CN103082934B - The intelligent glass clean robot of wall is climbed based on sufficient formula - Google Patents
The intelligent glass clean robot of wall is climbed based on sufficient formula Download PDFInfo
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- CN103082934B CN103082934B CN201210584759.XA CN201210584759A CN103082934B CN 103082934 B CN103082934 B CN 103082934B CN 201210584759 A CN201210584759 A CN 201210584759A CN 103082934 B CN103082934 B CN 103082934B
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Abstract
The invention provides a kind of intelligent glass clean robot of climbing wall based on sufficient formula, comprise robot body, walking unit, four absorbing units, driver element, body control unit, cleaning unit, image identification unit and wireless energy control units; Walking unit comprises four machinery foots; Four absorbing units are arranged on four machinery foot upper composition four absorption foots respectively, and under the effect of body control unit, four absorption foots and the driver element coordinated movement of various economic factors, drive robot body's motion; Image identification unit is connected with body control unit, detects barrier and curtain wall edge by real-time image acquisition signal, is transferred to body control unit after gathered picture signal being processed; Wireless energy control units is connected with body control unit, for robot body's motion described in Long-distance Control.The present invention, in the one-sided absorption of glass, can cross over the barriers such as window frame, have image identification function, and walking manner is flexible, stable movement.
Description
Technical field
The present invention relates to a kind of intelligent robot of climbing wall based on sufficient formula, be applied to glass cleaning work outside high building.
Background technology
In daily life, people generally use rag to clean the glass cleaning fritter, manually clean structural glass and window alien invasion glass with the aid such as bar and ladder.Not only the amount of labour is large, efficiency is low for the mode of this cleaning glass, and during cleaned window alien invasion glass, operation is difficult, there is certain potential safety hazard.
Along with the development in city, high-rise building becomes the key construction in city, and wall many employings glass curtain wall of these high buildings, as decoration, often through a period of time, just needs to clean wall.Because curtain wall area is comparatively large, part is in tens meters even height of up to a hundred meters, the support around can not climbed up by holding on to, and the cleaning of curtain wall also just becomes heavy, dangerous, a costly job.At present, to the cleaning of skyscraper primarily of manually completing, cleaning workman takes hanging basket or waist tether rope carries out high-altitude scouring, very dangerous, and the efficiency of manual work is very low, cleaning somewhat expensive.Moreover, manual cleaning is very high to the requirement of the environmental conditions such as weather, and floor is higher, require wind speed less and temperature be suitable for, rainwater weather cannot operation.
Summary of the invention
The object of this invention is to provide a kind of intelligent glass clean robot of climbing wall based on sufficient formula, the present invention is in the one-sided absorption of glass, the barriers such as window frame can be crossed over, there is image identification function, walking manner is flexible, stable movement, achieves wireless monitor, solves low, the unsafe technical problem of manual cleaning glass efficiency.
The present invention solves the problems of the technologies described above and is achieved by the following technical solution: a kind of intelligent glass clean robot of climbing wall based on sufficient formula, comprise robot body, walking unit, absorbing unit, driver element, body control unit, cleaning unit, image identification unit and wireless energy control units
Described walking unit comprises four machinery foots; Described absorbing unit is provided with four, be arranged on four machinery foots respectively, form four and adsorb foot, under the effect of described body control unit together with described machinery foot, described four absorption foots and the described driver element coordinated movement of various economic factors, drive described robot body to move;
Described image identification unit is connected with body control unit, detects barrier and curtain wall edge by real-time image acquisition signal, is transferred to body control unit after gathered picture signal being processed;
Described wireless energy control units is connected with body control unit, for robot body's motion described in Long-distance Control.
Preferably, described absorbing unit comprises connecting plate, gold utensil, anti-slip sucking disc, buffer unit, and buffer cell is enclosed within gold utensil; In succession sucker in gold utensil one end, the other end is ined succession connecting plate; Described buffer unit is arranged on gold utensil.
Preferably, described driver element comprises reducing motor, ratch and gear; Described gear is arranged on reducing motor, and described reducing motor is fixed on described robot body, ratch described in described engaged gears.
Preferably, described body control unit comprises motor drive plate, servos control plate, electromagnetic relay and single-chip microcomputer, described motor drive plate is connected with described reducing motor, described servos control plate is connected with the steering wheel on described machinery foot, and described single-chip microcomputer is connected with described electromagnetic relay with described motor drive plate, servos control plate respectively.
Preferably, described image identification unit comprises camera, image pick-up card, main frame and radio receiving transmitting module, and described camera is arranged on described robot body; By described camera collection realtime graphic, send through described radio receiving transmitting module after described image pick-up card process, received by described main frame and feed back to body control unit after processing.
Preferably, described wireless energy control units comprises Zigbee sending module and Zigbee receiver module, and described Zigbee sending module is used for transmitting control signal; Described Zigbee receiver module is arranged on described robot body, for reception control signal, and described control signal is transferred to body control unit.
Compared with prior art, beneficial effect of the present invention is as follows:
1, walking manner of the present invention flexibly stable, speed fast, synchronization has two groups of sucker suction on glass, effectively prevents from falling, can cross over window frame barrier, only in the one-sided absorption of glass, not by the restriction of thickness of glass and mounting means; Described cleaning glass machine people is there being window frame, without practical on window frame, indoor, outdoor glass.
2, the present invention adopts the driver element that motor, gear and ratch combine, and driving force is large, improves the efficiency of cleaning glass, and described robot water movement velocity square is upwards adjustable.
3, robot of the present invention is only adsorbed on the side of glass, is not subject to the constraint of thickness of glass and glass mounting means.
4, the present invention has installed buffer unit on sucker group gold utensil, adsorbs unstable problem when solving main body unbalance stress.
Accompanying drawing explanation
Be described in detail below in conjunction with the technical scheme of accompanying drawing to described unit:
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the structural representation of absorbing unit;
Fig. 4 is the structural representation of driver element;
Fig. 5 is the schematic diagram of absorption foot;
Fig. 6 is the connection diagram of absorption foot and absorbing unit;
Fig. 7 is the structural representation of image identification unit.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
The present invention is based on the intelligent glass clean robot that sufficient formula climbs wall and comprise robot body, walking unit, absorbing unit, driver element, body control unit, image identification unit, wireless energy control units and cleaning unit.
As shown in Figure 1, 2, described walking unit comprises four machinery foots, and wherein two is level to machinery foot 2,4, and every level is made up of to machinery foot 2 described steering wheels, is arranged on the two ends of described ratch; Other two is just vertical to machinery foot 1,3, is often only vertically made up of to machinery foot 3 steering wheels, is arranged on the two ends up and down of described robot body.The quantity of the upper steering wheel of machinery foot can change according to the volume and weight of body.
Described absorbing unit is provided with four.As shown in Figure 3, each absorbing unit comprises one piece of connecting plate, 5,2 gold utensils, 6,2 anti-slip sucking discs 7,2 and overlaps buffer units 8, and buffer cell is enclosed within gold utensil 6, ins succession sucker 7 in gold utensil 6 one end, and the other end is ined succession connecting plate 5, forms a set of sucker group.Described sucker group is connected with asepwirator pump 9, and described asepwirator pump 9 works and produces vacuum, and make described sucker group be adsorbed on glass, when its technological difficulties are to ensure to adsorb at every turn, described sucker and glass surface are fitted completely, can not stay a gap.For solving this technological difficulties, described gold utensil 6 is provided with the buffer unit 8 dressed up by the groups of springs of two different stiffness factors, for increasing the flexibility of described absorbing unit, ensure when described robot body up and down and left and right unbalance stress time described sucker can fit completely with glass surface, stablize and be adsorbed on glass.The quantity of described sucker, asepwirator pump, magnetic valve can change according to the volume and weight of body.
As shown in Figure 4, described driver element comprises a reducing motor 10, rooted tooth bar 11, gear 12.The reducing motor 10 being provided with gear 12 is fixed on described robot body, ratch 11 described in described engaged gears, and described reducing motor 10 has enough driving forces and speed is adjustable.
Described every machinery foot is linked together by connecting plate with described each absorbing unit, is assembled into an absorption foot.As shown in Figure 5, described robot has 4 absorption foots, wherein two is that level is just vertical to absorption foot 21,23 to absorption foot 22,24, other two.As shown in Figure 6, described two levels are connected to the two ends of described ratch 11 by connecting plate 5 to absorption foot 22,24.
Described body control unit comprises one piece of motor drive plate, one piece of servos control plate, two electromagnetic relays and one piece of single-chip microcomputer, and body control unit is arranged on described robot body.Described motor drive plate is connected with described reducing motor 10, described servos control plate is connected with 10 steering wheels of described machinery foot, described electromagnetic relay is connected with described magnetic valve, and described single-chip microcomputer is connected with described electromagnetic relay with described motor drive plate, described servos control plate.Enter the control of the program of single-chip microcomputer in programming under, the co-ordination of described unit energy, ensures that described robot can be adsorbed on also follow procedure requirement four direction motion vertically and horizontally on glass.Under the control of described body control unit, described walking unit, absorbing unit and driver element can co-ordinations, and described robot is adsorbed on glass curtain wall, and four direction easy motion vertically and horizontally, and cross over the barriers such as window frame.
As shown in Figure 7, described image identification unit is for detecting the barriers such as window frame and curtain wall edge, comprise camera, image pick-up card, main frame, radio receiving transmitting module, described camera 13 is arranged on described robot body, by described camera collection realtime graphic, send through described radio receiving transmitting module 14 after described image pick-up card process, received by described main frame and feed back to the single-chip microcomputer of body control unit after processing, then by the motion control program of described single-chip microcomputer, a series of regulation and control being carried out to body movement speed and direction etc.
Described wireless energy control units comprises Zigbee delivery and reception module, for cleaning glass machine people motion described in Long-distance Control.Described Zigbee receiver module is arranged on described robot body, when described robot is for cleaning high building curtain wall glass, operator utilizes described Zigbee sending module to transmit control signal, described Zigbee receiver module Received signal strength, and described control signal is transferred to the single-chip microcomputer of body control unit, realize the Long-distance Control to described robot.
Described cleaning unit comprises cleaning brush, liquid-jet device, cleaning solution and clear water sequential fuel injection.Described cleaning brush is connected with steering wheel, be arranged on the two ends of described robot ratch, when described robot level is to motion, set program makes described cleaning brush be attached on glass wall to clean by adjusting described steering wheel angle, and described liquid-jet device is by cleaning solution and clear water sequential fuel injection.
The intelligent glass clean robot of climbing wall the present invention is based on sufficient formula below cleans the glass of one piece of band frame, is described the motion flow process of robot of the present invention:
After program initialization, four absorption foots of described robot are firmly adsorbed on glass wall simultaneously, described camera starts to gather wall image, and image information is passed to described image pick-up card, information after image pick-up card process sends described main frame to, described main frame judges whether described robot is in the frame place in the upper left corner, and will judge that information feed back is to described single-chip microcomputer, if robot described in information displaying is not positioned over the frame place in the upper left corner, then robot ambulation described in described Single-chip Controlling is to the upper left corner, described cleaning unit does not work in this course.
Described robot ambulation process is as described below: need level to walking if start, when described image identification unit does not detect barrier at direction of travel, described vertically to adsorbing sufficient being firmly adsorbed on glass, described single-chip microcomputer controls to make its valve opening with described level to adsorbing the magnetic valve that ambulacra is connected by controlling described electromagnetic relay, described level departs from glass wall to the sucker of absorption foot, then described level is to the sufficient lifting of absorption, described reducing motor work, described gear is driven to rotate clockwise, described ratch is driven to travel forward a step with maximum step pitch m, then described level is fallen to absorption foot, touch glass surface, described single-chip microcomputer controls to make its valve closing with described level to adsorbing the described magnetic valve that ambulacra communicates by controlling described electromagnetic relay, the air that asepwirator pump is found time rapidly in described sucker forms vacuum, described level is firmly adsorbed on glass wall to absorption foot, describedly afterwards vertically be enough to above-mentioned same way to absorption and depart from glass wall, reducing motor described in described Single-chip Controlling drives described gear to rotate counterclockwise, described robot body is driven to travel forward, then described vertically to adsorbing sufficient being again adsorbed on glass, level is to the sufficient lifting of absorption, motion before repetition.
When described image identification unit is when angle detecting of walking is to barrier, by the distance n(n< ratch maximum step pitch m-robot body width k of barrier and body, as the maximum step pitch m-robot body width k of n> ratch, single-chip microcomputer does not respond to feedback information) feed back to single-chip microcomputer, level described in described Single-chip Controlling is to the sufficient lifting of absorption, described ratch travels forward n+k distance, described level is to the sufficient leaping over obstacles of absorption, be adsorbed on glass, described vertically to the sufficient lifting of absorption, described reducing motor work, described machine main body is driven to travel forward leaping over obstacles.
After described robot is in the frame in the glass upper left corner, described robot starts level in the manner described above and moves right, if now do not meet barrier, described cleaning brush drops to and contacts with glass wall, moves right with described ratch, cleans glass.When moving to the frame place in the upper right corner, then move downward a step, then to left movement.Described robot moves in the manner described above and cleans glass, until complete the scouring work of monolithic glass, program determination runs, and the level of described robot is adsorbed on glass wall with vertical to absorption foot together with absorption foot, restPoses.
The image identification system of described robot can identify window frame, barrier and glass curtain wall edge, crosses over window frame identical with across obstacle mode.
Described robot can operated from a distance, when described robot is in high-altitude or long distance work, operator utilizes described Zigbee transmitter module to send a series of control information, Zigbee receiver module on described robot body receives this control information and is transferred to described single-chip microcomputer, and described single-chip microcomputer moves according to this control information control.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (4)
1. climb an intelligent glass clean robot for wall based on sufficient formula, comprise robot body, walking unit, absorbing unit, driver element, body control unit, cleaning unit, image identification unit and wireless energy control units, it is characterized in that:
Described walking unit comprises four machinery foots; Described absorbing unit is provided with four, be arranged on four machinery foots respectively, form four and adsorb foot, under the effect of described body control unit together with described machinery foot, described four absorption foots and the described driver element coordinated movement of various economic factors, drive described robot body to move;
Described image identification unit is connected with body control unit, detects barrier and curtain wall edge by real-time image acquisition signal, is transferred to body control unit after gathered picture signal being processed;
Described wireless energy control units is connected with body control unit, for robot body's motion described in Long-distance Control;
Described each absorbing unit comprises one piece of connecting plate, two gold utensils, two anti-slip sucking discs, two buffer units, and each buffer unit is enclosed within a gold utensil; In succession sucker in gold utensil one end, the other end is ined succession connecting plate, and two buffer units are the spring of two different stiffness factors;
Described driver element comprises reducing motor, ratch and gear; Described gear is arranged on reducing motor, and described reducing motor is fixed on described robot body, ratch described in described engaged gears.
2. intelligent glass clean robot according to claim 1, it is characterized in that, described body control unit comprises motor drive plate, servos control plate, electromagnetic relay and single-chip microcomputer, described motor drive plate is connected with described reducing motor, described servos control plate is connected with the steering wheel on described machinery foot, and described single-chip microcomputer is connected with described electromagnetic relay with described motor drive plate, servos control plate respectively.
3. intelligent glass clean robot according to claim 1, is characterized in that, described image identification unit comprises camera, image pick-up card, main frame and radio receiving transmitting module, and described camera is arranged on described robot body; By described camera collection realtime graphic, send through described radio receiving transmitting module after described image pick-up card process, received by described main frame and feed back to body control unit after processing.
4. intelligent glass clean robot according to claim 1, is characterized in that, described wireless energy control units comprises Zigbee sending module and Zigbee receiver module, and described Zigbee sending module is used for transmitting control signal; Described Zigbee receiver module is arranged on described robot body, for reception control signal, and described control signal is transferred to body control unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210584759.XA CN103082934B (en) | 2012-12-28 | 2012-12-28 | The intelligent glass clean robot of wall is climbed based on sufficient formula |
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| CN201210584759.XA CN103082934B (en) | 2012-12-28 | 2012-12-28 | The intelligent glass clean robot of wall is climbed based on sufficient formula |
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| CN103082934A CN103082934A (en) | 2013-05-08 |
| CN103082934B true CN103082934B (en) | 2015-12-09 |
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