheels of the walking shell, the wheels are in contact with the ground through the wheel grooves, the gears are arranged on the walking motor, the gears on the walking motor and the gears on the supporting shaft are in gear transmission, the wheels are driven by the walking motor to walk, the walking motor is electrically connected with a control system through cables, and the control system controls the running of the walking motor, so that the forward and backward movement and the left and right rotation of the self-walking mechanism 5 are realized.

The detection mechanism 4 detects data of the obstacle through the detector 4-3, then the detection mechanism 4 uploads the detected data to the control system, the detector 4-3 detects the distance of the obstacle in the advancing direction, the distance from the detector 4-3 to the detection point 1 is set to be L, then the detector 4-3 detects the distance of the lower end edge of the obstacle under the control of the adjusting device, and the distance from the detector 4-3 to the detection point 2 is set to be L₁Let the rotation angle of the detector 4-3 in the vertical direction be a, and assume that the height of the detector 4-3 itself is L₂Through a rotation angle a, distances L and L₁The control system calculates the distance L between the detection point 1 and the detection point 2 according to the sine formula of the trigonometric function₃。

The control system passes through the self height L of the detector 4-3₂And a distance L₃Calculating the distance L between the lower edge of the obstacle and the ground₄Then the control system will control the system according to the preset data (i.e. distance L and distance L)₄And the extension mechanism 3 makes the dust absorption handle 1 fully extend out of the safe distance with the barrier) to judge whether the dust absorption handle 1 needs to move backwards or not, then the control system controls the extension mechanism 3 to make the dust absorption handle 1 extend forwards, the height of the upper end of the dust absorption handle 1 is Y, and the height of the upper end of the dust absorption handle 1 fully extending out of the dust absorption handle is Y₁The distance after the lower end of the dust absorption handle 1 is completely extended is X, and finally the control system controls the dust absorption handle to extend according to L₄And Y₁The forward distance of the self-propelled mechanism 5 can be calculated.

The control system will control the height Y₁The distance X and the length of the dust collection handle 1 are combined to form a triangle, the control system extends a straight line T from the horizontal plane where the edge of the lower end of the barrier is located, and the straight line T is connected with the height Y again₁And the length of the dust collection handle 1 are combined to form a new small triangle, and the length Y of one right-angle side of the small triangle₂=Y₁-L₄The length of the other right-angle side of the small triangle is set as X₁Control systemAll pass through Y₂/Y₁=X₁X can be calculated₁Length of (2), then X and X₁The distance X of the self-propelled mechanism 5 can be obtained by subtracting₂=X-X₁The dust collector can safely clean the bottom of the barrier without colliding with the barrier, wherein the intersection point formed by the straight line T and the dust collection handle 1 is the collision point of the dust collection handle) and the lower end of the barrier.

The working principle of the invention is as follows:

control system and extension mechanism 3 carry out electric connection through the cable, control system controls extension mechanism 3, control system makes dust absorption handle 1 stretch out forward through extension mechanism 3, control system and detection mechanism 4 carry out electric connection through the cable, detection mechanism 4 carries out data detection to the barrier that meets in the dust catcher moves ahead, control system handles data, and realize the distance that stretches out forward promptly to dust absorption handle 1 decline through data, self-propelled mechanism 5 is located the below of dust catcher body 2, self-propelled mechanism 5 carries out electric connection through the cable with control system, control system control is from the action orbit of walking mechanism 5.

The extension mechanism 3 comprises a rotating shell 3-1 sleeved at the lower end of the dust absorption handle 1, a linkage plate 3-2 rotatably arranged at the upper end of the dust absorption handle 1, one end of a telescopic rod 3-3 is rotatably connected to the rotating shell 3-1, supporting columns are welded at two sides of the rotating shell 3-1, a round hole is arranged on the telescopic rod 3-3, the telescopic rod 3-3 is rotatably connected with the rotating shell 3-1 through the round hole and the supporting column, the other end of the telescopic rod 3-3 is fixed on the outer wall of the dust absorption body 2 through screws, one end of the linkage plate 3-2 is rotatably installed on the dust absorption handle 1, the supporting columns are welded at two sides of the upper end of the dust absorption handle 1, a round hole is processed on the linkage plate 3-2, the linkage plate 3-2 is rotatably connected with the dust absorption handle 1 through the round hole, the supporting columns and a clamping ring, and the other end of the linkage plate 3-2 is fixed on the lifting device through screws, the lifting device is fixed between the control plate 2-1 and the supporting shell 2-2 through screws, the lifting device enables the linkage plate 3-2 to ascend or descend, and the lifting device enables the dust collection handle 1 to extend forwards or move backwards through the linkage plate 3-2.

The lifting device comprises a lifting shell, a lifting motor, a rotating gear, gear belts, transmission gear chains and lifting shafts, wherein the outer wall of the lifting shell is fixedly provided with the lifting motor through screws, the upper end and the lower end of one side of the lifting motor of the lifting shell are provided with rotating shafts, the two groups of rotating shafts are respectively fixedly provided with the rotating wheels through screws, the transmission gear chains are arranged on the rotating wheels, the lifting motor is connected with the rotating shaft at the upper end through a shaft coupling, one side of the lifting shell, far away from the lifting motor, is fixedly provided with the gear belts through screws, the rotating gear is arranged between the gear belts and the transmission gear chains, the rotating gear respectively performs gear transmission with the gear belts and the transmission gear chains, when the lifting motor does not rotate, the rotating gear does not move up and down, the central position of the rotating gear is provided with a bearing, the lifting shafts are fixedly arranged in the bearing, and the rotating gear drives the lifting shafts to move together when moving up and down, one end of the lifting shaft is fixed with one end of the linkage plate 3-2 through screws, and the lifting shell is provided with a sliding groove which vertically moves at the position of the linkage plate 3-2.

When the lifting motor rotates, the transmission gear chain starts to rotate, the rotating gear is driven by the transmission gear chain to move downwards, the linkage plate 3-2 moves downwards at the same time, the upper end of the dust collection handle 1 moves downwards under the drive of the linkage plate 3-2, and meanwhile, the telescopic rod 3-3 drives the rotating shell 3-1 to extend forwards, so that the upper end and the lower end of the dust collection handle 1 move forwards, and the whole dust collection handle 1 extends forwards.

The detection mechanism 4 comprises a vertical plate 4-1, a rotary ball 4-2 and a detector 4-3, wherein the rotary ball 4-2 and the detector are rotatably installed on the vertical plate 4-1, the upper end of the vertical plate 4-1 is welded on the inner wall of the dust collector body 2, the lower end of the vertical plate 4-1 is welded on the control panel 2-1, the rotary ball 4-2 is installed in the middle of the vertical plate 4-1, the detector 4-3 penetrates through the rotary ball 4-2, one end of the detector 4-3 is located on the inner wall of the dust collector body 2, an adjusting device is fixed at the other end of the detector 4-3, one end of the detector 4-3 swings in a controllable vertical angle, and the detector 4-3 detects the distance between an obstacle and the dust collector and the distance between the edge of the lower end of the obstacle and the ground.

The adjusting device comprises an electric control telescopic cylinder fixed on the control panel 2-1 through screws and a casing which is rotatably connected with a telescopic rod of the electric control telescopic cylinder, the casing is sleeved at the tail end of the detector 4-3, the inner wall of the casing is provided with threads, the tail end of the detector 4-3 is provided with threads, the casing and the detector 4-3 are fixed through threads, the outer wall of the casing is welded with a supporting column, a round hole is formed in the telescopic rod of the electric control telescopic cylinder, the supporting column is installed in the round hole and is fixed in position through a clamping ring, and when the telescopic rod extends out or retracts, the electric control telescopic cylinder drives one end of the detector 4-3 to swing up and down through the casing, so that the up-and-down angle adjustment of the other end is achieved.

The supporting shell 2-2 is provided with four groups, the four groups of supporting shells 2-2 are mutually matched to form a supporting platform for supporting the dust collecting box 2-3, the dust collecting box 2-3 is arranged in the middle of the supporting platform, an in-place device is arranged below the dust collecting box 2-3 and enables the dust collecting box 2-3 to ascend or descend, the supporting shell 2-2 supports the dust collecting box 2-3 in place, a supporting block and a supporting plate are arranged in the supporting shell 2-2, the supporting plate is vertically fixed in the supporting shell 2-2, a telescopic groove is processed at one side of the supporting shell 2-2 close to the dust collecting box 2-3, the supporting block is positioned in the telescopic groove, one end of the supporting block, which is contacted with the dust collecting box 2-3, is fan-shaped, a telescopic column is welded at the other end of the supporting block, penetrates through the supporting plate, and a nut is fixed on the telescopic column, the telescopic column is provided with a spring, the spring is positioned between the supporting plate and the supporting block, the telescopic rod is stretched left and right through the spring and limited in stretching range through the nut, and when the dust collection box 2-3 is lifted under the action of the in-place device, the supporting assistance of the supporting shell 2-2 is obtained through the supporting block, so that the load pressure of the in-place device is reduced.

The in-place device comprises an in-place plate, a bearing shell arranged below the in-place plate and an in-place electric cylinder fixedly connected with the bearing shell, the in-place electric cylinder is fixed on the inner wall of the dust collector body 2 through screws, an expansion rod of the in-place electric cylinder is fixed with the lower end of the bearing shell, the central position of the bearing shell is a solid body, the periphery of the bearing shell is a hollow structure, a resisting block is arranged at the position of the bearing shell corresponding to a supporting block, the supporting block retracts into the supporting shell when the resisting block extends out, an electric telescopic cylinder is fixed at one end of the resisting block positioned in the bearing shell, the resisting block resists the supporting block under the electric action of the electric telescopic cylinder, the in-place plate is fixed above the bearing shell through screws, a positioning block is fixed on the in-place plate, the positioning block positions the dust collection box 2-3 on the in-place plate, after the in-place plate is in place, the upper end surface of the in-place plate is level with the upper end surface of the supporting shell 2-2, when the arrival plate is not in the arrival position, the upper end surface is lower than the upper end surface of the supporting shell 2-2.

The dust collection box 2-3 comprises a dust collection box cover arranged on the dust collection box 2-3, the dust collection box 2-3 and the dust collection box cover are matched with each other to form a whole, the dust collection box cover can be detached, a compression shaft 2-4 is arranged at the center position in the dust collection box 2-3, a fixing plate 2-5 is vertically welded on the inner wall of the dust collection box 2-3, a compression plate 2-6 matched with the fixing plate 2-5 is welded on the compression shaft 2-4, the fixing plate 2-5 and the compression plate 2-6 are matched with each other to compress dust and garbage in the dust collection box 2-3, the dust collection box cover is arranged to be an inwards concave groove structure at the position of the compression shaft 2-6, the upper end of the compression shaft 2-4 penetrates through a groove of the dust collection box cover, and a coupler is fixed at one end of the compression shaft 2-3 in the groove through a screw, the compression shaft 2-4 is fixed on the dust collection box cover, the lower end of the compression shaft 2-4 is arranged on the dust collection box 2-3, the upper end of the dust collection box cover is provided with a dust inlet, the dust collection handle 1 is internally provided with a dust inlet pipe, one end of the dust inlet pipe penetrates through the upper wall of the dust collector body 2 and is fixed on the control panel 2-1, the dust inlet pipe is in interference connection with the dust collection box 2-3 through the dust inlet, the upper end surface of the control panel 2-1 is fixed with a vacuum pump 2-8 through screws, the upper end of the dust collection box cover is provided with an air suction opening, the air inlet and outlet of the vacuum pump 2-8 are all fixed with vent pipes, the vent at one end of the air inlet penetrates through the control panel 2-1 and is fixed on the control panel 2-1, one end of the vent pipe of the air inlet is fixed with a filter screen, the filter screen filters dust in the dust collection box 2-3, and is in interference connection with the dust collection box 2-3 through the air suction opening, the vacuum pump 2-8 makes the air in the dust collection box 2-3 flow through the vent pipe, so that the dust collector can absorb dust and sundries, the control panel 2-1 is fixed with a rotating motor 2-7 at the corresponding position of the compression shaft 2-4 through screws, the motor shaft of the rotating motor 2-7 passes through the control panel 2-1, and is fixed with a coupler through screws, the coupler on the motor shaft is matched with the coupler on the compression shaft 2-4 for shaft connection, when the dust collection box 2-3 is lifted to the working position under the support of the in-place device, the rotating motor 2-7 is connected with the compression shaft 2-4 for shaft connection, the dust collection box 2-3 is connected with the dust collection handle 1 in an interference manner, the dust collection box 2-3 is connected with the vacuum pump 2-8 in an interference manner, when the in-place device drives the dust collection box 2-3 to descend, the dust collection box 2-3 is separated from the dust collection handle 1, the vacuum pump 2-8 and the rotating motor 2-7 respectively.

The self-walking mechanism 5 comprises a walking shell, wheels, a supporting shaft, gears and a walking motor, wherein the supporting shaft is arranged in the walking shell through a supporting frame, the wheels and the gears are arranged on the supporting shaft, wheel grooves are formed in the positions of the wheels of the walking shell, the wheels are in contact with the ground through the wheel grooves, the gears are arranged on the walking motor, the gears on the walking motor and the gears on the supporting shaft are in gear transmission, the wheels are driven by the walking motor to walk, the walking motor is electrically connected with a control system through cables, and the control system controls the running of the walking motor, so that the forward and backward movement and the left and right rotation of the self-walking mechanism 5 are realized.

The detection mechanism 4 detects data of the obstacle through the detector 4-3, then the detection mechanism 4 uploads the detected data to the control system, the detector 4-3 detects the distance of the obstacle in the advancing direction, the distance from the detector 4-3 to the detection point 1 is set to be L, then the detector 4-3 detects the distance of the lower end edge of the obstacle under the control of the adjusting device, and the distance from the detector 4-3 to the detection point 2 is set to be L₁Let the rotation angle of the detector 4-3 in the vertical direction be a, and assume that the height of the detector 4-3 itself is L₂Through a rotation angle a, distances L and L₁The control system calculates the distance L between the detection point 1 and the detection point 2 according to the sine formula of the trigonometric function₃。

The control system passes through the self height L of the detector 4-3₂And a distance L₃Calculating the distance L between the lower edge of the obstacle and the ground₄Then the control system will control the system according to the preset data (i.e. distance L and distance L)₄And the extension mechanism 3 makes the dust absorption handle 1 fully extend out of the safe distance with the barrier) to judge whether the dust absorption handle 1 needs to move backwards or not, then the control system controls the extension mechanism 3 to make the dust absorption handle 1 extend forwards, the height of the position where the upper end of the dust absorption handle 1 starts is set as Y, and the height of the position where the upper end of the dust absorption handle 1 fully extends out is set as YIs Y₁The distance after the lower end of the dust absorption handle 1 is completely extended is X, and finally the control system controls the dust absorption handle to extend according to L₄And Y₁The forward distance of the self-propelled mechanism 5 can be calculated.

The control system will control the height Y₁The distance X and the length of the dust collection handle 1 are combined to form a triangle, the control system extends a straight line T from the horizontal plane where the edge of the lower end of the barrier is located, and the straight line T is connected with the height Y again₁And the length of the dust collection handle 1 are combined to form a new small triangle, and the length Y of one right-angle side of the small triangle₂=Y₁-L₄The length of the other right-angle side of the small triangle is set as X₁The control system passes through Y₂/Y₁=X₁X can be calculated₁Length of (2), then X and X₁The distance X of the self-propelled mechanism 5 can be obtained by subtracting₂=X-X₁The dust collector can safely clean the bottom of the barrier without colliding with the barrier, wherein the intersection point formed by the straight line T and the dust collection handle 1 is the collision point of the dust collection handle) and the lower end of the barrier.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.