CN102591339B - Window wiping robot position adjusting control system and control method thereof - Google Patents
Window wiping robot position adjusting control system and control method thereof Download PDFInfo
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- CN102591339B CN102591339B CN201110020046.6A CN201110020046A CN102591339B CN 102591339 B CN102591339 B CN 102591339B CN 201110020046 A CN201110020046 A CN 201110020046A CN 102591339 B CN102591339 B CN 102591339B
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Abstract
The invention belongs to the technical field of intelligent robots, particularly relates to a window wiping robot position adjusting control system and a control method thereof. The window wiping robot comprises a walking unit and a driving unit. The position adjusting system comprises a sensing unit and a control unit, wherein the sensing unit comprises two sensor subunits on the same side of the window wiping robot, the two sensor subunits are placed on the left side and right side at the same end respectively, and the control unit is connected with the sensing unit and the driving unit respectively; when the driving unit drives the walking unit to move, the control unit receives signals sent by the sensing unit, controls the movement of the walking unit based on the signals, and adjusts the position of the window wiping robot. According to the control method, the window wiping robot can avoid barriers and make preparation for the next cleaning work; the robot has the advantages of being convenient and practical, and greatly reduces the work amount of the human.
Description
Technical field
The invention belongs to intelligent robot technology field, specifically, relate to a kind of collision posture-adjusting control system and control method thereof of glass-cleaning robot.
Background technology
In daily life, people generally clean with rag when cleaning glass.When the glass to structural glass and window outside, conventionally with rod-type glass cleaning wiper, clean.Yet during with rod-type glass cleaning wiper cleaning glass, arm is easily tired, and at the glass of wiping examination window outside, especially for skyscraper, very dangerous.Visible, cleaning exterior window is a great problem in family and even city, its not only dangerous but also be difficult for wiping complete, wipe clean.
For as above problem, there is at present a kind of window-cleaning device.It is ZL200820080547.7 that the concrete technical scheme of this window-cleaning device is asked for an interview the patent No., and name is called < < window-cleaning device > >.As shown in Figure 1, this window-cleaning device comprises handle 441, plastic plate 442 and rag 444.Handle 441 is fixed on the one side of plastic plate 442, and rag 444 is fixed on the another side of plastic plate 442, between plastic plate 442 and rag 444, is fixed with magnet plate 443.When needs cleaning glass window, two window-cleaning devices are clamped to the glass for the treatment of wiping, and user wipes examination inner layer glass in indoor holds handle, due to magnetic action, the window-cleaning device of the inside can drive the window-cleaning device motion of outside while moving, thereby by the glass of outside also wiped clean.
As above technical scheme, although contingent unsafe factor while efficiently solving wiping exterior window, but this window-cleaning device need to be by handling being positioned at the window-cleaning device of window the inside artificially, thereby guiding is positioned at the window-cleaning device work of window outside, when the glass in the face of on large-area or window, people still need to climb low, very painstaking.
Summary of the invention
The technical problem to be solved in the present invention is, a kind of posture-adjusting control system and control method thereof of glass-cleaning robot are provided, can make glass-cleaning robot can avoid the barriers such as glass frame, for next step cleaning is prepared, convenient and practical, and greatly alleviate the workload of manpower.
For solving the problems of the technologies described above, the invention provides a kind of posture-adjusting control system of glass-cleaning robot, glass-cleaning robot comprises walking unit 15 and driver element 16; Posture-adjusting control system comprises sensing unit 12 and control module 11, sensing unit 12 comprises two sensor subunits that are positioned at glass-cleaning robot the same side, two sensor subunits lay respectively at the left and right both sides of the same side, and control module 11 is connected with driver element 16 with sensing unit 12 respectively; When driver element 16 drives walking unit 15 to move, control module 11 receives the signal that sensing unit 12 sends, and according to 15 motions of signal controlling walking unit, adjusts the position of glass-cleaning robot.
Two sensor subunits are all positioned in same level.
The same side is glass-cleaning robot front side or rear side, and front side is glass-cleaning robot working direction.
Sensor subunits is touch sensor or non-contacting sensor.
Preferably, touch sensor is travel switch.
Preferably, non-contacting sensor is infrared sensor or sonac.
Glass-cleaning robot comprises driving machine 1 and follower 2, and described driver element 16, walking unit 15, sensing unit 12 and control module 11 are positioned on driving machine 1; Follower 2 comprises wipes examination unit; The first magnet 14 and the second magnet 24 are built in respectively in driving machine 1 and follower 2, under the suction of the first magnet 14 and the second magnet 24, driving machine 1 and follower 2 are adsorbed on respectively the inside and outside both sides on glass 3 surfaces, and follower 2 is followed driving machine 1 and produced servo-actuated.
The present invention also provides a kind of posture adjustment control method of glass-cleaning robot, comprises the steps: to adopt the posture-adjusting control system of above-mentioned glass-cleaning robot, and posture adjustment control method comprises the steps:
Step 1: detect the sensor subunits that lays respectively at glass-cleaning robot by control module 11;
Step 2: if control module 11 is not all received the signal that the left and right both sides sensor subunits of the same side is sent, keep former attitude; If 11 of control modules are received the left side sensor subunits of described glass-cleaning robot the same side or the signal that the right sensor subunits is sent, drive unit drives walking unit turns to, then returns to step 1.
In step 2, if receive the signal that left side sensor subunits is sent, drive walking unit to turn right; If receive the signal that the right sensor subunits is sent, drive walking unit to turn left.
Preferably, the angle of walking unit rotational is not more than default angle.
In step 2, if receive and be positioned at the signal that left and right both sides, glass-cleaning robot the same side sensor subunits is sent simultaneously, drive walking unit to enter next work order.
Work order is to drive walking unit to turn to 90 ° or drive walking unit to retreat to advance.
Compared with prior art, the invention has the beneficial effects as follows: can make the glass-cleaning robot in the process of walking can avoiding obstacles, for next step cleaning is prepared, convenient and practical, and greatly alleviate the workload of manpower.
Accompanying drawing explanation
The structural representation of Fig. 1 glass cleaning device of the prior art;
Fig. 2 is the schematic diagram of the posture-adjusting control system of glass-cleaning robot of the present invention;
Fig. 3 is the process flow diagram of an embodiment of welt posture adjustment control method of glass-cleaning robot of the present invention;
Fig. 4 is the process schematic diagram that glass-cleaning robot of the present invention completes posture adjustment;
Fig. 5 is glass-cleaning robot structural representation of the present invention.
Reference numeral:
1. driving machine 111. driving machine shell 2. follower 222. follower shells
3. glass 11. control module 12. sensing units 15. walking unit
151. crawler belt 152. Athey wheel 151a. track unit joints
14. first magnet 24. second magnet 16. driver elements 26. are with moving cell
441. handle 442. plastic plate 443. magnet plate 444. rags
Embodiment
embodiment 1
As shown in Figure 5, glass-cleaning robot of the present invention is a single robot.The posture-adjusting control system of window wiping robot of the present invention comprises walking unit 15 and energy unit, driver element 16, control module 11 and wiping unit.This wiping unit can be disc brush, scraping article or fiber cloth etc.This energy unit is Rechargeable battery, as: Ni-MH battery or lithium battery etc.At energy unit, to driver element 16, supply with energy.Under the control of control module 11, driver element 16 drives 15 work of walking unit.This glass-cleaning robot is adsorbed on glass 3 surfaces by adsorption piece, and in addition, glass-cleaning robot can also be realized and is attached to glass 3 surfaces by the method for negative pressure of vacuum.
This glass-cleaning robot also comprises sensing unit 12, and this sensing unit 12 comprises and be positioned at glass-cleaning robot with two sensor subunits of one end, and control module 11 is connected with driver element 16 with sensing unit 12 respectively; When driver element 16 drives walking unit 15 to move, control module 11 receives the signal that sensing unit 12 sends, and according to 15 motions of signal controlling walking unit, adjusts the position of glass-cleaning robot.
Easy for designing, two sensor subunits are all positioned on same surface level, and are positioned at the left and right both sides of robot.Wei Shi robot can advance forward and can realize retreating and advance, and in preferred version, the forward and backward two ends of robot are respectively equipped with sensing unit 12.
Sensor subunits comprises sensor, and this sensor can be touch sensor or non-contacting sensor.Touch sensor can be travel switch, as microswitch.Non-contacting sensor can be infrared sensor or sonac.
This glass-cleaning robot, by sensing unit, is realized the attitude adjustment of adjusting robot, and its control method comprises the steps:
Step 1, is detected the sensor subunits that lays respectively at glass-cleaning robot by control module;
Specifically, if receive the signal that left side sensor subunits is sent, drive walking unit to turn right; If receive the signal that the right sensor subunits is sent, drive walking unit to turn left.Wherein, it can be random driving the angle of walking unit rotational; Also can predefined angle, when control module drives walking unit rotational angle, this angle is not more than default angle.
In above-mentioned steps 2, if sensor used is non-contacting sensor, during as infrared sensor or sonac, the signal that this sensor is sent is digital simulation amount.If receiving simultaneously, control module is positioned at the signal that glass-cleaning robot is sent with left and right both sides, one end sensor, whether the signal value that control module calculates and more left and right both sides sensor is sent is in preset range, if in preset range, meet predetermined requirement, drive walking unit to enter next work order.This next one work order can be to drive walking unit to turn to 90 degree, or drive walking unit to retreat to advance etc.
Different by embodiment mono-, window wiping robot of the present invention is split type.Specifically, the posture-adjusting control system of window wiping robot of the present invention is comprised of driving machine 1 and follower 2, and both are separate piece.Driver element 16, walking unit 15, sensing unit 12 and control module 11 are positioned on driving machine 1; Follower 2 comprises wipes examination unit; Described driving machine 1 and described follower 2, both put the inside and outside both sides that are adsorbed on glass 3 surfaces under the suction of magnet within it, and follower 2 is followed driving machine 1 and produced servo-actuated.
The walking unit 15 that is positioned at the driving machine 1 main body left and right sides comprises crawler belt 151 and Athey wheel 152, and wherein, crawler belt 151 comprises a plurality of track unit joint 151a.Driver element 16 mainly comprises drive motor, and drive motor is provided with two, and every crawler belt 151 is driven by a drive motor respectively.By single driving, thereby realization is synchronized with the movement, differential motion.Be synchronized with the movement and can make driving machine advance or retreat; Differential motion can make driving machine 1 realize rotation.
For making follower 2 follow driving machine 1 conveniently moving, follower 1 comprises with moving cell 26.
While using window wiping robot of the present invention, driving machine 1 and follower 2 are placed in respectively to the both sides for the treatment of cleaning glass window 3, are positioned at the driver element on driving machine 1, under the Power supply of energy unit, realize work, thereby realize driving machine 1, on glass 3, move.Because driving machine 1 and follower 2 are respectively equipped with first and second magnet 14,24, under magnetic action, driving machine 1 drives follower 2 to move, and realizes the cleaning glass window unit being arranged on follower 2 wiping is carried out in glass 3 surfaces.
When driving machine 1 is advanced, Athey wheel 152 rotarilys actuate crawler belt 151 and rotates, and track unit joint 151a constantly alternately contacts glass 3 surfaces provides enough large stiction to advance for window wiping robot.Due to the utilizing powerful magnet for adsorption relation in driving machine 1 and follower 2, follower 2 is advanced with same trajectories with driving machine 1.
In addition, driving machine also comprises sensing unit 12, the effect of this sensing unit 12 is identical with embodiment 1, that is: this sensing unit 12 comprises and is positioned at glass-cleaning robot with two sensor subunits of one end, and control module 11 is connected with driver element 16 with sensing unit 12 respectively; When driver element 16 drives walking unit 51 to move, control module 15 receives the signal that sensing unit 12 sends, and according to 15 motions of signal controlling walking unit, adjusts the position of glass-cleaning robot.
Easy for designing, two sensor subunits are all positioned on same surface level, and are positioned at the left and right both sides of same one end of robot.Wei Shi robot can advance forward and can realize retreating and advance, and in preferred version, the forward and backward two ends of robot are respectively equipped with sensor unit.
Sensor subunits comprises sensor, and this sensor can be touch sensor or non-contacting sensor.Touch sensor can be travel switch, as microswitch.Non-contacting sensor can be infrared sensor or sonac.
Driving machine 1 is in active moving process, and when driving machine 1 is provided with the barrier that sensing unit 12 is felt similar window frame, driving machine 1 can initiatively be dodged.
This glass-cleaning robot, by sensing unit 12, is realized the attitude adjustment of adjusting robot, and its control method is identical with the method for embodiment 1, specifically comprises the steps:
Step 1, is detected the sensor subunits that lays respectively at glass-cleaning robot by control module;
Specifically, if receive the signal that the sensor subunits on the left side is sent, drive walking unit to turn right; If receive the signal that the sensor subunits on the right is sent, drive walking unit to turn left.Wherein, it can be random driving the angle of walking unit rotational; Also can predefined angle, when control module drives walking unit rotational angle, this angle is not more than default angle.
In above-mentioned steps 2, if sensor used is non-contacting sensor, during as infrared sensor or sonac, the signal that this sensor is sent is digital simulation amount.If receiving simultaneously, control module is positioned at the signal that the left and right sensor in glass-cleaning robot the same side is sent, whether the signal value that control module calculates and more left and right sensor is sent is in preset range, if in preset range, meet predetermined requirement, drive walking unit to enter next work order.This next one work order can be to drive walking unit to turn to 90 degree, or drives walking unit to retreat to advance etc.If the signal value that the sensor subunits on the left side is sent is large, drive the walking unit default angle of turning left; If receive that the signal value sent of sensor subunits on the right is large, drive the walking unit default angle of turning right.
In preferred version, on follower 2, be also provided with collision sensing unit.Therefore, no matter be that driving machine 1 is felt barrier in active moving process, or follower 2 is felt barrier in passive moving process, the communication information interactive function that can possess between the two by driving machine 1 and follower 2, all can realize driving machine 1 and follower 2 and carry out work in real erasable region, and there will not be such as being stuck in the first-class abnormal conditions of similar window frame, occur.
Window wiping robot of the present invention is realized from locomotive function by the driver element being provided with in driving machine, realizes people and carries out work without do-it-yourself, makes people break away from heavy housework; This robot does technical guarantee by the collision sensing unit all having in driving machine and follower, makes window wiping robot of the present invention can easily tackle the contingent many unpredictalbe abnormal conditions in glass both sides.
Claims (12)
1. a posture-adjusting control system for glass-cleaning robot, glass-cleaning robot comprises walking unit (15) and driver element (16); Posture-adjusting control system comprises sensing unit (12) and control module (11), it is characterized in that: sensing unit (12) comprises and is positioned at glass-cleaning robot with two sensor subunits of one end, two sensor subunits lay respectively at the left and right both sides of the same side, and control module (11) is connected with driver element (16) with sensing unit (12) respectively; When driver element (16) drives walking unit (15) mobile, control module (11) receives the signal that sensing unit (12) sends, and according to signal controlling walking unit (15) divertical motion, adjusts the position of glass-cleaning robot.
2. the posture-adjusting control system of glass-cleaning robot according to claim 1, is characterized in that: two sensor subunits are all positioned in same level.
3. the posture-adjusting control system of glass-cleaning robot according to claim 1, is characterized in that: the same side is glass-cleaning robot front side or rear side, and front side is glass-cleaning robot working direction.
4. according to the posture-adjusting control system of the glass-cleaning robot described in claim 1-3 any one, it is characterized in that: sensor subunits is touch sensor or non-contacting sensor.
5. the posture-adjusting control system of glass-cleaning robot according to claim 4, is characterized in that: touch sensor is travel switch.
6. the posture-adjusting control system of glass-cleaning robot according to claim 4, is characterized in that: non-contacting sensor is infrared sensor or sonac.
7. according to the posture-adjusting control system of the glass-cleaning robot described in claims 1 to 3 any one, it is characterized in that: glass-cleaning robot comprises driving machine (1) and follower (2), described driver element (16), walking unit (15), sensing unit (12) and control module (11) are positioned on driving machine (1); Follower (2) comprises wipes examination unit; The first magnet (14) and the second magnet (24) are built in respectively in driving machine (1) and follower (2), under the suction of the first magnet (14) and the second magnet (24), driving machine (1) and follower (2) are adsorbed on respectively the inside and outside both sides on glass (3) surface, and follower (2) is followed driving machine (1) and produced servo-actuated.
8. the posture-adjusting control system of glass-cleaning robot according to claim 7, is characterized in that: walking unit (15) comprises crawler belt (151) and Athey wheel (152), and wherein, crawler belt (151) comprises a plurality of track unit joints (151a); In follower (1) with moving cell (26), to follow walking unit (15) mobile.
9. a posture adjustment control method for glass-cleaning robot, adopts the posture-adjusting control system of the glass-cleaning robot described in claim 1 to 8 any one, it is characterized in that: comprise the steps:
Step 1: detected the sensor subunits that lays respectively at glass-cleaning robot by control module;
Step 2: if control module is not received the left and right both sides signal that sensor subunits is sent arbitrarily of the same side on one side, keep former attitude; If control module is only received the left side sensor subunits of described glass-cleaning robot the same side or the signal that the right sensor subunits is sent, drive unit drives walking unit turns to, then returns to step 1.
10. the posture adjustment control method of glass-cleaning robot according to claim 9, is characterized in that: in step 2, if receive the signal that left side sensor subunits is sent, drive walking unit to turn right; If receive the signal that the right sensor subunits is sent, drive walking unit to turn left.
The posture adjustment control method of 11. glass-cleaning robots according to claim 10, is characterized in that: the angle of walking unit rotational is not more than default angle.
The posture adjustment control method of 12. glass-cleaning robots according to claim 9, it is characterized in that: in step 2, if receive and be positioned at the signal that left and right both sides, glass-cleaning robot the same side sensor subunits is sent simultaneously, drive walking unit to enter next work order; Work order is to drive walking unit to turn to 90 ° or drive walking unit to retreat to advance.
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| CN201110020046.6A CN102591339B (en) | 2011-01-05 | 2011-01-05 | Window wiping robot position adjusting control system and control method thereof |
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| CN201110020046.6A CN102591339B (en) | 2011-01-05 | 2011-01-05 | Window wiping robot position adjusting control system and control method thereof |
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| CN102591339B true CN102591339B (en) | 2014-03-26 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104414573B (en) * | 2013-08-23 | 2017-12-22 | 科沃斯机器人股份有限公司 | Window cleaning device |
| CN106647761A (en) * | 2016-12-30 | 2017-05-10 | 上海庆科信息技术有限公司 | Self-moving sweeper and control method thereof |
| CN110362099B (en) * | 2018-03-26 | 2022-08-09 | 科沃斯机器人股份有限公司 | Robot cleaning method, device, robot and storage medium |
| CN108762257A (en) * | 2018-05-04 | 2018-11-06 | 安徽三弟电子科技有限责任公司 | A kind of robot ambulation control system based on frictional force automatic adjusument |
| CN113100656A (en) * | 2021-04-19 | 2021-07-13 | 大连大学 | Glass wiping robot with scraping module capable of performing autonomous reciprocating movement |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: TEK ELECTRICAL (SUZHOU) Co.,Ltd. |