CN103505140B - Glass cleaning device - Google Patents
Glass cleaning device Download PDFInfo
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- CN103505140B CN103505140B CN201210216759.4A CN201210216759A CN103505140B CN 103505140 B CN103505140 B CN 103505140B CN 201210216759 A CN201210216759 A CN 201210216759A CN 103505140 B CN103505140 B CN 103505140B
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Abstract
The invention belongs to intelligent robot technology field, specifically, relate to a kind of glass cleaning device, this device comprises walking unit, cleaning unit, absorbing unit, driver element and control unit, walking unit and cleaning unit are arranged on the bottom of glass cleaning device, control unit is connected with driver element, described glass cleaning device also includes the acceleration sensing unit being connected with control unit, the acceleration signal value that control unit sends according to acceleration sensing unit, controls drive unit drives glass cleaning device and stops walking or perform go to action.Glass cleaning device of the present invention can detect the barriers such as window frame in time and nimbly elude during cleaning glass window, does not haves the stuck phenomenon on glass frame of glass cleaning device.
Description
Technical field
The invention belongs to intelligent robot technology field, specifically, relate to a kind of glass cleaning device.
Background technology
General existing window wiping robot, for there being the detection of frame Glazed fence, is next by hitting plate and microswitch mostly
Differentiating, when window wiping robot does not arrives glass edge, window wiping robot is normally advanced: when window wiping robot arrives glass frame
Time, hitting plate and promoted, trigger microswitch simultaneously, then it is assumed that window wiping robot has arrived glass edge, window wiping robot retreats,
The working range of window wiping robot is controlled with this.But make to there is following defect in this way: owing to hitting plate or microswitch
Easily block reason of waiting indefinitely and cause not having signal or window wiping robot not to receive signal, it is possible that window wiping robot is stuck
Phenomenon on glass frame.
Summary of the invention
The technical problem to be solved is for the deficiencies in the prior art, first provides one to clean the windows dress
Put, can detect the barriers such as window frame in time and nimbly elude during cleaning glass window, not have and clean the windows
The stuck phenomenon on glass frame of device.
The technical problem to be solved of the present invention is achieved by the following technical solution:
A kind of glass cleaning device comprises walking unit, cleaning unit, driver element and control unit, walking unit and cleaning
Unit is arranged on the bottom of glass cleaning device, and control unit is connected with driver element；Described glass cleaning device also includes and controls
The acceleration sensing unit that unit connects, the acceleration signal value that control unit sends according to acceleration sensing unit, control to drive
Moving cell drives glass cleaning device stop walking or perform go to action.
Walking unit can use following two to select: when described walking unit is crawler belt or wheel, and glass cleaning device rolls
During dynamic traveling, described acceleration sensing unit is linear acceleration transducer.When described walking unit is for being rotatably disposed in wiping glass
The vacuum chuck turntable of glass bottom of device, described glass cleaning device by be alternately rotated described vacuum chuck turntable twisting advance time, described in add
Velocity pick-up unit is angular acceleration transducer.
Further, described vacuum chuck turntable comprises support and sucker, and described sucker is the flexible glue sucker of annular, described
Frame is provided with groove, and described flexible glue sucker is embedded in groove inner position by elastic washer.
Described cleaning unit is installed on support, or described cleaning unit is installed in the hollow region of described sucker.
Described vacuum chuck turntable connects the body of glass cleaning device by connector.
Further, described connector is bearing, and described bearing comprises inner ring and outer ring, sets between described inner ring and outer ring
Having ball to make the inner ring can be relative to outer ring rotating, the body of described outer ring and glass cleaning device is fixing to be connected, described inner ring and
Vacuum chuck turntable is fixing to be connected.
Described driver element connects described vacuum chuck turntable by drive mechanism；Described drive mechanism is travelling gear or synchronization
Band.
When control unit judges the threshold value that described acceleration signal value is built-in more than or equal in control unit, or accelerate
When degree signal value exceeds threshold signal scope built-in in control unit, control drive unit drives glass cleaning device and stop walking
Or execution go to action.
Described clean the windows that to put be split type, including driving machine and follower, driving machine include walking unit, drive single
Unit, acceleration sensing unit and control unit, driving machine and follower are built-in with first and second Magnet respectively, enable both phases
Absorption is in the inside and outside both sides of glass mutually, and under the suction of first and second Magnet, follower produces servo-actuated with the machine of driving.
Walking unit includes left and right sides crawler belt and the Athey wheel being positioned at driving machine, and crawler belt includes that multiple track unit saves；
Or walking unit can also be only with wheel.
Described glass cleaning device can also be single-body type, including walking unit, driver element, sensing unit and control list
Unit, walking unit can be to include left and right sides crawler belt and the Athey wheel that being positioned at cleans the windows puts, and crawler belt includes multiple track unit
Joint；Or walking unit can also be only with wheel.
Compared with prior art, the beneficial effects of the present invention is:
Level of intelligence of the present invention is high, during cleaning glass window, it is possible to detect the barriers such as window frame in time and hide neatly
Keep away, and reduce the friction of glass cleaning device and glass frame, do not have glass cleaning device stuck showing on glass frame
As, the beneficially walking of glass cleaning device.
Accompanying drawing explanation
Fig. 1 is not knock frame schematic diagram during glass cleaning device of the present invention twisting advance；
Fig. 2 is to knock frame schematic diagram during glass cleaning device of the present invention twisting advance；
Fig. 3 is not knock frame schematic diagram during glass cleaning device straight ahead of the present invention；
Fig. 4 is to knock frame schematic diagram during glass cleaning device straight ahead of the present invention；
Fig. 5 is that glass cleaning device of the present invention controls schematic diagram；
Fig. 6 is glass cleaning device embodiment one cross-sectional view of the present invention；
Fig. 7 is that glass cleaning device embodiment one of the present invention looks up structural representation.
Reference:
1. absorbing unit 2. is walked unit 3. cleaning unit 4. driver element
5. control unit 6. acceleration sensing unit 7. glass cleaning device 8. glass frame
9. support 10. sucker 11. vacuum pump 12. exhaust tube
13 travelling gear 14. groove 15. elastic washer 16. bodies
17. vacuum chuck turntables
Detailed description of the invention
Glass cleaning device of the present invention comprises walking unit 2, cleaning unit 3, driver element 4 and control unit 5, unit of walking
2 and cleaning unit 3 be arranged on the bottom of glass cleaning device 7, control unit 5 is connected with driver element 4.Described glass cleaning device 7
Also include the acceleration sensing unit 6 being connected with control unit 5, the acceleration that control unit 5 sends according to acceleration sensing unit 6
Degree signal value, controls driver element 4 and drives glass cleaning device 7 stop walking or perform go to action.When wiping vertical glass table
During face, glass cleaning device also comprises absorbing unit 1, and the body of glass cleaning device is adsorbed at glass surface by absorbing unit 1.
Glass cleaning device 7 uses the method that acceleration sensing unit 6 detects glass frame, will not be because of not hitting partitioned signal
Cause glass cleaning device motion abnormal etc. factor, but directly detect limit by the velocity variations of glass cleaning device self
Frame, it is to avoid the stuck phenomenon on glass frame of glass cleaning device, beneficially glass cleaning device work occur.
Embodiment one
In the present embodiment, walking unit 2 is vacuum chuck turntable 17, and glass cleaning device 7 is real by being alternately rotated vacuum chuck turntable
Now twist traveling.Glass cleaning device 7 includes that body 16, body 16 are provided with control unit 5, driver element 4 and cleaning unit 3.
Wherein, vacuum chuck turntable is connected to body 16 by connector, and this connector can be bearing or the center of rotation axle of body setting,
Vacuum chuck turntable is made to be rotatably arranged on the bottom of body 16 in many ways.As vacuum chuck turntable can directly be set in its rotation
Turning on central shaft, this center of rotation axle is installed in organism bottom, drives vacuum chuck turntable to rotate relative to body.Vacuum chuck turntable is made
I-shaped, is set on center of rotation axle, and Timing Belt is set in " work " type groove of vacuum chuck turntable, and driver element 4 passes through
Timing Belt drives vacuum chuck turntable to rotate, as vacuum chuck turntable can also be connected on body by bearing.Wherein, bearing comprises inner ring
And outer ring, it is provided with ball between inner ring and outer ring and makes the inner ring can be relative to outer ring rotating.Outer ring and the body of glass cleaning device 7
16 fixing connections, inner ring is fixing with vacuum chuck turntable to be connected.
Simple vacuum chuck turntable only has sucker 10, and sucker 10 is connected to body 16, the program by its center of rotation axle
The material of sucker 10 requires higher.Vacuum pump 11 is connected with sucker 10, when vacuum pump 11 is started working, very by exhaust tube 12
Empty pump 11 produces negative pressure in sucker 10, and sucker 10 produces suction, is adsorbed on glass by glass cleaning device 7.
As shown in Figure 6, in the present embodiment, vacuum chuck turntable 17 comprises support 9 and sucker 10, and sucker 10 is by exhaust tube 12 even
Connect vacuum pump 11.Sucker 10 is the flexible glue sucker of annular, and sucker 10 is arranged on the bottom of support 9.It is provided with ring in the bottom of support 9
The groove 14 of shape, flexible glue sucker is embedded in groove 14 inner position by elastic washer 15.Sucker 10 operationally produces deformation, bullet
Property packing ring 15 can absorb deformation, makes the absorption that sucker 10 is more fitted on glass.Cleaning unit 3 is fixed on support 9 or institute
Stating in the hollow region of sucker 10, cleaning unit 3 can be cloths for cleaning or scouring pad etc..The present invention is described below in detail clean the windows
How device realizes twisting is advanced.
Body 16 two bottom sides A end and A ' end at glass cleaning device arrange a pair rotatable vacuum chuck turntable 17, each suction
Attached rotating disk 17 includes support 9 and sucker 10,.Sucker 10 is arranged on the bottom of vacuum chuck turntable 17, and control unit 5 passes through driver element
4 are connected with two vacuum chuck turntables 17 respectively, control unit 5 control respectively size that power exports on two vacuum chuck turntables 17 and
Direction, drives a pair vacuum chuck turntable 17 to rotate or static centered by the vertical axes being perpendicular to glass surface, makes both replace into
For speed end or low speed end, form speed discrepancy so that glass cleaning device 7 by the vacuum chuck turntable 17 being alternately rotated A end and A ' holds,
Realize the twisting walking of glass cleaning device 7.
In general, driver element 4 is motor, but the present invention is not limited thereto.Motor output end and reducing gear phase
Even, the power of motor output passes to support 9 after being slowed down by reducing gear.The final-stage gear of reducing gear drives travelling gear
13, travelling gear 13 is connected in the body 16 of glass cleaning device 7 by bearing, and travelling gear 13 is fixing with support 9 to be connected.
Specifically, glass cleaning device work process is as follows:
Step 1: glass cleaning device is placed into glass surface, presses the button startup, and vacuum pump 11 is started working, respectively position
Hold the sucker 10 on vacuum chuck turntable 17 to adsorb on the glass surface in A end and A ', the size of both suction and the side of absorption simultaneously
Formula is the most identical.
Step 2: control unit 5 control respectively size that power exports on a pair vacuum chuck turntable 17 that A end and A ' are held and
Direction, drives a pair vacuum chuck turntable 17 to rotate or static centered by the vertical axes being perpendicular to glass surface in turn, makes both hand over
For becoming speed end or low speed end, make to be formed between the two speed discrepancy.
Specifically, speed discrepancy is that control unit 5 controls driver element and exports power respectively to vacuum chuck turntable 17, speed discrepancy
Vacuum chuck turntable 17 for one end rotates relative to glass surface, and the vacuum chuck turntable 17 of the other end is static relative to glass surface and shape
Become；Or, speed discrepancy be the vacuum chuck turntable 17 of one end relative to glass surface high-speed rotation, the vacuum chuck turntable 17 of the other end is relative
Slowly run in glass surface and formed.
Step 3: control unit 5 controls the rotating speed that the rotating speed making A end is held less than A ', body 16 is at A ' end vacuum chuck turntable 17
Twist forward around A end under drive；
Step 4: body 16, when A end rotates to certain angle, can be the random angle between 10 °-30 ° than such angle
Degree, control unit 5 controls rotating speed that A ' the holds rotating speed less than A end, body 16 under the drive of A end vacuum chuck turntable 17 around A ' end to
Before twist；
Step 5: as described in step 3 and step 4, the driver element 4 that A end and A ' the hold speed difference that alternately operates controls, real
Existing glass cleaning device walking on the glass surface.In sum, the rotating speed that the most alternately control A end and A ' hold, make both hand over
For becoming speed end or low speed end, form speed discrepancy, so that the high one end of body 16 rotating speed is centered by one end that rotating speed is low
Twist, and realize the walking of glass cleaning device.
In the present embodiment, acceleration sensing unit 6 is angular acceleration transducer, it is adaptable to the dress that cleans the windows of twisting walking
Putting 7, the glass cleaning device 7 of twisting walking will not straight line moving.
During as it is shown in figure 1, glass cleaning device 7 runs, often turn round, at it, the period that moves a step, if glass cleaning device 7 does not knock
Frame, ideally, glass cleaning device uniform rotation, then angular acceleration transducer records accekeration is 0.Or clean the windows
When device normally twists, its rotation speed change is little, and angular acceleration values is in less numerical range.
As in figure 2 it is shown, if glass cleaning device 7 is during twisting, glass cleaning device knocks frame, and glass cleaning device is turned round
Dynamic angular velocity is undergone mutation, and angular acceleration transducer is signaled to control unit 5, and control unit 5 confirms glass cleaning device 7
Arrived frame, control unit 5 control driver element 4 drive walking unit 2 stop walking or perform go to action, as rotate or
Retreat, thus dodge glass frame.
Specifically, the glass cleaning device that twisting is advanced has an angular velocity omega 1 during body rotates, and cleans the windows
After device knocks glass frame, angular velocity becomes ω 2=0, according to formula α=Δ ω/Δ t=(ω 2-the ω 1)/Δ of angular acceleration
T, wherein Δ t is preset value, and the α calculated according to this formula takes absolute value and obtains acceleration value.Owing to knocking frame moment,
Angular acceleration numerical value is relatively big, when more than or equal to built-in threshold alpha 0 in control unit, i.e. and α >=α 0, then judge to have knocked limit
Frame.
In addition to acceleration rate threshold is set, it is also possible to an acceleration rate threshold scope [-α 1, α 1] is set.Glass cleaning device is just
During often twisting walking, angular velocity omega 1 is held essentially constant, and its angular acceleration fluctuates near numerical value 0.When knock frame or its
During its barrier, angular velocity is quickly reduced to 0, then its angular acceleration is undergone mutation.Accordingly, as α-α 1 or α α 1, control
Unit processed then judges to knock frame or other barrier, controls glass cleaning device and stops walking or change direction of travel.
Embodiment two
In the present embodiment, walking unit 2 is crawler belt or wheel, and glass cleaning device 7 rolls advances, acceleration sensing unit
6 is linear acceleration transducer, it is adaptable to the glass cleaning device 7 of straight-line rolling walking, the glass cleaning device 7 of straight line moving will not be turned round
Dynamic walking.
As it is shown on figure 3, when glass cleaning device 7 is properly functioning, the no change of the fuselage speed of glass cleaning device 7 or change are very
Little, linear acceleration transducer records accekeration and is 0 or is in the least numerical range；As shown in Figure 4, when glass cleaning device 7
When running into glass frame 8, fuselage speed changes, and linear acceleration transducer records acceleration signal value and is sent to control list
Unit 5, when control unit 5 judges that acceleration signal value is more than or equal to threshold value built-in in control unit 5, or acceleration surpasses
When threshold signal scope, control unit 5 confirms that glass cleaning device 7 has arrived frame, and control unit 5 controls driver element 4 and drives
Dynamic walking unit 2 retreats or stops walking, thus collision free glass frame.
In the present embodiment, described in clean the windows that to put 7 can be split type, including driving machine and follower, driving machine includes
Walking unit, driver element, linear velocity sensing unit and control unit, driving machine and follower are built-in with first and second magnetic respectively
Ferrum, enables both mutually to adsorb the inside and outside both sides at glass, under the suction of first and second Magnet, follower and driving
Machine produces servo-actuated.Walking unit includes left and right sides crawler belt and the Athey wheel being positioned at driving machine, and crawler belt includes multiple track unit
Joint；Or walking unit can also be only with wheel.
Described glass cleaning device can also be single-body type, including walking unit, driver element, sensing unit and control list
Unit, walking unit can be to include left and right sides crawler belt and the Athey wheel that being positioned at cleans the windows puts, and crawler belt includes multiple track unit
Joint；Or walking unit can also be only with wheel.
Claims (9)
1. a glass cleaning device, comprises walking unit (2), cleaning unit (3), driver element (4) and control unit (5), OK
Walking unit (2) and cleaning unit (3) is arranged on the bottom of glass cleaning device (7), control unit (5) is connected with driver element (4),
It is characterized in that: described glass cleaning device (7) also includes the acceleration sensing unit (6) being connected with control unit (5), control single
The acceleration signal value that unit (5) sends according to acceleration sensing unit (6): when control unit (5) judges described acceleration signal
The threshold value that value is built-in more than or equal in control unit, or acceleration signal value is beyond threshold signal built-in in control unit
During scope, control driver element (4) and drive glass cleaning device (7) stop walking or perform go to action.
2. glass cleaning device as claimed in claim 1, it is characterised in that: when described walking unit (2) is crawler belt or wheel, wipe
Glass device (7) rolls when advancing, and described acceleration sensing unit (6) is linear acceleration transducer.
3. glass cleaning device as claimed in claim 1, it is characterised in that: when described walking unit (2) is for being rotatably disposed in
The vacuum chuck turntable of glass cleaning device (7) bottom, described glass cleaning device (7) is advanced by being alternately rotated the twisting of described vacuum chuck turntable
Time, described acceleration sensing unit (6) is angular acceleration transducer.
4. glass cleaning device as claimed in claim 3, it is characterised in that: described vacuum chuck turntable comprises support and sucker, institute
Stating the flexible glue sucker that sucker is annular, described support is provided with groove, and described flexible glue sucker is embedded at groove by elastic washer
Inner position.
5. glass cleaning device as claimed in claim 4, it is characterised in that: described cleaning unit (3) is installed on support, or
Described cleaning unit (3) is installed in the hollow region of described sucker.
6. glass cleaning device as claimed in claim 3, it is characterised in that: described vacuum chuck turntable is cleaned the windows by connector connection
The body (16) of device (7).
7. glass cleaning device as claimed in claim 6, it is characterised in that: described connector is bearing, in described bearing comprises
Circle and outer ring, be provided with between described inner ring and outer ring ball make inner ring can relative to outer ring rotating, described outer ring with clean the windows
The body of device is fixing to be connected, and described inner ring is fixing with vacuum chuck turntable to be connected.
8. glass cleaning device as claimed in claim 3, it is characterised in that: described driver element (4) is connected by drive mechanism
Described vacuum chuck turntable.
9. glass cleaning device as claimed in claim 8, it is characterised in that: described drive mechanism is travelling gear or Timing Belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210216759.4A CN103505140B (en) | 2012-06-28 | 2012-06-28 | Glass cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210216759.4A CN103505140B (en) | 2012-06-28 | 2012-06-28 | Glass cleaning device |
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| Publication Number | Publication Date |
|---|---|
| CN103505140A CN103505140A (en) | 2014-01-15 |
| CN103505140B true CN103505140B (en) | 2016-12-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210216759.4A Active CN103505140B (en) | 2012-06-28 | 2012-06-28 | Glass cleaning device |
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| Country | Link |
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| CN (1) | CN103505140B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101578879B1 (en) * | 2014-03-11 | 2015-12-18 | 에브리봇 주식회사 | A robot cleaner and a method for operating it |
| CN104905728B (en) * | 2015-06-17 | 2017-09-26 | 上海缘盟自动化技术有限公司 | Swing type is from window wiping robot and its control method of walking |
| CN105147184B (en) * | 2015-10-08 | 2018-09-07 | 广东宝乐机器人股份有限公司 | A kind of running gear of window wiping robot |
| CN107427171A (en) * | 2015-11-10 | 2017-12-01 | 深圳市赛亿科技开发有限公司 | A kind of glass-cleaning robot |
| CN108185896A (en) * | 2017-12-21 | 2018-06-22 | 罗积川 | Cleaner and its controlling of path thereof |
| WO2020244367A1 (en) * | 2019-06-04 | 2020-12-10 | 罗积川 | Wiping device and wiping method |
| CN112641366A (en) * | 2020-04-15 | 2021-04-13 | 安徽大汉机器人集团有限公司 | Window cleaning machine |
| CN113017516B (en) * | 2021-04-07 | 2022-04-15 | 杭州智邀科技有限公司 | Indoor eminence removes clean equipment on wall |
| CN114468828B (en) * | 2022-01-29 | 2022-10-21 | 衡南艾迪智能科技中心 | Cleaning robot and motion control method thereof |
| CN114812463B (en) * | 2022-06-27 | 2022-09-30 | 山西嘉世达机器人技术有限公司 | Method for detecting arrival edge of cleaning machine, detection device, cleaning machine and medium |
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| Publication number | Publication date |
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| CN103505140A (en) | 2014-01-15 |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: Wuzhong District, Suzhou, West Lake stone road, No. 108 Applicant before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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