CN102591334B - Facing control system and facing control method for glass wiping robot - Google Patents
Facing control system and facing control method for glass wiping robot Download PDFInfo
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- CN102591334B CN102591334B CN201110020004.2A CN201110020004A CN102591334B CN 102591334 B CN102591334 B CN 102591334B CN 201110020004 A CN201110020004 A CN 201110020004A CN 102591334 B CN102591334 B CN 102591334B
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Abstract
The invention discloses a facing control system and a facing control method for a glass wiping robot. The glass wiping robot comprises a first walking unit and a driving unit; the facing control system comprises a sensing unit and a control unit; the sensing unit comprises a front sensor subunit and a rear sensor subunit which are positioned on the same side of the lateral surface of the glass wiping robot; the control unit is respectively connected with the sensor subunits and the driving unit; and the control unit is used for controlling the driving unit to drive the first walking unit to move according to signals transmitted by the front and rear sensor subunits which are positioned on the same side of the glass wiping robot, so that the lateral surface of the glass wiping robot is attached to the edge of glass. According to the facing control system and the facing control method for the glass wiping robot, which are provided by the invention, the glass wiping robot is enabled to achieve the state of facing and the preparation for next cleaning work is realized.
Description
Technical field
The present invention relates to a kind of intelligent robot technology field, specifically, relate to a kind of welt control system and control method thereof of glass-cleaning robot.
Background technology
In daily life, people generally clean with rag when cleaning glass.When to glass outside structural glass and window, usually clean with rod-type glass cleaning wiper.But during with rod-type glass cleaning wiper cleaning glass, arm is easily tired, and wiping the glass outside examination window, especially for skyscraper, very dangerous.Visible, cleaning exterior window is a great problem in family and even city, its not only dangerous but also not easily wipe complete, wipe clean.
For as above problem, there is a kind of window-cleaning device at present.It is ZL200820080547.7 that the concrete technical scheme of this window-cleaning device asks for an interview the patent No., and name is called " window-cleaning device ".As shown in Figure 1, this window-cleaning device comprises handle 1, plastic plate 2 and rag 4.Handle 1 is fixed on the one side of plastic plate 2, and rag 4 is fixed on the another side of plastic plate 2, is fixed with magnet plate 3 between plastic plate 2 and rag 4.When needs cleaning glass window, two window-cleaning devices are clamped the glass treating wiping, and user wipes examination inner layer glass, due to magnetic action in indoor holds handle, the window-cleaning device of the inside can drive the window-cleaning device motion of outside when moving, thus by the glass of outside also wiped clean.
As above technical scheme, although contingent unsafe factor when efficiently solving wiping exterior window, but this window-cleaning device needs by handling the window-cleaning device be positioned at inside window artificially, thus guide the window-cleaning device work be positioned at outside window, when the glass 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, provides a kind of welt control system and control method thereof of glass-cleaning robot, glass-cleaning robot can be enable to reach the state of welt, for next step cleaning is prepared.
For solving the problems of the technologies described above, the invention provides a kind of welt control system of glass-cleaning robot, described glass-cleaning robot comprises the first walking unit and driver element, described welt control system comprises sensing unit and control module, before described sensing unit comprises and is positioned at the same side, described glass-cleaning robot side, latter two sensor subunits, described control module is connected with described sensor subunits and described driver element respectively, before described control module monitoring is positioned at described glass-cleaning robot the same side, the signal that latter two sensor subunits sends: when monitor only have a sensor subunits to send signal time, judge to send the position of the sensor subunits of this signal and to control described in described drive unit drives the first walking unit according to this judged result and move, the side of described glass-cleaning robot and glass edge are pressed close to, or, when to monitor two sensor subunits and all send signal simultaneously, then judge that the side of described glass-cleaning robot is pressed close to glass edge.
Present invention also offers a kind of welt control method of glass-cleaning robot, comprise the steps:
Step 1, is detected former and later two sensor subunits laying respectively at the same side, described glass-cleaning robot side by control module;
Step 2, judge whether to receive the signal that former and later two sensor subunits of being positioned at the same side, described glass-cleaning robot side are sent, if receive the signal that front sensor subelement and rear sensor subunits are sent respectively, and meet predetermined requirement, then keep former attitude; If the signal that before or after only receiving described glass-cleaning robot the same side, sensor subunits is sent or all do not receive, then drive walking unit to turn to, then return step 1.
By welt control system and the control method thereof of glass-cleaning robot provided by the invention, glass-cleaning robot can be enable to reach the state of welt, for next step cleaning is prepared.
Technical scheme of the present invention is described in detail below in conjunction with the drawings and specific embodiments.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of window-cleaning device of prior art;
Fig. 2 is the principle schematic of the welt control system of glass-cleaning robot of the present invention;
Fig. 3 is the process flow diagram of welt control method first embodiment of glass-cleaning robot of the present invention;
Fig. 4 is the process schematic that glass-cleaning robot of the present invention completes welt state;
Fig. 5 is the process flow diagram of welt control method second embodiment of glass-cleaning robot of the present invention.
Fig. 6 is the structural representation of a specific embodiment of glass-cleaning robot of the present invention;
Fig. 7 is glass-cleaning robot specific embodiment side schematic view of the present invention shown in Fig. 6;
Fig. 8 is the schematic bottom view of the driving machine of glass-cleaning robot specific embodiment of the present invention shown in Fig. 6.
Embodiment
First embodiment
Fig. 2 is the principle schematic of the welt control system of glass-cleaning robot of the present invention.Glass-cleaning robot 1 of the present invention comprises driver element 11 and the first walking unit 12, and welt control system 2 comprises sensing unit 21 and control module 22.This control module 22 is connected with sensing unit 21 and driver element 11 respectively, and controls driver element 11.In the present invention, described sensing unit 21 comprises former and later two sensor subunits being positioned at the same side, described glass-cleaning robot side.In the welt process of glass-cleaning robot, the transducing signal that control module 22 sends according to former and later two sensor subunits of the same side, described glass-cleaning robot side, controlling driver element 11 drives the first walking unit 12 to move, and presses close to the side and glass edge that make described glass-cleaning robot.The present invention, by controlling glass-cleaning robot welt, can make robot along glass edge work, thus can carry out wiping to glass edge, realize the position that the glass periphery of dust is easily piled up in light wiping.
Fig. 3 is the process flow diagram of welt control method first embodiment of glass-cleaning robot of the present invention, and Fig. 4 is the process schematic that glass-cleaning robot of the present invention completes welt state.The welt process of the glass-cleaning robot of the first embodiment is described referring to Fig. 3 and Fig. 4.
The sensing unit 21 of the first embodiment is made up of touch sensor 210, can select travel switch, pressure transducer and conductive rubber etc.From the simple consideration of use, preferably use travel switch.The main body front of glass-cleaning robot 1 and the left and right side at rear are respectively provided with a sensor, in addition, respectively there is a sensor front-end and back-end on the left of glass-cleaning robot 1, and respectively there is a sensor front-end and back-end on right side, can sense the obstacle signal of left and right side respectively.When the left side of glass-cleaning robot or touch sensor 210 making contact on right side are to bezel, touch sensor 210 sends signal to control module 22.According to this set, when making glass-cleaning robot 1 cleaning glass window or when needing welt, turn to without the need to tune, thus reach more time saving and energy saving object.
As shown in the state A of Fig. 4, the left side of glass-cleaning robot 1 is close to bezel, and about it, the front-end and back-end of two sides are respectively provided with two touch sensors 210.Now start glass-cleaning robot 1, as shown in Figure 3, in step 110, whether the touch sensor 210 being detected glass-cleaning robot 1 side by the control module 22 in the welt control system of glass-cleaning robot 1 sends collision alarm.If these two sensors 210 all do not send collision alarm, control module 22 will send control signal to driver element 11, and control signal makes driver element 11 drive the first walking unit 12 to turn to, thus rotate glass-cleaning robot 1, as shown in the state B of Fig. 4.Then repeat the process of step 110, until control module 22 these two touch sensors 210 detected any one due to making contact to send collision alarm to bezel time, enter into step 120.
In step 120, control module 22 judges that whether the collision alarm that now receives is the collision alarm of two sensors 210 in front-end and back-end of the same side of the close bezel of glass-cleaning robot 1.If two, the front-end and back-end sensor 210 that the collision alarm received is the same side sends, namely when control module 22 detects the collision limit signal of these two sensors 210 simultaneously, control module 22 can judge that glass-cleaning robot 1 has been in welt state, therefore control signal is not sent, glass-cleaning robot 1 keeps former attitude motionless, and welt process terminates.When control module 22 only detect one in these two sensors 210 send welt signal time, enter into step 130.
In step 130, control module 22 judges it is the collision alarm that front end sensors or rear end sensor send.Such as, first judge whether receive is the collision alarm that front end sensors sends, if, then control module 22 sends control signal to driver element 11, control signal makes driver element 11 drive the first walking unit 12 to move, rotate the rear end of glass-cleaning robot 1, as shown in the state C of Fig. 4, turn back to step 120 again, repeat each step from step 120, until when control module 22 detects the collision alarm of two sensors 210 in front-end and back-end of the same side of glass-cleaning robot 1, welt process terminates, as shown in the state D of Fig. 4 simultaneously.If not, then enter into step 140.
In step 140, control module 22 judges whether the collision alarm received is that after glass-cleaning robot 1, end sensor is sent.When rear end sensor sends collision alarm, control module 22 sends control signal to driver element 11, control signal makes driver element 11 drive the first walking unit 12 to move, the front end rotating glass-cleaning robot 1 turns back to step 120, repeat each step from step 120, until when control module 22 detects the collision alarm of two sensors 210 in front-end and back-end of the same side of glass-cleaning robot 1, welt process terminates simultaneously.
In the present embodiment, because the sensor used is touch sensor, its signal sent is a switching value, as long as the signal received is switching value, then illustrate that glass-cleaning robot 1 bumps against with bezel, when have received the on-off model that former and later two touch sensors of the same side are sent, the requirement meeting welt is described.
Second embodiment
The different structure of the glass-cleaning robot of the second embodiment and the glass-cleaning robot of the first embodiment is, the sensor of sensing unit 21 is non-contacting sensor, and this non-contacting sensor comprises infrared sensor or sonac etc.Detecting distance due to non-contacting sensor has certain scope, barrier in its sensing range can be detected, if this detecting distance is excessive, just signal can be detected when the distance of glass-cleaning robot and bezel is also large, if now think glass-cleaning robot and bezel welt, obvious error is excessive.Two solutions are had for this problem, the first: select the non-contacting sensor that detecting distance is little, in its detecting distance, can with the requirement making the distance between glass-cleaning robot and bezel meet welt.The second: control module is after receiving detection signal, it is calculated, only at the signal value of detection signal enough large (distance between the glass-cleaning robot of this signal value representative and bezel meets the requirement of welt), just think that this detection signal is effective, otherwise think that this signal is invalid.Flow process described in following Fig. 5 described in embodiment is the second.At the present embodiment, basic process is identical with embodiment one, and difference is, when after the collision alarm receiving front end and rear end simultaneously, also will carry out calculating, comparing, this flow process as shown in Figure 5.
As shown in Figure 5, glass-cleaning robot 1 is started.First, in step 111, for the intensity of the signal that two non-contacting sensors of the front-end and back-end of the same side of the close bezel of glass-cleaning robot 1 send, by the control module 22 of welt control system, these two signal intensities and a pre-stored values are compared, judge in these two sensors any one whether meet the requirement of welt.If these two sensors all do not meet the requirement of welt, namely from glass edge too away from, control module 22 will send control signal to driver element 11, and control signal makes driver element 11 drive the first walking unit 12 to move, thus rotate glass-cleaning robot 1.The process of step 111 repeats, until the signal value of these two sensors of control module 22 calculating all reaches pre-stored values, thus judges that the front-end and back-end of this sensor all reach the requirement of welt, enters into step 121.
In step 121, control module 22 compares the signal value of two sensors in front-end and back-end of the same side of the close bezel of glass-cleaning robot 1.Control module 22 is according to the signal value of these two sensors calculated, the relatively size of two signal values, when the difference of two signal values is in preset range, control module 22 can judge that driving machine 2 is in welt state, therefore control signal is not sent, glass-cleaning robot 1 keeps former attitude motionless, and welt process terminates.When the difference of two signal values that control module 22 compares is not in preset range, enter into step 131.
In step 131, when the signal value of rear end sensor is less, control module 22 sends control signal to driver element 11, and control signal makes driver element 11 drive the first walking unit 12 to move, rotate the rear end of glass-cleaning robot 1, the signal value of end sensor after increasing.Then step 121 is turned back to.When control module 22 calculate and the difference of the signal value of two sensors in front-end and back-end compared in preset range time, welt process terminates.And when the difference of signal value is not in preset range, and when the signal value of front end sensors is less, then enter into step 141.
In step 141, when the signal value of front end sensors is less, control module 22 sends control signal to driver element 11, and control signal makes driver element 11 drive the first walking unit 12 to move, rotate the front end of glass-cleaning robot 1, increase the signal value of front end sensors.Then step 121 is turned back to.Repeat each step from step 121, until control module 22 calculate and the difference of the signal value of two sensors in front-end and back-end compared in preset range time, welt process terminates.
In the present embodiment, what compare is the difference of the signal value of two sensors in front-end and back-end, can certainly be the quotient of the signal value of two sensors in front-end and back-end.
In above two embodiments, be positioned at former and later two sensor subunits of the same side, described glass-cleaning robot side, as the non-contacting sensor in the touch sensor in embodiment one and embodiment two, particular location in glass-cleaning robot side is without the need to being limited to two ends, i.e. front-end and back-end, as long as the position before and after being in side, and, former and later two sensors can be positioned in a plane, also can not be in one plane.Described plane refers to the plane parallel with glass-cleaning robot base.
A specific embodiment of glass-cleaning robot of the present invention
Fig. 6 ~ Fig. 8 is the schematic diagram of a specific embodiment of glass-cleaning robot of the present invention.As shown in Figure 6, glass-cleaning robot 1 of the present invention is made up of driving machine 3 and follower 4, and both are separate piece.When using glass-cleaning robot 1 of the present invention, driving machine 3 and follower 4 are placed in respectively the both sides of glass 5.
Driver element, the first walking unit, magnet 6 and electricity feeding unit is provided with in the housing 30 of driving machine 3.Wherein, driver element and driving machine energy unit not illustrated in the accompanying drawings.
First walking unit comprises crawler belt travel wheel.Crawler belt travel wheel is arranged on the both sides of the direct of travel of driving machine 3, and each crawler belt travel wheel comprises a crawler belt 341 and two Athey wheels 342, and crawler belt 341 comprises multiple track unit joint.Rotated by Athey wheel 342 rotary actuation crawler belt 341, thus driving machine 3 is advanced.The driver element of driving machine 3 comprises drive motor, and each crawler belt travel wheel is driven by a drive motor, and drive motor is connected with Athey wheel 342.Drive single crawler belt travel wheel by single drive motor, thus realize being synchronized with the movement and differential motion; Be synchronized with the movement and make driving machine 3 advance or retreat, differential motion makes driving machine 3 rotate.
The second walking unit, magnet 61, electricity feeding unit, cleaning glass window unit and liquid-jet device is provided with in the housing 40 that the chassis of follower 4 and face-piece are formed.Wherein, electricity feeding unit, cleaning glass window unit and liquid-jet device are not illustrated in the accompanying drawings.
Second walking unit of follower 4 comprises four supporting rollers 440, is respectively provided with two supporting rollers 440 in the both sides of the direct of travel of follower 4.Second walking unit is followed the first walking unit and is moved.
Be provided with one or two strong magnets 6 between two crawler belt travel wheel of driving machine 3, between four supporting rollers 440 of follower 4, be provided with the opposite polarity strong magnets 61 of strong magnets 6 of one or two and driving machine.When driving machine 3 and follower 4 be placed into simultaneously glass 5 on the surface time, because two strong magnets are adsorbed mutually, there is provided enough large normal pressure to glass surface, thus correspondence provides enough large stiction, make driving machine 3 and follower 4 can overcome the gravity of self and be adsorbed on glass 5 surface.And under the magnetic action between strong magnets, driving machine 3 can drive follower 4 to move with same trajectories.
In addition, not illustrated also having in accompanying drawing, the driving machine sensing unit that driving machine 3 is also provided with and driving machine control module, the follower sensing unit that follower 4 is also provided with and follower control module.
The driving machine that the driving machine sensing unit of driving machine 3 is floating type setting by the main body relative to driving machine 3 hits plate and driving machine sensor forms.Before and after the main body of driving machine 3, both sides respectively have a driving machine to hit plate, hit the working direction of plate relative to driving machine 3, be placed in the front end of driving machine 3 before driving machine.Hit the working direction of plate relative to driving machine 3 after driving machine, be placed in the rear end of driving machine 3, each driving machine hits plate and is provided with four driving machine sensors, and wherein, the front left and right side hitting plate at each driving machine is respectively provided with a driving machine sensor.The arranged on left and right sides that each driving machine hits plate is respectively provided with a driving machine sensor, can sense the signal that driving machine hits plate left and right side respectively.Therefore, respectively there is a driving machine sensor front-end and back-end in the left side of driving machine 3, and respectively there is a driving machine sensor front-end and back-end on the right side of driving machine 3.The sensor of driving machine 3 side front end forms a sensor subunits of welt control system of the present invention, and the sensor of rear end, driving machine 3 side forms another sensor subunits of welt control system of the present invention.
The follower sensing unit of follower 4 has the structure identical with above-mentioned driving machine sensing unit.Therefore repeat specification is omitted.
In the present invention, the function of the sensing unit 21 of welt control system 2 is such as performed by driving machine sensing unit, and the function of the control module 22 of welt control system 2 is such as performed by driving machine control module.According to the signal that driving machine sensing unit sends, driving machine control module controls drive unit drives first unit of walking and moves.By the control method of the various embodiments described above, realize the welt process of glass-cleaning robot.
Claims (13)
1. a welt control system for glass-cleaning robot, described glass-cleaning robot comprises the first walking unit and driver element, described welt control system comprises sensing unit and control module, it is characterized in that, before described sensing unit comprises and is positioned at the same side, described glass-cleaning robot side, latter two sensor subunits, described control module is connected with described sensor subunits and described driver element respectively, before described control module monitoring is positioned at described glass-cleaning robot the same side, the signal that latter two sensor subunits sends: when monitor only have a sensor subunits to send signal time, judge to send the position of the sensor subunits of this signal and to control described in described drive unit drives the first walking unit according to this judged result and move, the side of described glass-cleaning robot and glass edge are pressed close to, or, when to monitor two sensor subunits and all send signal simultaneously, then judge that the side of described glass-cleaning robot is pressed close to glass edge.
2. the welt control system of glass-cleaning robot according to claim 1, is characterized in that, former and later two sensor subunits described are all positioned in the same plane parallel with glass-cleaning robot base.
3. the welt control system of glass-cleaning robot according to claim 1, is characterized in that, former and later two sensor subunits described lay respectively at the front-end and back-end of the same side, glass-cleaning robot side.
4. the welt control system of glass-cleaning robot according to claim 3, is characterized in that, respectively has a sensor in the front-end and back-end of the same side, described glass-cleaning robot side.
5. the welt control system of glass-cleaning robot according to claim 1, is characterized in that, described side is that the left side of window wiping robot working direction is or/and right side.
6., according to the welt control system of the arbitrary described glass-cleaning robot of claim 1-5, it is characterized in that, described sensor subunits comprises touch sensor or non-contacting sensor.
7. the welt control system of glass-cleaning robot according to claim 6, is characterized in that, described touch sensor is travel switch or crash sensor.
8. the welt control system of glass-cleaning robot according to claim 6, is characterized in that, described non-contacting sensor is infrared sensor or sonac.
9. the welt control system of glass-cleaning robot according to claim 1, it is characterized in that, described glass-cleaning robot comprises driving machine and follower, described driving machine and follower are respectively equipped with opposite polarity magnet, described driver element and the first walking unit are positioned on described driving machine, described follower comprises the second walking unit, and described second walking unit is followed described first walking unit and moved.
10. the welt control system of glass-cleaning robot according to claim 9, is characterized in that, described first walking unit comprises crawler belt and Athey wheel, and wherein, described crawler belt comprises multiple track unit joint; Described second walking unit comprises supporting roller.
11. 1 kinds, based on the welt control method of the welt control system of glass-cleaning robot according to claim 1, is characterized in that, comprise the steps:
Step 1, is detected former and later two sensor subunits laying respectively at the same side, described glass-cleaning robot side by control module;
Step 2, judge whether to receive the signal that former and later two sensor subunits of being positioned at the same side, described glass-cleaning robot side are sent, if receive the signal that front sensor subelement and rear sensor subunits are sent respectively, and meet predetermined requirement, then keep former attitude; If the signal that before or after only receiving described glass-cleaning robot the same side, sensor subunits is sent or all do not receive, then drive walking unit to turn to, then return step 1.
12. according to welt control method described in claim 11, it is characterized in that, in step 2, if receive the signal that front sensor subelement and rear sensor subunits are sent respectively, calculate and compare the signal value that former and later two sensor subunits send, judging the result that compares whether in a preset range, if in preset range, then meet predetermined requirement, keep former attitude; If not in preset range, drive the first walking unit to turn to, the signal that the sensor subunits making signal value little receives increases, until the signal value that former and later two sensor subunits are sent is in preset range.
13. welt control methods according to claim 11, is characterized in that, in step 2, if receive the signal that front sensor subelement and rear sensor subunits send respectively, and described signal is switching value, then meet predetermined requirement, keeps former attitude.
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| CN201110020004.2A CN102591334B (en) | 2011-01-05 | 2011-01-05 | Facing control system and facing control method for glass wiping robot |
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| CN201110020004.2A CN102591334B (en) | 2011-01-05 | 2011-01-05 | Facing control system and facing control method for glass wiping robot |
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| CN102591334B true CN102591334B (en) | 2015-07-08 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103844992B (en) * | 2012-12-07 | 2016-08-31 | 科沃斯机器人有限公司 | Glass-cleaning robot and the control method of work pattern thereof |
| CN105242666B (en) * | 2015-09-02 | 2019-01-04 | 小米科技有限责任公司 | A kind of method and apparatus that control equipment is mobile |
| CN107817796B (en) * | 2017-10-25 | 2020-02-07 | 上海思岚科技有限公司 | Method and equipment for moving mobile robot in obstacle pasting mode |
| CN110499727B (en) * | 2019-08-14 | 2021-09-10 | 北京智行者科技有限公司 | Multi-sensor-based welt sweeping method and sweeper |
| CN113152215A (en) * | 2021-06-01 | 2021-07-23 | 山推工程机械股份有限公司 | Edge pasting system of road roller |
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Free format text: CORRECT: APPLICANT; FROM: TAIYIKAI ELECTRIC APPLIANCE (SUZHOU) CO., LTD. TO: ECOVACS ROBOTICS (SUZHOU) CO., LTD. Free format text: CORRECT: APPLICANT; FROM: ECOVACS ROBOTICS (SUZHOU) CO., LTD. TO: ECOVACS ROBOT CO., LTD. |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
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. |