CN102591338B - Control system of glass-cleaning robot, and control method thereof - Google Patents
Control system of glass-cleaning robot, and control method thereof Download PDFInfo
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- CN102591338B CN102591338B CN201110020019.9A CN201110020019A CN102591338B CN 102591338 B CN102591338 B CN 102591338B CN 201110020019 A CN201110020019 A CN 201110020019A CN 102591338 B CN102591338 B CN 102591338B
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Abstract
The invention provides a control system of a glass-cleaning robot, and the control method thereof. The glass-cleaning robot includes a driver and a follower, and magnets opposite in polarity are arranged in the driver and the follower respectively to enable the follower to move along with the driver; the follower includes a cleaning module; the glass-cleaning robot is characterized by further including a remote control signal emitting device; the driver includes a driver processing module, a remote control signal receiving device, a driving module and a first walking module connected with the driving module; and the driver processing module is connected with the remote control signal receiving device and the driving module, and is used for processing signals emitted by the remote control signal emitting device and received by the remote control signal receiving device. Through the control system and control method of the glass-cleaning robot, which are provided by the invention, the glass-cleaning robot can be controlled by people for work, glass can be cleaned more easily and conveniently, the glass-cleaning robot is safe and reliable, and the efficiency of cleaning the glass can be improved.
Description
Technical field
The present invention relates to a kind of intelligent robot technology field, specifically, relate to a kind of control system and control method thereof of glass-cleaning robot.
Background technology
In daily life, people generally clean with rag in the time of cleaning glass.In the time of the glass to structural glass and window outside, conventionally clean with rod-type glass cleaning wiper.But 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 the problems referred to above, prior art provides electronic glass cleaner, this window-cleaning device is by clamping the window-cleaning device of two carry magnets in the glass for the treatment of wiping, in the time that indoor window-cleaning device is worked, the window-cleaning device of outside is because magnetic action is followed indoor window-cleaning device and moved, thereby the surfaces externally and internally of cleaning glass window simultaneously.As shown in Figure 1, this window-cleaning device comprises handle 1a, plastic plate 2a and rag 4a.Handle 1 is fixed on the one side of plastic plate 2a, and rag 4a is fixed on the another side of plastic plate 2a, between plastic plate 2a and rag 4a, is fixed with magnet plate 3a.In the time of 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 movement, thereby by the glass of outside also wiped clean.
Although this window-cleaning device can be laborsaving, but owing to lacking enough dirigibilities,, still need full wafer glass to carry out wiping compared with needing the region of wiping to only have a fraction of glass greatly for area, spend thus the longer time, and produced more power consumption.In addition,, when this window-cleaning device across obstacle, as crossed over similar paster and so on protruding of glass surface time, may cause window-cleaning device to depart from glass surface, the danger that makes window-cleaning device easily exist high-altitude to fall.
Summary of the invention
The technical problem to be solved in the present invention is, a kind of control system and control method thereof of glass-cleaning robot are provided, can realize artificial manipulation glass-cleaning robot and carry out work, make cleaning glass window more easy and convenient, safe and reliable, and can improve the efficiency cleaning the windows.
For solving the problems of the technologies described above, the invention provides a kind of control system of glass-cleaning robot, described glass-cleaning robot comprises driving machine and follower, in described driving machine and described follower, is respectively equipped with opposite polarity magnet, moves so that described follower is followed described driving machine; Described follower comprises cleaning module; Also comprise remote control signal transmission device, described driving machine comprises driving machine processing module, remote control signal receiver, driver module and connected the first walking module; Described driving machine processing module is connected with described driver module with described remote control signal receiver, processes the signal of being launched by remote control signal transmission device that remote control signal receiver receives; Described follower comprises follower processing module; Also comprise the driving machine signal transmission module and the follower signal transmission module that lay respectively on described driving machine and described follower, described driving machine signal transmission module is connected with described driving machine processing module, and described follower signal transmission module is connected with described follower processing module.
The present invention also provides a kind of control method of aforementioned glass-cleaning robot control system, and driving machine drives follower to move, and in moving process, controls the cleaning module work in follower; Described control method also comprises following process: in the time that described driving machine receives the remote signal of a remote control signal transmission device transmitting, carry out corresponding action according to described remote signal; If remote signal is a walking instruction, described driving machine drives described follower to move according to the requirement of described walking instruction; In moving process, detect whether run into barrier, if run into barrier, described driving machine is reported to the police; If follower detects barrier, by follower, obstacle information is sent to driving machine.
Particularly, described remote signal can be startup, halt instruction, the walking instruction of various walking modes, operational order of cleaning module etc.
By control system of the present invention and control method, can manipulate artificially the work of glass-cleaning robot, make cleaning glass window more easy and convenient, safe and reliable, and can improve the efficiency cleaning the windows.
By specific embodiments and the drawings, technical solutions according to the invention are described in detail below.
Brief description of the drawings
Fig. 1 is the structural representation of a kind of window-cleaning device of the prior art;
Fig. 2 is the structure principle chart of glass-cleaning robot described in one embodiment of the invention and control system thereof;
Fig. 3 is the structure principle chart of glass-cleaning robot and control system thereof in another embodiment of the present invention;
Fig. 4-6 are the structural representation of the glass cleaning device in the present invention's one specific embodiment.
Embodiment
Fig. 2 is the schematic diagram of the structure of glass-cleaning robot described in one embodiment of the invention and control system thereof.As shown in Figure 2, glass-cleaning robot 1 of the present invention is made up of driving machine 10 and follower 20, and both are separate piece.The control system of glass-cleaning robot is made up of the driving machine processing module 11 on remote control signal transmission device 30 and driving machine, remote control signal receiver 12.
Driving machine 10 and follower 20 be interior is respectively provided with a strong magnets, the polarity of two strong magnets is contrary, while using glass-cleaning robot of the present invention, driving machine 10 and follower 20 are placed in respectively to the both sides of glass, because two strong magnets are adsorbed mutually, the gravity that makes driving machine 10 and follower 20 can overcome self is adsorbed on glass 3.And in the time that driving machine 10 moves, under magnetic action, driving machine 10 drives follower 20 synchronizing movings.
In the housing of driving machine 10, be also provided with driving machine processing module 11, remote control signal receiver 12, driving machine signal transmission module 13, driving machine sensing module 14, driver module 15, the first walking module 16 and alarm module 17.In the housing of follower 20, be provided with follower processing module 21, follower signal transmission module 22, follower sensing module 23, cleaning module 24 and supporting roller 25.
The driver module 15 of driving machine 10 is connected with driving machine processing module 11, receives the driving signal that driving machine processing module 11 sends.Driver module 15 is also connected with the first walking module 16.Driver module 15 receives after the driving signal of driving machine processing module 11, drives the first walking module 16 to walk, thereby makes driving machine 10 in movement on glass.
Driving machine 10 also comprises alarm module 17, and alarm module 17 is connected with driving machine processing module 11.Driving machine processing module 11 can be controlled alarm module 17 and send warning message.Alarm module 17 comprises display unit, voice unit and/or luminescence unit.
Driving machine signal transmission module 13 and the mutual transmission information of follower signal transmission module 22.Driving machine signal transmission module 13 is connected with driving machine processing module 11.Follower signal transmission module 22 is connected with follower processing module 21.Driving machine signal transmission module 13 and follower signal transmission module 22 are radio signal transmission unit or Bluetooth signal transmission unit or infrared signal transmission unit, thereby driving machine processing module 11 and follower processing module 21 are carried out the transmission of information by wireless system or bluetooth approach or infrared mode.In the time that driving machine 10 and follower 20 are started working, driving machine processing module 11 sends working signal to follower signal transmission module 22 by driving machine signal transmission module 13, follower processing module 22 is processed these signals, and controls follower 20 and start the work of cleaning the windows.In addition, follower 20 in the process cleaning the windows by the various status informations of self as barrier state, supporting roller state, the electric weight of power supply and the state of cleaning module etc., at set intervals or real-time send to driving machine signal transmission module 13 by follower signal transmission module 22, judge counter-measure by driving machine processing module 11, then decision information is sent to follower processing module 21 by driving machine signal transmission module 13 and follower signal transmission module 22.Follower processing module 21 is carried out corresponding order according to this decision information.
Driving machine 10 and follower 20 also comprise respectively driving machine sensing module 14 and follower sensing module 23, and driving machine sensing module 14 is connected with driving machine processing module 11, and follower sensing module 23 is connected with follower processing module 21.Driving machine sensing module 14 and follower sensing module 23 comprise respectively the first sensor subelement of the front-end and back-end that are positioned at driving machine 10 and follower 20, whether run into barrier for detection of front and the rear of described driving machine and follower.In addition, driving machine sensing module 14 and follower sensing module 23 also comprise respectively the second sensor subunits of the side that is positioned at driving machine 10 and follower 20, whether run into barrier for detection of the side of described driving machine 10 and follower 20.First sensor subelement and the second sensor subunits comprise contact or non-contacting sensor.Touch sensor is for example crash sensor or travel switch, and non-contacting sensor is for example infrared sensor, sonac.
Driving machine sensing module 14 also comprises the sensor for detection of driver module 15, and in the time that driver module 15 is motor, the sensor of described detection driver module 15 is the current sensor that can detect current of electric.On follower 20, also have supporting roller 25, follower sensing module 23 also comprises the detecting element being positioned on supporting roller 25, as magnetic induction part or photovalve.
The cleaning module 24 of follower comprises disc brush or/and scraping article and liquid-jet device.In the time that the cleaning module 24 of follower is connected with corresponding drive motor, follower sensing module 23 comprises for detection of the electric current of drive motor and obtains disc brush state or/and scrape bar state and the current sensor of liquid-jet device state.In addition, follower sensing module 23 also comprises and is positioned at the photoelectric sensor whether being finished for detection of cleaning solution on liquid-jet device.
Remote control signal transmission device 30 may be embodied as a telepilot, it comprises button, first signal processing unit and first signal transmitting element, first signal processing unit is connected with button, and the information of button is processed and sent via first signal transmitting element.The signal that remote control signal transmission device 30 is launched is infrared signal, radio signal or Bluetooth signal etc.Remote control signal receiver 30 is connected with driving machine processing module 11, and receives the signal of being launched by remote control signal transmission device 30.Remote control signal receiver 12 comprises secondary signal receiving element and secondary signal processing unit, the remote signal that secondary signal receiving element sends in order to receive remote control signal transmission device 30, secondary signal processing unit is in order to process remote signal, and sends to driving machine processing module 11 to process.
In the present invention, described driving machine drives follower to move, and in moving process, controls the cleaning module work in follower; In the time that described driving machine receives the remote signal of telepilot transmitting, carry out corresponding action according to described remote signal.
Particularly, can send walking instruction to driving machine by telepilot.Described walking instruction can be the walking instruction corresponding to various patterns, as just/oppositely craspedodrome, the just/predetermined length of oppositely keeping straight on, just/U-turn, just/and oppositely by predetermined angular turning etc.For example, can remote manual control window wiping robot fix a point to appointed place cleaning or remote-controlled robot avoiding obstacles etc. of user.As very clean in bulk glass, but there is a dirt window-glass center, and user can pass through telepilot remote control driving machine, follower is followed and arrive the wiping of window-glass center execution fixed point.And for example have a barrier near window edge place, user can remote control driving machine, follower is followed turns this barrier of avoidance.
Robot under the effect of telepilot, in moving process detect whether run into barrier, if run into barrier, described driving machine by warning to notify user.Wherein, the information that runs into barrier can be detected and be obtained by driving machine, also can be detected and be obtained by follower.For example, by being positioned at the first sensor subelement of front-end and back-end of described driving machine and follower, whether front and the rear that can detect described driving machine and follower run into barrier, by being positioned at the second sensor subunits of described driving machine and follower side, can detect whether the side of described driving machine and follower runs into barrier.Detected and obtained by follower if run into the information of barrier, by follower processing module, this information exchange is crossed to follower signal transmission module and send to driving machine, described driving machine receives this information by driving machine signal transmission module.
Can make driving machine adopt variety of way to report to the police, as carried out voice message, or carry out luminous warning by a luminescence unit by display unit (liquid crystal display or charactron show) demonstration, voice unit.
Robot is under the effect of telepilot, and run into barrier in moving process time, described driving machine to notify after user, can also adopt following two kinds of modes to carry out next step work warning:
The first, sends remote signal by user by telepilot and avoids described barrier to driving machine, sends turn command to described driving machine by described telepilot; Described driving machine changes moving direction according to described turn command; Now, check whether driving machine reports to the police, if still reported to the police, continue to send turn command to described driving machine by described telepilot, until no longer report to the police, if no longer reported to the police, keep current moving direction to move.The second, robot avoids described barrier automatically, until no longer report to the police.
Be absorbed in undying barrier for fear of robot and avoid action, in the moving process of avoiding described barrier, if barrier still detected in the given time, stop mobilely, and control cleaning module and quit work.This kind of benefit is the self-protection function that window wiping robot can be provided.For example, when some naughty children are by telepilot control driving machine erratic motion, as follower is still moved on by remote control after encountering barrier, follower can feed back obstacle signal to driving machine, driving machine is received and is sent that red warning lamp is reported to the police, audio alert " is encountered barrier " after obstacle information etc., when exceeding predetermined time, driving machine and follower will quit work.Thereby avoid the damage to robot.
In like manner, in the time that robot is worked by telepilot remote control, the duty of the cleaning module detecting is sent to described driving machine by described follower, if the duty of described cleaning module is abnormal, described driving machine is reported to the police, and reports to the police when described driving machine, is sent and is quit work instruction to described driving machine by described telepilot, this instruction that quits work is sent to described follower by described driving machine, quit work by described follower control cleaning module.
In the aforementioned embodiment, the follower of described glass-cleaning robot has follower processing module, sensing module etc., certainly, glass-cleaning robot of the present invention also can not have above-mentioned processing module, sensing module etc., for example, as shown in Figure 3, the driving machine 10b of described glass-cleaning robot 1b only has driving machine processing module 11b, remote control signal receiver 12b, walking module 16b and driver module 15b thereof.Described glass-cleaning robot 1b receives the control signal of telepilot 30b by remote control signal receiver 12b, according to this control signal control driver module 15b, drive walking module 16b to walk by driver module 15b.About the start and stop of the cleaning module 24b work on follower 20b, can control by an inductive switch 4b, as, in the time that follower 20b follows driving machine 10b walking, this inductive switch 4b is touched, the power supply 5b that connects cleaning module 24b work with this, starts working cleaning module 24b.In the time that follower 20b follows driving machine 10b and stops, disconnecting the power supply 5b of cleaning module 24b, cleaning module 24b quits work.
In previous embodiment, as Figure 4-Figure 6, the glass cleaning device 1 in the present embodiment is made up of driving machine 10 and follower 20 a kind of concrete structure of glass-cleaning robot, and both are separate piece.While using glass-cleaning robot 1 of the present invention, driving machine 10 and follower 20 are placed in respectively to the both sides of glass 2.In the housing 19 of driving machine 10, be provided with driver module (not shown), the first walking module 16, magnet 6 and driving machine energy module (not shown).In the present embodiment, the first walking module 16 is crawler belt.
In follower 20 housings 29, being provided with the second walking module is supporting roller 25, magnet 61 and cleaning module (not shown).
By above embodiment, can manipulate artificially the work of glass-cleaning robot, make cleaning glass window more easy and convenient, safe and reliable, and can improve the efficiency cleaning the windows.
Claims (25)
1. a control system for glass-cleaning robot, described glass-cleaning robot comprises driving machine and follower, in described driving machine and described follower, is respectively equipped with opposite polarity magnet, moves so that described follower is followed described driving machine; Described follower comprises cleaning module;
It is characterized in that, also comprise remote control signal transmission device, described driving machine comprises driving machine processing module, remote control signal receiver, driver module and connected the first walking module;
Described driving machine processing module is connected with described driver module with described remote control signal receiver, processes the signal of being launched by remote control signal transmission device that remote control signal receiver receives;
Described follower comprises follower processing module; Also comprise the driving machine signal transmission module and the follower signal transmission module that lay respectively on described driving machine and described follower, described driving machine signal transmission module is connected with described driving machine processing module, and described follower signal transmission module is connected with described follower processing module.
2. the control system of glass-cleaning robot as claimed in claim 1, it is characterized in that, described driving machine signal transmission module and described follower signal transmission module are radio signal transmission unit or Bluetooth signal transmission unit or infrared signal transmission unit, and described driving machine processing module and described follower processing module are carried out the transmission of information by wireless system or bluetooth approach or infrared mode.
3. the control system of glass-cleaning robot as claimed in claim 1, it is characterized in that, also comprise the driving machine sensing module and the follower sensing module that lay respectively on described driving machine and described follower, described driving machine sensing module is connected with described driving machine processing module, and described follower sensing module is connected with described follower processing module.
4. the control system of glass-cleaning robot as claimed in claim 3, it is characterized in that, described driving machine sensing module and described follower sensing module comprise respectively the first sensor subelement of the front-end and back-end that are positioned at described driving machine and follower, whether run into barrier for detection of front and the rear of described driving machine and follower.
5. the control system of glass-cleaning robot as claimed in claim 4, is characterized in that, described first sensor subelement comprises touch sensor or non-contacting sensor.
6. the control system of glass-cleaning robot as claimed in claim 3, it is characterized in that, described driving machine sensing module and described follower sensing module comprise respectively the second sensor subunits that is positioned at described driving machine and follower side, whether run into barrier for detection of the side of described driving machine and follower.
7. the control system of glass-cleaning robot as claimed in claim 6, is characterized in that, described the second sensor subunits bag touch sensor or non-contacting sensor.
8. the control system of the glass-cleaning robot as described in claim 5 or 7, is characterized in that, described touch sensor is crash sensor or travel switch, and described non-contacting sensor is infrared sensor or sonac.
9. the control system of glass-cleaning robot as claimed in claim 3, it is characterized in that, described driving machine sensing module also comprises the sensor for detection of described driver module, in the time that described driver module is motor, the sensor that detects driver module is the current sensor that can detect current of electric.
10. the control system of glass-cleaning robot according to claim 3, is characterized in that, described follower has supporting roller, and described follower sensing module also comprises the detecting element being positioned on supporting roller, in order to detect the rotary state of described supporting roller.
The control system of 11. glass-cleaning robots according to claim 1, it is characterized in that, described cleaning module comprises disc brush or/and scraping article, with liquid-jet device and drive motor separately, described follower sensing module comprises for detection of the electric current of described drive motor and obtains disc brush state or/and scrape bar state and the current sensor of liquid-jet device state.
The control system of 12. glass-cleaning robots according to claim 11, is characterized in that, described follower sensing module comprises and is positioned at the photoelectric sensor whether being finished for detection of cleaning solution on liquid-jet device.
The control system of 13. glass-cleaning robots as claimed in claim 1, it is characterized in that, described remote control signal transmission device comprises button, first signal processing unit and first signal transmitting element, described first signal processing unit is connected with described button, and the information of described button is processed and sent via described first signal transmitting element.
The control system of 14. glass-cleaning robots as claimed in claim 13, is characterized in that, described remote control signal receiver comprises secondary signal receiving element and secondary signal processing unit,
The remote signal that described secondary signal receiving element sends in order to receive described remote control signal transmission device, described secondary signal processing unit is in order to process described remote signal, and sends to described driving machine processing module.
The control system of 15. glass-cleaning robots as described in claim 1 or 13 or 14, is characterized in that, described remote control signal transmission device transmitting infrared signal, radio signal or Bluetooth signal.
The control system of 16. glass-cleaning robots as claimed in claim 1, is characterized in that, described driving machine also comprises alarm module, and described alarm module is connected with described driving machine processing module.
The control system of 17. glass-cleaning robots as claimed in claim 16, is characterized in that, described alarm module comprises display unit, voice unit and/or luminescence unit.
18. 1 kinds of control methods based on glass-cleaning robot control system claimed in claim 1, driving machine drives follower to move, and in moving process, controls the cleaning module work in follower; It is characterized in that, described control method also comprises following process:
In the time that described driving machine receives the remote signal of a remote control signal transmission device transmitting, carry out corresponding action according to described remote signal;
If remote signal is a walking instruction, described driving machine drives described follower to move according to the requirement of described walking instruction;
In moving process, detect whether run into barrier, if run into barrier, described driving machine is reported to the police;
If follower detects barrier, by follower, obstacle information is sent to driving machine.
19. control methods as claimed in claim 18, is characterized in that, described walking instruction is concrete walking mode, described walking mode just comprising/and oppositely craspedodrome, the just/predetermined length of oppositely keeping straight on, just/U-turn, just/oppositely turn by predetermined angular.
20. control methods as claimed in claim 18, is characterized in that, if run into barrier in moving process, described driving machine moves to avoid described barrier, until can't detect barrier, driving machine is no longer reported to the police.
21. control methods as claimed in claim 18, is characterized in that, if run into barrier in moving process, specifically avoid described barrier by following steps:
Step 1, sends turn command to described driving machine by described remote control signal transmission device;
Step 2, described driving machine changes moving direction according to described turn command;
Whether step 3, detect driving machine and report to the police, if still reported to the police, turns to step 1, if no longer reported to the police, keeps current moving direction to move.
22. control methods as described in claim 20 or 21, is characterized in that, in the moving process of avoiding described barrier, if barrier still detected in the given time, stop mobilely, and control cleaning module and quit work.
23. control methods as claimed in claim 18, is characterized in that, if the operational order that remote signal is cleaning module, this operational order is sent to described follower by described driving machine, by described follower according to the work of operational order control cleaning module.
24. control methods as claimed in claim 23, is characterized in that, the duty of the cleaning module detecting is sent to described driving machine by described follower, if the duty of described cleaning module is abnormal, described driving machine is reported to the police.
25. control methods as claimed in claim 24, it is characterized in that, when described driving machine is reported to the police, described remote control signal transmission device sends and quits work instruction to described driving machine, this instruction that quits work is sent to described follower by described driving machine, quit work by described follower control cleaning module.
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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 |
| CN104216404B (en) * | 2013-05-31 | 2017-02-15 | 科沃斯机器人股份有限公司 | Self-moving device and control method thereof |
| DE102013013875A1 (en) | 2013-08-20 | 2015-02-26 | Kuka Laboratories Gmbh | Method for controlling a robot |
| 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 |
| CN105054861A (en) * | 2015-08-25 | 2015-11-18 | 上海电力学院 | Remote control type glass cleaning robot |
| CN106502241A (en) * | 2015-09-07 | 2017-03-15 | 北醒（北京）光子科技有限公司 | A kind of sweeping robot intelligent barrier avoiding and alignment system |
| CN105278530B (en) * | 2015-09-16 | 2017-12-29 | 成都四威高科技产业园有限公司 | A kind of fault-tolerant correction processing method of magnetic stripe signal and system |
| CN107346135A (en) * | 2016-05-06 | 2017-11-14 | 新疆西北星信息技术有限责任公司 | A kind of hazardous materials transportation robot, laser navigation autonomous transport system and method |
| CN106859474B (en) * | 2017-04-20 | 2022-02-08 | 洛阳圣瑞智能机器人有限公司 | Intelligent glass wiping robot active surface with magnetic adsorption function |
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