CN102591339A - Window wiping robot position adjusting control system and control method thereof - Google Patents

Window wiping robot position adjusting control system and control method thereof Download PDF

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Publication number
CN102591339A
CN102591339A CN2011100200466A CN201110020046A CN102591339A CN 102591339 A CN102591339 A CN 102591339A CN 2011100200466 A CN2011100200466 A CN 2011100200466A CN 201110020046 A CN201110020046 A CN 201110020046A CN 102591339 A CN102591339 A CN 102591339A
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windows
cleans
machine
people
unit
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CN2011100200466A
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CN102591339B (en
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汤进举
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泰怡凯电器(苏州)有限公司
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Abstract

The invention belongs to the technical field of intelligent robots, particularly relates to a window wiping robot position adjusting control system and a control method thereof. The window wiping robot comprises a walking unit and a driving unit. The position adjusting system comprises a sensing unit and a control unit, wherein the sensing unit comprises two sensor subunits on the same side of the window wiping robot, the two sensor subunits are placed on the left side and right side at the same end respectively, and the control unit is connected with the sensing unit and the driving unit respectively; when the driving unit drives the walking unit to move, the control unit receives signals sent by the sensing unit, controls the movement of the walking unit based on the signals, and adjusts the position of the window wiping robot. According to the control method, the window wiping robot can avoid barriers and make preparation for the next cleaning work; the robot has the advantages of being convenient and practical, and greatly reduces the work amount of the human.

Description

Machine people's posture adjustment control system and control method thereof clean the windows
Technical field
The invention belongs to the intelligent robot technology field, specifically, relate to a kind of machine people's that cleans the windows collision posture adjustment control system and control method thereof.
Background technology
In daily life, people generally clean with rag when cleaning glass.To the glass outside structural glass and the window time, clean with the rod-type cleaning glass usually.Yet, when wiping cleaning glass with the rod-type cleaning glass, the arm easy fatigue, and at the glass of wiping examination window outside, especially for skyscraper, very dangerous.It is thus clear that 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.
To as above problem, a kind of window-cleaning device has appearred at present.It is ZL200820080547.7 that the concrete technical scheme of this window-cleaning device is asked for an interview the patent No., and name is called " window-cleaning device ".As shown in Figure 1, this window-cleaning device comprises handle 441, plastic plate 442 and rag 444.Handle 441 is fixed on the one side of plastic plate 442, and rag 444 is fixed on the another side of plastic plate 442, between plastic plate 442 and rag 444, is fixed with magnet plate 443.When needs wiping glass; Two window-cleaning devices are clamped the glass of treating wiping, and the user wipes the examination inner layer glass in indoor holds handle, because magnetic action; The window-cleaning device of the inside can drive the window-cleaning device motion of outside when moving, thereby with the glass of outside also wiped clean.
As above technical scheme; Though contingent unsafe factor when efficiently solving the wiping exterior window; But this window-cleaning device need be through handling the window-cleaning device that is positioned at window the inside artificially, thereby guiding is positioned at the window-cleaning device work of window outside, in the face of the glass on large-area or the window time; People still need climb low, and are very painstaking.
Summary of the invention
The technical matters that the present invention will solve is; A kind of machine people's that cleans the windows posture adjustment control system and control method thereof are provided, can make glass cleaning machine device people can avoid barriers such as glass frame, for next step cleaning is prepared; Convenient and practical, and alleviate the workload of manpower greatly.
For solving the problems of the technologies described above, the invention provides a kind of machine people's that cleans the windows posture adjustment control system, the machine people that cleans the windows comprises walking unit 15 and driver element 16; The posture adjustment control system comprises sensing unit 12 and control module 11; Sensing unit 12 comprises two sensor subunits that are positioned at the machine people the same side that cleans the windows; Two sensor subunits lay respectively at the left and right both sides of the same side, and control module 11 is connected with driver element 16 with sensing unit 12 respectively; When driver element 16 driving walking unit 15 moved, control module 11 received the signal that sensing units 12 are sent, and according to 15 motions of signal controlling walking unit, adjusted the machine people's that cleans the windows position.
Two sensor subunits all are positioned on the same surface level.
The same side is machine people front side or the rear side of cleaning the windows, and the front side is the machine people working direction that cleans the windows.
Sensor subunits is touch sensor or non-contacting sensor.
Preferably, touch sensor is a travel switch.
Preferably, non-contacting sensor is infrared sensor or sonac.
The machine people that cleans the windows comprises driving machine 1 and follower 2, and said driver element 16, walking unit 15, sensing unit 12 and control module 11 are positioned on the driving machine 1; Follower 2 comprises wipes the examination unit; First magnet 14 and second magnet 24 are built in respectively in driving machine 1 and the follower 2; Under the suction of first magnet 14 and second magnet 24; Driving machine 1 and follower 2 are adsorbed on the inside and outside both sides on glass 3 surfaces respectively, and follower 2 is followed driving machine 1 generation servo-actuated.
Walking unit 15 comprises crawler belt 151 and Athey wheel 152, and wherein, crawler belt 151 comprises a plurality of track unit joint 151a; In the follower 1 with moving cell 26 follow the walking unit 15 move.
The present invention also provides a kind of machine people's that cleans the windows posture adjustment control method, comprises the steps: to adopt the above-mentioned machine people's that cleans the windows posture adjustment control system, and the posture adjustment control method comprises the steps:
Step 1: detect the sensor subunits that lays respectively at the machine people that cleans the windows by control module 11;
Step 2:, then keep former attitude if control module 11 is not all received the signal that the left and right both sides sensor subunits of the same side is sent; If 11 of control modules are received left side sensor subunits of the said machine people the same side that cleans the windows or the signal that the right sensor subunits is sent, then drive unit drives walking unit turns to, and returns step 1 again.
In step 2,, drive the walking unit and turn right if receive the signal that left side sensor subunits is sent; If receive the signal that the right sensor subunits is sent, drive the walking unit and turn left.
Preferably, the angle of walking unit rotational is not more than preset angle.
In step 2,, drive the walking unit and get into next work order if receive simultaneously and be positioned at the signal that left and right both sides, the machine people the same side sensor subunits that cleans the windows is sent.
Work order is to drive the walking unit to turn to 90 ° or drive the walking unit and retreat and advance.
Compared with prior art, the invention has the beneficial effects as follows: can make the glass cleaning machine device people in the process of walking can avoiding obstacles, convenient and practical for next step cleaning is prepared, and alleviate the workload of manpower greatly.
Description of drawings
The structural representation of Fig. 1 device that cleans the windows of the prior art;
Fig. 2 is the synoptic diagram of the machine people's that cleans the windows according to the invention posture adjustment control system;
Fig. 3 is the process flow diagram of the machine people's that cleans the windows an according to the invention embodiment of welt posture adjustment control method;
Fig. 4 accomplishes the process synoptic diagram of posture adjustment for the machine people that cleans the windows according to the invention;
Fig. 5 is the machine people structural representation that cleans the windows according to the invention.
Reference numeral:
1. driving machine 111. driving machine shells 2. followers 222. follower shells
3. glass 11. control modules 12. sensing units 15. walking unit
151. crawler belt 152. Athey wheel 151a. track unit joint
14. first magnet, 24. second magnet, 16. driver elements 26. are with moving cell
441. handle 442. plastic plates 443. magnet plates 444. rags
Embodiment
Embodiment 1
As shown in Figure 5, the present invention's artificial single robot of machine that cleans the windows.The posture adjustment control system of window wiping robot of the present invention comprises walking unit 15 and energy unit, driver element 16, control module 11 and wiping unit.This wiping unit can be dish brush, scraping article or cloth or the like.This energy unit is the rechargeable type battery, as: Ni-MH battery or lithium battery or the like.At energy unit to driver element 16 energizes.Under the control of control module 11, driver element 16 drives 15 work of walking unit.This machine people that cleans the windows is adsorbed on glass 3 surfaces through adsorption piece, and in addition, the machine people that cleans the windows can also realize being attached to glass 3 surfaces through the method for negative pressure of vacuum.
This machine people that cleans the windows also comprises sensing unit 12, and this sensing unit 12 comprises two sensor subunits that are positioned at the same end of machine people that cleans the windows, and control module 11 is connected with driver element 16 with sensing unit 12 respectively; When driver element 16 driving walking unit 15 moved, control module 11 received the signal that sensing units 12 are sent, and according to 15 motions of signal controlling walking unit, adjusted the machine people's that cleans the windows position.
Easy for designing, two sensor subunits all are positioned on the same surface level, and are positioned at the left and right both sides of robot.For making robot can advance forward and can realize retreating advancing, in the preferred version, the forward and backward two ends of robot be respectively equipped with sensing unit 12.
Sensor subunits comprises sensor, and this sensor can be touch sensor or non-contacting sensor.Touch sensor can be a travel switch, like microswitch.Non-contacting sensor can be infrared sensor or sonac.
This machine people that cleans the windows realizes the attitude adjustment of adjustment robot through sensing unit, and its control method comprises the steps:
Step 1 is detected the sensor subunits that lays respectively at the machine people that cleans the windows by control module;
Step 2 judges whether to receive the signal that the left and right both sides sensor subunits that is positioned at the same end of machine people that cleans the windows is sent, if all do not receive the signal that the right and left sensor of same end is sent, then keeps former attitude; If only receive the left side sensor subelement of the said same end of machine people that cleans the windows or the signal that the right sensor subunits is sent, then drive the walking unit and turn to, return step 1 again.
Specifically, if receive the signal that left side sensor subunits is sent, drive the walking unit and turn right; If receive the signal that the right sensor subunits is sent, drive the walking unit and turn left.Wherein, the angle of driving walking unit rotational can be at random; Also can predefined angle, when control module drove walking unit rotational angle, this angle was not more than preset angle.
In above-mentioned steps 2, if used sensor is a non-contacting sensor, during like infrared sensor or sonac, the signal that this sensor is sent is the digital simulation amount.If receiving simultaneously, control module is positioned at the signal that the left and right both sides of the same end of the machine people sensor that cleans the windows is sent; Whether the signal value that control module calculates and more left and right both sides sensor is sent is in preset range; If in preset range; Then meet predetermined requirement, drive the walking unit and get into next work order.This next one work order can be to drive the walking unit to turn to 90 degree, or drives the walking unit and retreat and advance etc.
Embodiment 2
By embodiment one different be that window wiping robot of the present invention is split type.Specifically, the posture adjustment control system of window wiping robot of the present invention is made up of driving machine 1 and follower 2, and both are separate piece.Driver element 16, walking unit 15, sensing unit 12 and control module 11 are positioned on the driving machine 1; Follower 2 comprises wipes the examination unit; Described driving machine 1 and described follower 2, both put the inside and outside both sides that are adsorbed on glass 3 surfaces under the suction of magnet within it, and follower 2 is followed driving machine 1 and produced servo-actuated.
The walking unit 15 that is positioned at the driving machine 1 main body left and right sides comprises crawler belt 151 and Athey wheel 152, and wherein, crawler belt 151 comprises a plurality of track unit joint 151a.Driver element 16 mainly comprises drive motor, and drive motor is provided with two, and every crawler belt 151 is driven by a drive motor respectively.Through single driving, thereby realization is synchronized with the movement, differential motion.Be synchronized with the movement and make driving machine advance or retreat; Differential motion can make driving machine 1 realize rotation.
For making follower 2 follow driving machine 1 conveniently moving, follower 1 comprises with moving cell 26.
When using window wiping robot of the present invention, driving machine 1 and follower 2 are placed the both sides of treating wiping glass 3 respectively, be positioned at the driver element on the driving machine 1, supply with realization work down, thereby realization driving machine 1 moves on glass 3 at the energy of energy unit.Because driving machine 1 is respectively equipped with first and second magnet 14,24 with follower 2, under magnetic action, driving machine 1 drives follower 2 and moves, and realizes that the wiping glass unit that is arranged on the follower 2 carries out wiping to glass 3 surfaces.
When driving machine 1 was advanced, Athey wheel 152 rotation driven caterpillar tracks 151 were rotated, and track unit joint 151a constantly alternately contacts glass 3 surfaces provides enough big stiction to supply window wiping robot to advance.Because the strong magnets absorption relation in driving machine 1 and the follower 2, follower 2 is advanced with same trajectories with driving machine 1.
In addition; Driving machine also comprises sensing unit 12; The effect of this sensing unit 12 is identical with embodiment 1, that is: this sensing unit 12 comprises two sensor subunits that are positioned at the same end of machine people that cleans the windows, and control module 11 is connected with driver element 16 with sensing unit 12 respectively; When driver element 16 driving walking unit 51 moved, control module 15 received the signal that sensing units 12 are sent, and according to 15 motions of signal controlling walking unit, adjusted the machine people's that cleans the windows position.
Easy for designing, two sensor subunits all are positioned on the same surface level, and are positioned at the left and right both sides of the same end of robot.For making robot can advance forward and can realize retreating advancing, in the preferred version, the forward and backward two ends of robot be respectively equipped with sensor unit.
Sensor subunits comprises sensor, and this sensor can be touch sensor or non-contacting sensor.Touch sensor can be a travel switch, like microswitch.Non-contacting sensor can be infrared sensor or sonac.
Driving machine 1 is in the active moving process, and when driving machine 1 is provided with the barrier that sensing unit 12 is felt similar window frame, driving machine 1 can initiatively be dodged.
This machine people that cleans the windows realizes the attitude adjustment of adjustment robot through sensing unit 12, and its control method is identical with the method for embodiment 1, specifically comprises the steps:
Step 1 is detected the sensor subunits that lays respectively at the machine people that cleans the windows by control module;
Step 2 judges whether to receive the signal that the left and right both sides sensor subunits that is positioned at the machine people the same side that cleans the windows is sent, if all do not receive the signal that the left and right sides sensor of the same side is sent, then keeps former attitude; If only receive left sensor subelement of the said machine people the same side that cleans the windows or the signal that right sensor subunits is sent, then drive the walking unit and turn to, return step 1 again.
Specifically, if receive the signal that the sensor subunits on the left side is sent, drive the walking unit and turn right; If receive the signal that the sensor subunits on the right is sent, drive the walking unit and turn left.Wherein, the angle of driving walking unit rotational can be at random; Also can predefined angle, when control module drove walking unit rotational angle, this angle was not more than preset angle.
In above-mentioned steps 2, if used sensor is a non-contacting sensor, during like infrared sensor or sonac, the signal that this sensor is sent is the digital simulation amount.If receiving simultaneously, control module is positioned at the signal that the left and right sensor in machine people the same side that cleans the windows is sent; Whether the signal value that control module calculates and more left and right sensor is sent is in preset range; If in preset range; Then meet predetermined requirement, drive the walking unit and get into next work order.This next one work order can be to drive the walking unit to turn to 90 degree, or drives the walking unit and retreat and advance or the like.If the signal value that the sensor subunits on the left side is sent is big, drive the walking unit preset angle of turning left; If receive that the signal value sent of sensor subunits on the right is big, drive the walking unit preset angle of turning right.
In the preferred version, also be provided with the collision sensing unit on the follower 2.Therefore; No matter be that driving machine 1 is felt barrier in the active moving process; Still follower 2 is felt barrier in passive moving process; The communication information interactive function that can be possessed between the two through driving machine 1 and follower 2 can be realized that all driving machine 1 and follower 2 carry out work in real erasable zone, and can not occur taking place such as being stuck in the first-class abnormal conditions of similar window frame.
Window wiping robot of the present invention is realized from locomotive function through the driver element that is provided with in the driving machine, realizes that people need not do-it-yourself and carry out work, makes people break away from heavy housework; This robot does technical guarantee through the collision sensing unit that all has in driving machine and the follower, makes window wiping robot of the present invention can easily tackle the contingent many unpredictalbe abnormal conditions in glass both sides.

Claims (10)

1. the machine people that cleans the windows posture adjustment control system, the machine people that cleans the windows comprises walking unit (15) and driver element (16); The posture adjustment control system comprises sensing unit (12) and control module (11); It is characterized in that: sensing unit (12) comprises two sensor subunits that are positioned at the same end of machine people that cleans the windows; Two sensor subunits lay respectively at the left and right both sides of the same side, and control module (11) is connected with driver element (16) with sensing unit (12) respectively; When driver element (16) drove walking unit (15) and moves, control module (11) received the signal that sensing unit (12) is sent, according to signal controlling walking unit (15) motion, and clean the windows machine people's position of adjustment.
2. the machine people's that cleans the windows according to claim 1 posture adjustment control system is characterized in that: two sensor subunits all are positioned on the same surface level.
3. the machine people's that cleans the windows according to claim 1 posture adjustment control system is characterized in that: the same side is machine people front side or the rear side of cleaning the windows, and the front side is the machine people working direction that cleans the windows.
4. according to each described machine people's that cleans the windows of claim 1-3 posture adjustment control system, it is characterized in that: sensor subunits is touch sensor or non-contacting sensor; Touch sensor is a travel switch; Non-contacting sensor is infrared sensor or sonac.
5. the machine people's that cleans the windows according to claim 1 posture adjustment control system; It is characterized in that: the machine people that cleans the windows comprises driving machine (1) and follower (2), and said driver element (16), walking unit (15), sensing unit (12) and control module (11) are positioned on the driving machine (1); Follower (2) comprises wipes the examination unit; First magnet (14) and second magnet (24) are built in respectively in driving machine (1) and the follower (2); Under the suction of first magnet (14) and second magnet (24); Driving machine (1) and follower (2) are adsorbed on the inside and outside both sides on glass (3) surface respectively, and follower (2) is followed driving machine (1) generation servo-actuated.
6. the machine people's that cleans the windows according to claim 5 posture adjustment control system is characterized in that: walking unit (15) comprises crawler belt (151) and Athey wheel (152), and wherein, crawler belt (151) comprises a plurality of track unit joints (151a); Following walking unit (15) with moving cell (26) and move in the follower (1).
7. the machine people that cleans the windows posture adjustment control method adopts each described machine people's that cleans the windows of claim 1 to 6 posture adjustment control system, it is characterized in that: comprise the steps:
Step 1: detect the sensor subunits that lays respectively at the machine people that cleans the windows by control module;
Step 2:, then keep former attitude if control module is not received the signal that any sensor subunits on one side in the left and right both sides of the same side is sent; If control module is only received left side sensor subunits of the said machine people the same side that cleans the windows or the signal that the right sensor subunits is sent, then drive unit drives walking unit turns to, and returns step 1 again.
8. the machine people's that cleans the windows according to claim 7 posture adjustment control method is characterized in that: in step 2, if receive the signal that left side sensor subunits is sent, drive the walking unit and turn right; If receive the signal that the right sensor subunits is sent, drive the walking unit and turn left.
9. the machine people's that cleans the windows according to claim 8 posture adjustment control method is characterized in that: the angle of walking unit rotational is not more than preset angle.
10. the machine people's that cleans the windows according to claim 7 posture adjustment control method; It is characterized in that: in step 2; If receive simultaneously to be positioned at the signal that left and right both sides, the machine people the same side sensor subunits that cleans the windows is sent, drive the walking unit and get into next work order; Work order is to drive the walking unit to turn to 90 ° or drive the walking unit and retreat and advance.
CN201110020046.6A 2011-01-05 2011-01-05 Window wiping robot position adjusting control system and control method thereof Active CN102591339B (en)

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Cited By (5)

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Publication number Priority date Publication date Assignee Title
CN104414573A (en) * 2013-08-23 2015-03-18 科沃斯机器人科技(苏州)有限公司 Window cleaning device
CN106647761A (en) * 2016-12-30 2017-05-10 上海庆科信息技术有限公司 Self-moving sweeper and control method thereof
CN108762257A (en) * 2018-05-04 2018-11-06 安徽三弟电子科技有限责任公司 A kind of robot ambulation control system based on frictional force automatic adjusument
CN110362099A (en) * 2018-03-26 2019-10-22 科沃斯机器人股份有限公司 Robot cleaning method, device, robot and storage medium
CN113100656A (en) * 2021-04-19 2021-07-13 大连大学 Glass wiping robot with scraping module capable of performing autonomous reciprocating movement

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CN113100656A (en) * 2021-04-19 2021-07-13 大连大学 Glass wiping robot with scraping module capable of performing autonomous reciprocating movement

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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108

Patentee after: Ecovacs Robot Co., Ltd.

Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108

Patentee before: ECOVACS ELECTRICAL CO., LTD.

Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108

Patentee after: Ecovacs robot Limited by Share Ltd

Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108

Patentee before: Ecovacs Robot Co., Ltd.

Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108

Patentee after: ECOVACS ELECTRICAL CO., LTD.

Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108

Patentee before: Taiyikai Electric Appliance (Suzhou) Co., Ltd.

C56 Change in the name or address of the patentee