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 PDFInfo
- 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
- Authority
- CN
- China
- Prior art keywords
- windows
- cleans
- machine
- people
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 claims abstract description 28
- 239000011521 glass Substances 0.000 claims description 27
- NBIIXXVUZAFLBC-UHFFFAOYSA-N phosphoric acid Chemical compound data:image/svg+xml;base64,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 data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nODVweCcgaGVpZ2h0PSc4NXB4JyB2aWV3Qm94PScwIDAgODUgODUnPgo8IS0tIEVORCBPRiBIRUFERVIgLS0+CjxyZWN0IHN0eWxlPSdvcGFjaXR5OjEuMDtmaWxsOiNGRkZGRkY7c3Ryb2tlOm5vbmUnIHdpZHRoPSc4NS4wJyBoZWlnaHQ9Jzg1LjAnIHg9JzAuMCcgeT0nMC4wJz4gPC9yZWN0Pgo8cGF0aCBjbGFzcz0nYm9uZC0wIGF0b20tMCBhdG9tLTEnIGQ9J00gMjEuNCw1NS4wIEwgMzEuNSw0OS4yJyBzdHlsZT0nZmlsbDpub25lO2ZpbGwtcnVsZTpldmVub2RkO3N0cm9rZTojRTg0MjM1O3N0cm9rZS13aWR0aDoxLjBweDtzdHJva2UtbGluZWNhcDpidXR0O3N0cm9rZS1saW5lam9pbjptaXRlcjtzdHJva2Utb3BhY2l0eToxJyAvPgo8cGF0aCBjbGFzcz0nYm9uZC0wIGF0b20tMCBhdG9tLTEnIGQ9J00gMzEuNSw0OS4yIEwgNDEuNiw0My40JyBzdHlsZT0nZmlsbDpub25lO2ZpbGwtcnVsZTpldmVub2RkO3N0cm9rZTojRkY2MEI3O3N0cm9rZS13aWR0aDoxLjBweDtzdHJva2UtbGluZWNhcDpidXR0O3N0cm9rZS1saW5lam9pbjptaXRlcjtzdHJva2Utb3BhY2l0eToxJyAvPgo8cGF0aCBjbGFzcz0nYm9uZC0xIGF0b20tMSBhdG9tLTInIGQ9J00gNDMuNSwzNS42IEwgMzguNSwyNi45JyBzdHlsZT0nZmlsbDpub25lO2ZpbGwtcnVsZTpldmVub2RkO3N0cm9rZTojRkY2MEI3O3N0cm9rZS13aWR0aDoxLjBweDtzdHJva2UtbGluZWNhcDpidXR0O3N0cm9rZS1saW5lam9pbjptaXRlcjtzdHJva2Utb3BhY2l0eToxJyAvPgo8cGF0aCBjbGFzcz0nYm9uZC0xIGF0b20tMSBhdG9tLTInIGQ9J00gMzguNSwyNi45IEwgMzMuNSwxOC4yJyBzdHlsZT0nZmlsbDpub25lO2ZpbGwtcnVsZTpldmVub2RkO3N0cm9rZTojRTg0MjM1O3N0cm9rZS13aWR0aDoxLjBweDtzdHJva2UtbGluZWNhcDpidXR0O3N0cm9rZS1saW5lam9pbjptaXRlcjtzdHJva2Utb3BhY2l0eToxJyAvPgo8cGF0aCBjbGFzcz0nYm9uZC0yIGF0b20tMSBhdG9tLTMnIGQ9J00gNTAuOSw0OC40IEwgNTYuMCw1Ny4xJyBzdHlsZT0nZmlsbDpub25lO2ZpbGwtcnVsZTpldmVub2RkO3N0cm9rZTojRkY2MEI3O3N0cm9rZS13aWR0aDoxLjBweDtzdHJva2UtbGluZWNhcDpidXR0O3N0cm9rZS1saW5lam9pbjptaXRlcjtzdHJva2Utb3BhY2l0eToxJyAvPgo8cGF0aCBjbGFzcz0nYm9uZC0yIGF0b20tMSBhdG9tLTMnIGQ9J00gNTYuMCw1Ny4xIEwgNjEuMCw2NS44JyBzdHlsZT0nZmlsbDpub25lO2ZpbGwtcnVsZTpldmVub2RkO3N0cm9rZTojRTg0MjM1O3N0cm9rZS13aWR0aDoxLjBweDtzdHJva2UtbGluZWNhcDpidXR0O3N0cm9rZS1saW5lam9pbjptaXRlcjtzdHJva2Utb3BhY2l0eToxJyAvPgo8cGF0aCBjbGFzcz0nYm9uZC0zIGF0b20tMSBhdG9tLTQnIGQ9J00gNTMuMiw0MC43IEwgNjMuMywzNC45JyBzdHlsZT0nZmlsbDpub25lO2ZpbGwtcnVsZTpldmVub2RkO3N0cm9rZTojRkY2MEI3O3N0cm9rZS13aWR0aDoxLjBweDtzdHJva2UtbGluZWNhcDpidXR0O3N0cm9rZS1saW5lam9pbjptaXRlcjtzdHJva2Utb3BhY2l0eToxJyAvPgo8cGF0aCBjbGFzcz0nYm9uZC0zIGF0b20tMSBhdG9tLTQnIGQ9J00gNjMuMywzNC45IEwgNzMuMywyOS4xJyBzdHlsZT0nZmlsbDpub25lO2ZpbGwtcnVsZTpldmVub2RkO3N0cm9rZTojRTg0MjM1O3N0cm9rZS13aWR0aDoxLjBweDtzdHJva2UtbGluZWNhcDpidXR0O3N0cm9rZS1saW5lam9pbjptaXRlcjtzdHJva2Utb3BhY2l0eToxJyAvPgo8cGF0aCBjbGFzcz0nYm9uZC0zIGF0b20tMSBhdG9tLTQnIGQ9J00gNDkuNywzNC43IEwgNTkuOCwyOC45JyBzdHlsZT0nZmlsbDpub25lO2ZpbGwtcnVsZTpldmVub2RkO3N0cm9rZTojRkY2MEI3O3N0cm9rZS13aWR0aDoxLjBweDtzdHJva2UtbGluZWNhcDpidXR0O3N0cm9rZS1saW5lam9pbjptaXRlcjtzdHJva2Utb3BhY2l0eToxJyAvPgo8cGF0aCBjbGFzcz0nYm9uZC0zIGF0b20tMSBhdG9tLTQnIGQ9J00gNTkuOCwyOC45IEwgNjkuOSwyMy4xJyBzdHlsZT0nZmlsbDpub25lO2ZpbGwtcnVsZTpldmVub2RkO3N0cm9rZTojRTg0MjM1O3N0cm9rZS13aWR0aDoxLjBweDtzdHJva2UtbGluZWNhcDpidXR0O3N0cm9rZS1saW5lam9pbjptaXRlcjtzdHJva2Utb3BhY2l0eToxJyAvPgo8dGV4dCB4PSczLjQnIHk9JzY0LjknIGNsYXNzPSdhdG9tLTAnIHN0eWxlPSdmb250LXNpemU6MTNweDtmb250LXN0eWxlOm5vcm1hbDtmb250LXdlaWdodDpub3JtYWw7ZmlsbC1vcGFjaXR5OjE7c3Ryb2tlOm5vbmU7Zm9udC1mYW1pbHk6c2Fucy1zZXJpZjt0ZXh0LWFuY2hvcjpzdGFydDtmaWxsOiNFODQyMzUnID5IPC90ZXh0Pgo8dGV4dCB4PScxMi4yJyB5PSc2NC45JyBjbGFzcz0nYXRvbS0wJyBzdHlsZT0nZm9udC1zaXplOjEzcHg7Zm9udC1zdHlsZTpub3JtYWw7Zm9udC13ZWlnaHQ6bm9ybWFsO2ZpbGwtb3BhY2l0eToxO3N0cm9rZTpub25lO2ZvbnQtZmFtaWx5OnNhbnMtc2VyaWY7dGV4dC1hbmNob3I6c3RhcnQ7ZmlsbDojRTg0MjM1JyA+TzwvdGV4dD4KPHRleHQgeD0nNDIuMycgeT0nNDcuNScgY2xhc3M9J2F0b20tMScgc3R5bGU9J2ZvbnQtc2l6ZToxM3B4O2ZvbnQtc3R5bGU6bm9ybWFsO2ZvbnQtd2VpZ2h0Om5vcm1hbDtmaWxsLW9wYWNpdHk6MTtzdHJva2U6bm9uZTtmb250LWZhbWlseTpzYW5zLXNlcmlmO3RleHQtYW5jaG9yOnN0YXJ0O2ZpbGw6I0ZGNjBCNycgPlA8L3RleHQ+Cjx0ZXh0IHg9JzE2LjEnIHk9JzE3LjUnIGNsYXNzPSdhdG9tLTInIHN0eWxlPSdmb250LXNpemU6MTNweDtmb250LXN0eWxlOm5vcm1hbDtmb250LXdlaWdodDpub3JtYWw7ZmlsbC1vcGFjaXR5OjE7c3Ryb2tlOm5vbmU7Zm9udC1mYW1pbHk6c2Fucy1zZXJpZjt0ZXh0LWFuY2hvcjpzdGFydDtmaWxsOiNFODQyMzUnID5IPC90ZXh0Pgo8dGV4dCB4PScyNC45JyB5PScxNy41JyBjbGFzcz0nYXRvbS0yJyBzdHlsZT0nZm9udC1zaXplOjEzcHg7Zm9udC1zdHlsZTpub3JtYWw7Zm9udC13ZWlnaHQ6bm9ybWFsO2ZpbGwtb3BhY2l0eToxO3N0cm9rZTpub25lO2ZvbnQtZmFtaWx5OnNhbnMtc2VyaWY7dGV4dC1hbmNob3I6c3RhcnQ7ZmlsbDojRTg0MjM1JyA+TzwvdGV4dD4KPHRleHQgeD0nNTkuNicgeT0nNzcuNicgY2xhc3M9J2F0b20tMycgc3R5bGU9J2ZvbnQtc2l6ZToxM3B4O2ZvbnQtc3R5bGU6bm9ybWFsO2ZvbnQtd2VpZ2h0Om5vcm1hbDtmaWxsLW9wYWNpdHk6MTtzdHJva2U6bm9uZTtmb250LWZhbWlseTpzYW5zLXNlcmlmO3RleHQtYW5jaG9yOnN0YXJ0O2ZpbGw6I0U4NDIzNScgPk88L3RleHQ+Cjx0ZXh0IHg9JzY5LjInIHk9Jzc3LjYnIGNsYXNzPSdhdG9tLTMnIHN0eWxlPSdmb250LXNpemU6MTNweDtmb250LXN0eWxlOm5vcm1hbDtmb250LXdlaWdodDpub3JtYWw7ZmlsbC1vcGFjaXR5OjE7c3Ryb2tlOm5vbmU7Zm9udC1mYW1pbHk6c2Fucy1zZXJpZjt0ZXh0LWFuY2hvcjpzdGFydDtmaWxsOiNFODQyMzUnID5IPC90ZXh0Pgo8dGV4dCB4PSc3Mi4zJyB5PSczMC4yJyBjbGFzcz0nYXRvbS00JyBzdHlsZT0nZm9udC1zaXplOjEzcHg7Zm9udC1zdHlsZTpub3JtYWw7Zm9udC13ZWlnaHQ6bm9ybWFsO2ZpbGwtb3BhY2l0eToxO3N0cm9rZTpub25lO2ZvbnQtZmFtaWx5OnNhbnMtc2VyaWY7dGV4dC1hbmNob3I6c3RhcnQ7ZmlsbDojRTg0MjM1JyA+TzwvdGV4dD4KPC9zdmc+Cg== OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 claims description 6
- 210000001503 Joints Anatomy 0.000 claims 1
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000001360 synchronised Effects 0.000 description 2
- 240000001307 Myosotis scorpioides Species 0.000 description 1
- 229910018095 Ni-MH Inorganic materials 0.000 description 1
- 229910018477 Ni—MH Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000002452 interceptive Effects 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N lithium Chemical compound data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nMzAwcHgnIGhlaWdodD0nMzAwcHgnIHZpZXdCb3g9JzAgMCAzMDAgMzAwJz4KPCEtLSBFTkQgT0YgSEVBREVSIC0tPgo8cmVjdCBzdHlsZT0nb3BhY2l0eToxLjA7ZmlsbDojRkZGRkZGO3N0cm9rZTpub25lJyB3aWR0aD0nMzAwLjAnIGhlaWdodD0nMzAwLjAnIHg9JzAuMCcgeT0nMC4wJz4gPC9yZWN0Pgo8dGV4dCB4PScxMzguMCcgeT0nMTcwLjAnIGNsYXNzPSdhdG9tLTAnIHN0eWxlPSdmb250LXNpemU6NDBweDtmb250LXN0eWxlOm5vcm1hbDtmb250LXdlaWdodDpub3JtYWw7ZmlsbC1vcGFjaXR5OjE7c3Ryb2tlOm5vbmU7Zm9udC1mYW1pbHk6c2Fucy1zZXJpZjt0ZXh0LWFuY2hvcjpzdGFydDtmaWxsOiMzQjQxNDMnID5MPC90ZXh0Pgo8dGV4dCB4PScxNjUuNicgeT0nMTcwLjAnIGNsYXNzPSdhdG9tLTAnIHN0eWxlPSdmb250LXNpemU6NDBweDtmb250LXN0eWxlOm5vcm1hbDtmb250LXdlaWdodDpub3JtYWw7ZmlsbC1vcGFjaXR5OjE7c3Ryb2tlOm5vbmU7Zm9udC1mYW1pbHk6c2Fucy1zZXJpZjt0ZXh0LWFuY2hvcjpzdGFydDtmaWxsOiMzQjQxNDMnID5pPC90ZXh0Pgo8cGF0aCBkPSdNIDE4MC4zLDE1MC4wIEwgMTgwLjMsMTQ5LjggTCAxODAuMywxNDkuNyBMIDE4MC4zLDE0OS41IEwgMTgwLjIsMTQ5LjMgTCAxODAuMiwxNDkuMiBMIDE4MC4xLDE0OS4wIEwgMTgwLjAsMTQ4LjkgTCAxNzkuOSwxNDguNyBMIDE3OS44LDE0OC42IEwgMTc5LjcsMTQ4LjUgTCAxNzkuNSwxNDguNCBMIDE3OS40LDE0OC4zIEwgMTc5LjIsMTQ4LjIgTCAxNzkuMSwxNDguMSBMIDE3OC45LDE0OC4xIEwgMTc4LjcsMTQ4LjAgTCAxNzguNiwxNDguMCBMIDE3OC40LDE0OC4wIEwgMTc4LjIsMTQ4LjAgTCAxNzguMCwxNDguMCBMIDE3Ny45LDE0OC4xIEwgMTc3LjcsMTQ4LjEgTCAxNzcuNiwxNDguMiBMIDE3Ny40LDE0OC4yIEwgMTc3LjMsMTQ4LjMgTCAxNzcuMSwxNDguNCBMIDE3Ny4wLDE0OC41IEwgMTc2LjksMTQ4LjcgTCAxNzYuOCwxNDguOCBMIDE3Ni43LDE0OC45IEwgMTc2LjYsMTQ5LjEgTCAxNzYuNSwxNDkuMiBMIDE3Ni40LDE0OS40IEwgMTc2LjQsMTQ5LjYgTCAxNzYuNCwxNDkuNyBMIDE3Ni4zLDE0OS45IEwgMTc2LjMsMTUwLjEgTCAxNzYuNCwxNTAuMyBMIDE3Ni40LDE1MC40IEwgMTc2LjQsMTUwLjYgTCAxNzYuNSwxNTAuOCBMIDE3Ni42LDE1MC45IEwgMTc2LjcsMTUxLjEgTCAxNzYuOCwxNTEuMiBMIDE3Ni45LDE1MS4zIEwgMTc3LjAsMTUxLjUgTCAxNzcuMSwxNTEuNiBMIDE3Ny4zLDE1MS43IEwgMTc3LjQsMTUxLjggTCAxNzcuNiwxNTEuOCBMIDE3Ny43LDE1MS45IEwgMTc3LjksMTUxLjkgTCAxNzguMCwxNTIuMCBMIDE3OC4yLDE1Mi4wIEwgMTc4LjQsMTUyLjAgTCAxNzguNiwxNTIuMCBMIDE3OC43LDE1Mi4wIEwgMTc4LjksMTUxLjkgTCAxNzkuMSwxNTEuOSBMIDE3OS4yLDE1MS44IEwgMTc5LjQsMTUxLjcgTCAxNzkuNSwxNTEuNiBMIDE3OS43LDE1MS41IEwgMTc5LjgsMTUxLjQgTCAxNzkuOSwxNTEuMyBMIDE4MC4wLDE1MS4xIEwgMTgwLjEsMTUxLjAgTCAxODAuMiwxNTAuOCBMIDE4MC4yLDE1MC43IEwgMTgwLjMsMTUwLjUgTCAxODAuMywxNTAuMyBMIDE4MC4zLDE1MC4yIEwgMTgwLjMsMTUwLjAgTCAxNzguMywxNTAuMCBaJyBzdHlsZT0nZmlsbDojMDAwMDAwO2ZpbGwtcnVsZTpldmVub2RkO2ZpbGwtb3BhY2l0eToxO3N0cm9rZTojMDAwMDAwO3N0cm9rZS13aWR0aDowLjBweDtzdHJva2UtbGluZWNhcDpidXR0O3N0cm9rZS1saW5lam9pbjptaXRlcjtzdHJva2Utb3BhY2l0eToxOycgLz4KPC9zdmc+Cg== data:image/svg+xml;base64,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 [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000003137 locomotive Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201110020046.6A CN102591339B (en) | 2011-01-05 | 2011-01-05 | Window wiping robot position adjusting control system and control method thereof |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201110020046.6A CN102591339B (en) | 2011-01-05 | 2011-01-05 | Window wiping robot position adjusting control system and control method thereof |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102591339A true CN102591339A (en) | 2012-07-18 |
CN102591339B CN102591339B (en) | 2014-03-26 |
Family
ID=46480161
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201110020046.6A Active CN102591339B (en) | 2011-01-05 | 2011-01-05 | Window wiping robot position adjusting control system and control method thereof |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN102591339B (en) |
Cited By (5)
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 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19916820C1 (en) * | 1999-04-14 | 2000-10-05 | Dornier Tech Gmbh & Co | Automatic cleaning unit for building windows and walls has a sensor to detect obstacles and generate a stop signal for the lifting system and a swing mechanism to shift the cleaning head away from the hazard |
CN1493434A (en) * | 2002-10-31 | 2004-05-05 | 三星光州电子株式会社 | Robot dust collector, robot dust collector system and its control method |
KR100515769B1 (en) * | 2005-02-15 | 2005-09-26 | 주식회사 삼풍엔지니어링건축사 사무소 | Cleaning apparatus of window for building |
KR20050110554A (en) * | 2004-05-19 | 2005-11-23 | 홍정호 | Cleaning equipment and cleaning method in remote control for the rear side glass of window and outside wall of the building for the high storied buildings |
CN101301186A (en) * | 2008-04-23 | 2008-11-12 | 上海中为智能机器人有限公司 | 4-segment type sweeping robot |
KR20100003816A (en) * | 2008-07-02 | 2010-01-12 | 웅진코웨이주식회사 | Method of controlling a robot cleaner |
KR20100033636A (en) * | 2008-09-22 | 2010-03-31 | 엘지이노텍 주식회사 | Robot cleaner and driving method of robot cleaner |
CN201572040U (en) * | 2009-10-09 | 2010-09-08 | 泰怡凯电器(苏州)有限公司 | Self-moving land disposal robot |
CN201965488U (en) * | 2011-01-05 | 2011-09-07 | 泰怡凯电器(苏州)有限公司 | Posture-adjusting control system of glass-cleaning robot |
-
2011
- 2011-01-05 CN CN201110020046.6A patent/CN102591339B/en active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19916820C1 (en) * | 1999-04-14 | 2000-10-05 | Dornier Tech Gmbh & Co | Automatic cleaning unit for building windows and walls has a sensor to detect obstacles and generate a stop signal for the lifting system and a swing mechanism to shift the cleaning head away from the hazard |
CN1493434A (en) * | 2002-10-31 | 2004-05-05 | 三星光州电子株式会社 | Robot dust collector, robot dust collector system and its control method |
KR20050110554A (en) * | 2004-05-19 | 2005-11-23 | 홍정호 | Cleaning equipment and cleaning method in remote control for the rear side glass of window and outside wall of the building for the high storied buildings |
KR100588818B1 (en) * | 2004-05-19 | 2006-06-19 | 홍정호 | Cleaning Equipment and in remote Control for the Rear Side Glass of Window and Outside Wall of the Building for the High Storied buildings |
KR100515769B1 (en) * | 2005-02-15 | 2005-09-26 | 주식회사 삼풍엔지니어링건축사 사무소 | Cleaning apparatus of window for building |
CN101301186A (en) * | 2008-04-23 | 2008-11-12 | 上海中为智能机器人有限公司 | 4-segment type sweeping robot |
KR20100003816A (en) * | 2008-07-02 | 2010-01-12 | 웅진코웨이주식회사 | Method of controlling a robot cleaner |
KR20100033636A (en) * | 2008-09-22 | 2010-03-31 | 엘지이노텍 주식회사 | Robot cleaner and driving method of robot cleaner |
CN201572040U (en) * | 2009-10-09 | 2010-09-08 | 泰怡凯电器(苏州)有限公司 | Self-moving land disposal robot |
CN201965488U (en) * | 2011-01-05 | 2011-09-07 | 泰怡凯电器(苏州)有限公司 | Posture-adjusting control system of glass-cleaning robot |
Cited By (5)
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 |
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 |
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 |
CN113100656A (en) * | 2021-04-19 | 2021-07-13 | 大连大学 | Glass wiping robot with scraping module capable of performing autonomous reciprocating movement |
Also Published As
Publication number | Publication date |
---|---|
CN102591339B (en) | 2014-03-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN202083961U (en) | Robot for cleaning glass | |
CN102591336B (en) | Edge adhering movement control method of glass-cleaning robot, and control system thereof | |
CN102591339B (en) | Window wiping robot position adjusting control system and control method thereof | |
CN202141947U (en) | Right-angle area mobile control system of glass-cleaning robot | |
CN102736625A (en) | Glass-cleaning robot | |
CN102830700A (en) | Control system and control method of movement of glass cleaning robot at right angle area | |
CN102591341B (en) | Movement control method of glass-cleaning robot and control system thereof | |
CN106419720A (en) | System for controlling right-angle region movement of intelligent glass cleaning robot | |
CN102591340B (en) | Movement control method of glass wiping robot | |
CN102578975A (en) | Traveling device and glass wiping robot with same | |
CN102591338B (en) | Control system of glass-cleaning robot, and control method thereof | |
CN104983369A (en) | Building outer facade washing robot system and using method thereof | |
CN105231950A (en) | Window cleaning robot and cleaning mode thereof | |
CN203379066U (en) | Automatic window-cleaning robot | |
WO2019100624A1 (en) | Autonomously moving on-panel cleaning method and on-panel cleaning robot | |
CN102591334B (en) | Facing control system and facing control method for glass wiping robot | |
CN201965488U (en) | Posture-adjusting control system of glass-cleaning robot | |
CN109362582A (en) | One kind being suitable for more scene piggery cleaner device people and method for cleaning | |
CN105818154B (en) | A kind of guardrail handrail automatic cleaning robot | |
CN107981774A (en) | A kind of intelligent double-sided glass-cleaning robot | |
CN202083959U (en) | Siding moving control system of window wiper robot | |
CN110576016A (en) | Solar photovoltaic panel cleaning robot and cleaning method | |
CN201974696U (en) | Movement control system of glass-cleaning robot | |
CN111345726A (en) | Glass curtain wall cleaning robot capable of automatically crossing obstacles and use method thereof | |
CN102973200B (en) | Glass cleaning device and dodge barrier method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
C06 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
C10 | Entry into substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
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 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 |