CN102973200B - Glass cleaning device and dodge barrier method - Google Patents
Glass cleaning device and dodge barrier method Download PDFInfo
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- CN102973200B CN102973200B CN201110258878.1A CN201110258878A CN102973200B CN 102973200 B CN102973200 B CN 102973200B CN 201110258878 A CN201110258878 A CN 201110258878A CN 102973200 B CN102973200 B CN 102973200B
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Abstract
Glass cleaning device of the present invention comprises driving machine and follower, in driving machine and follower, be respectively equipped with opposite polarity magnet, moves so that follower follows driving machine; Driving machine comprises control module, driver element, walking unit and sensing element, the walking of drive unit drives walking unit, and control module is connected with driver element and sensing element respectively; Sensing element comprises the first sensing unit being positioned at driving machine front end and the second sensing unit being positioned at driving machine sidepiece, and the first sensing unit and the second sensing unit lay respectively at the same side of driving machine; Driving machine is provided with welt pattern, and under welt pattern, control module is according to the signal receiving the second sensing unit, controls the walking of driving machine welt; The barrier in the first sensing unit senses driving machine front, the signal that control module sends according to the first sensing unit, controls drive unit drives walking unit, makes driving machine dodge barrier.The present invention can cleaning glass window uniformly, avoiding barrier in wiping process.
Description
Technical field
The invention belongs to intelligent robot technology field, specifically, relate to a kind of glass cleaning device and dodge barrier method.
Background technology
In daily life, need often to clean window, use automatic window-cleaning device eliminates artificial loaded down with trivial details, for cleaning provides convenient.The automatic window wiping robot generally used at present generally includes a driving machine and a follower, the front end of driving machine and follower is equipped with rag, two machines are adsorbed on the both sides of glass pane respectively by magnetic force, driving machine drives follower to run on glass pane together with driving machine under driven by program, thus make rag carry out the action of wiping in the both sides of glass, play the effect on cleaning glass two sides simultaneously.Usually, be also provided with sensing unit in the front end of rag, be in operation for induction and encounter window corner, the barriers such as handle.In prior art, the sensing unit being generally used for detecting obstacles thing is positioned at the centre position of device front end, if be in operation, the barrier (handle as window) of small volume is encountered in two ends of hitting plate, sensing unit just cannot perception, robot also just cannot make and avoid action, and device is absorbed in crag-fast situation.
Summary of the invention
Technical matters to be solved by this invention is for the deficiencies in the prior art, first provides a kind of glass cleaning device, can cleaning glass window uniformly, and in wiping process avoiding barrier.
Technical matters to be solved by this invention is achieved by the following technical solution:
A kind of glass cleaning device comprises driving machine and follower, is respectively equipped with opposite polarity magnet, moves so that described follower follows described driving machine in described driving machine and follower; Described driving machine comprises control module, driver element, walking unit and sensing element, and unit of walking described in described drive unit drives is walked, and described control module is connected with described driver element and described sensing element respectively;
Described sensing element comprises the first sensing unit being positioned at described driving machine front end and the second sensing unit being positioned at described driving machine sidepiece, and described first sensing unit and described second sensing unit lay respectively at the same side of described driving machine;
Described driving machine is provided with welt pattern, and under welt pattern, described control module, according to the signal receiving described second sensing unit, controls the walking of described driving machine welt; The barrier in driving machine front described in described first sensing unit senses, the signal that described control module sends according to described first sensing unit, controls to walk described in described drive unit drives unit, makes described driving machine dodge barrier.
Described sensing element comprises the 3rd sensing unit, and when the first sensing unit is one, the 3rd sensing unit and described first sensing unit that are positioned at the front end of described driving machine are that axle Central Symmetry is arranged relative to described driving machine;
Or described sensing element comprises the 3rd sensing unit, described 3rd sensing unit is positioned at the front end of described driving machine, and is positioned at described drives crankshaft center position.
Described first sensing unit, described second sensing unit and described 3rd sensing unit are touch sensor, also can be or non-contacting sensor; Touch sensor is travel switch, pressure transducer or conductive rubber.Non-contacting sensor is infrared-reflectance sensors or sonac.
Further, the control module of described driving machine comprises driving machine processing module and driving machine wireless signal transmission module; Described follower comprises follower processing module, follower wireless signal transmission module and follower sensing module; Described follower sensing module is connected with the machine of fortune processing module with described; The follower status information that described follower sensing module senses by described follower processing module, carries out information interaction by described follower wireless signal transmission module and described driving machine wireless signal transmission module and described driving machine processing module.
Described follower sensing module comprises the 4th sensing unit being positioned at side, described follower front end.Described follower sensing module comprises the 5th sensing unit being positioned at described follower sidepiece, and described 4th sensing unit and described 4th sensing unit are positioned at the same side of described follower.
The invention provides a kind of method dodging barrier adopting above-mentioned glass cleaning device, specifically comprise the steps:
Step S100: start driving machine;
Step S110: the control module of driving machine is according to the signal of the second sensing unit receiving driving machine sidepiece, and control the walking of driving machine welt, follower produces servo-actuated;
Step S120: if when the control module of driving machine the first sensing unit senses of receiving driving machine leading section is to the signal of barrier, enter step S130, otherwise, return step S110;
Step S130: the control module of driving machine controls driving machine and retreats;
Step S140: the control module of driving machine controls driving machine and turns to and advance;
Step S150: if advanced in Preset Time, do not encounter barrier, driving machine enters step S160, otherwise returns step S130;
Step S160: the control module of driving machine judge the working direction of driving machine whether turn to described driving machine before direction identical, in this way, then enter step S110, otherwise return step S140.
It is turn to by presetting angle that driving machine described in step S140 turns to, and presetting angle is 5-10 °; The distance that driving machine described in step S130 retreats is preset distance, and described preset distance is 5cm-15cm.
The present invention also provides another technical scheme: a kind of glass cleaning device, for the monomer-type device that absorption is also moved on the glass surface, comprise control module, driver element, walking unit and sensing element, unit of walking described in described drive unit drives is walked, and described control module is connected with described driver element and described sensing element respectively; Described sensing element comprises the first sensing unit being positioned at described glass cleaning device front end and the second sensing unit being positioned at described glass cleaning device sidepiece, and described first sensing unit and described second sensing unit lay respectively at the same side of described glass cleaning device;
Described glass cleaning device is provided with welt pattern, and under welt pattern, described control module, according to the signal receiving described second sensing unit, controls the walking of described glass cleaning device welt; The barrier in glass cleaning device front described in described first sensing unit senses, the signal that described control module sends according to described first sensing unit, controls to walk described in described drive unit drives unit, makes described glass cleaning device dodge barrier.
Described sensing element comprises the 3rd sensing unit, and when the first sensing unit is one, the 3rd sensing unit and described first sensing unit that are positioned at the front end of described driving machine are that axle Central Symmetry is arranged relative to described glass cleaning device;
Or described sensing element comprises the 3rd sensing unit, described 3rd sensing unit is positioned at the front end of described glass cleaning device, and is positioned at described glass cleaning device axle center position.
Described first sensing unit, described second sensing unit and described 3rd sensing unit are touch sensor, also can be non-contacting sensors.Touch sensor is travel switch, pressure transducer or conductive rubber, and non-contacting sensor is infrared-reflectance sensors or sonac.
The method dodging barrier of above-mentioned glass cleaning device is adopted specifically to comprise the steps:
Step S100: start glass cleaning device;
Step S110: the control module of glass cleaning device, according to the signal of the second sensing unit receiving described glass cleaning device sidepiece, controls the walking of glass cleaning device welt;
Step S120: if when the control module of glass cleaning device the first sensing unit senses of receiving glass cleaning device leading section is to the signal of barrier, enter step S130, otherwise, return step S110;
Step S130: the control module of glass cleaning device controls glass cleaning device and retreats;
Step S140: the control module of glass cleaning device controls glass cleaning device and turns to and advance;
Step S150: if advanced in Preset Time, do not encounter barrier, glass cleaning device enters step S160, otherwise returns step S130;
Step S160: the control module of glass cleaning device judge the working direction of glass cleaning device whether turn to described glass cleaning device before direction identical, in this way, then enter step S110, otherwise return step S140.
It is turn to by presetting angle that driving machine described in step S140 turns to, and presetting angle is 5-10 °; The distance that driving machine described in step S130 retreats is preset distance, and described preset distance is 5cm-15cm.
Compared with prior art, beneficial effect of the present invention is: can cleaning glass window uniformly, and in wiping process avoiding barrier.
Accompanying drawing explanation
Fig. 1 is the structural representation of the driving machine in glass cleaning device embodiment 1 of the present invention;
Fig. 2 is the structural representation of the follower in glass cleaning device embodiment 1 of the present invention;
Fig. 3 is glass cleaning device embodiment 1 control structure principle schematic of the present invention;
Fig. 4 is glass cleaning device embodiment 1 one-piece construction schematic diagram of the present invention;
Fig. 5 is that glass cleaning device embodiment 1 of the present invention dodges barrier method flow diagram;
Fig. 6 is glass cleaning device embodiment 2 control structure principle schematic of the present invention.
Embodiment
Embodiment 1
As shown in Fig. 1-2,4, glass cleaning device of the present invention comprises driving machine 1 and follower 2, driving machine is provided with sensing element 12, driver element 16, walking unit 15 and control module 11, driver element 16 drives walking unit 15 to walk, energy unit is Rechargeable battery, as: Ni-MH battery or lithium battery etc.Follower 2 is provided with cleaning glass window unit, and driving machine 1 is built-in with the first magnet 14, and follower 2 is built-in with the second magnet 24, moves so that follower 2 follows driving machine 1.Control module 11 is connected with driver element 16 and sensing element 12 respectively; Sensing element 12 comprises the same side that the first sensing unit 121 being positioned at driving machine front end and the second sensing unit 122, first sensing unit 121 being positioned at driving machine sidepiece and the second sensing unit 122 lay respectively at driving machine.
As shown in Figure 3, driving machine 1 is provided with welt pattern, and under welt pattern, control module 11 is according to the signal receiving the second sensing unit 122, controls the walking of driving machine 1 welt; First sensing unit 121 senses the barrier in driving machine 1 front, and control module 11 sends out 121 signals gone out according to the first sensing unit, controls driver element 16 and drives walking unit 15, make driving machine 1 dodge barrier.
Sensing element 12 also comprises the 3rd sensing unit 123, and when the first sensing unit is one, the 3rd sensing unit 123 and the first sensing unit 121 that are positioned at the front end of driving machine are that axle Central Symmetry is arranged relative to driving machine.
Another scheme is the front end that sensing element 12 comprises that the 3rd sensing unit the 123, three sensing unit is positioned at driving machine 1, and is positioned at drives crankshaft center position.
Follower sensing module 21 comprises the 4th sensing unit 211 being positioned at side, follower front end, and follower sensing module comprises the same side that the 5th sensing unit the 212, four sensing unit 211 that is positioned at follower sidepiece and the 5th sensing unit 212 are positioned at follower.
The control module 11 of driving machine comprises driving machine processing module 111 and driving machine wireless signal transmission module 112; Follower 2 comprises follower processing module 22, follower wireless signal transmission module 23 and follower sensing module 21; Follower sensing module 21 is connected with the machine of fortune processing module 22; The follower status information that follower sensing module 21 senses by follower processing module 22, carries out information interaction by follower wireless signal transmission module 23 and driving machine wireless signal transmission module 112 with driving machine processing module 111.
Driver element 16 comprises drive motor, and walking unit 15 comprises crawler belt 151 and Athey wheel 152, and crawler belt 151 comprises multiple track unit joint 151a.Two crawler belts 151 lay respectively at the both sides of driving machine 1, and every bar crawler belt 151 is driven by a drive motor respectively.By single driving, thus realization is synchronized with the movement, differential motion.Be synchronized with the movement and driving machine can be made to advance or retreat; Differential motion can make driving machine 1 realize rotating.
When using glass cleaning device of the present invention, driving machine 1 and follower 2 are placed in the both sides for the treatment of cleaning glass window 3 respectively, are positioned at the driver element 16 on driving machine 1, under the Power supply of energy unit, realize work, thus realize driving machine 1 and move on glass 3.Owing to being provided with the first magnet 14 in driving machine 1, be provided with the second magnet 24 in follower 2, under magnetic action, driving machine 1 drives follower 2 to move, and realizes the cleaning glass window unit be arranged on follower 2 and carries out wiping to the surface of glass 3.
Walking unit 15 comprises the left and right sides crawler belt 151 and Athey wheel 152 that are positioned at driving machine 1, and crawler belt 151 comprises multiple track unit joint 151a.
When driving machine 1 is advanced, Athey wheel 152 rotary actuation crawler belt 151 rotates, and track unit joint 151a constantly alternately contacts glass 3 surface provides enough large stiction to advance for window wiping robot.Due to the utilizing powerful magnet for adsorption relation in driving machine 1 and follower 2, follower 2 is advanced with same trajectories with driving machine 1.
Wherein, the first sensing unit 121, second sensing unit 122 and the 3rd sensing unit 123 are touch sensor, also can be non-ly to connect formula sensor.
Preferably, touch sensor is travel switch, pressure transducer or conductive rubber.
Preferably, the non-formula sensor that connects is infrared external reflection sensing or sonac.
Driving machine 1 is in active moving process, and when driving machine 1 is provided with the barrier that the first sensing unit sense 121 measures similar window handle, driving machine 1 can initiatively be dodged.
Illustrate the process that glass cleaning device of the present invention dodges barrier below.
Fig. 5 is that glass cleaning device of the present invention dodges barrier method flow diagram, and as shown in Figure 5, glass cleaning device preventing collision method specifically comprises the steps:
Step S100: start driving machine;
Step S110: the control module of driving machine is according to the signal of the second sensing unit receiving driving machine sidepiece, and control the walking of driving machine welt, follower produces servo-actuated;
Step S120: if when the control module of driving machine the first sensing unit senses of receiving driving machine leading section is to the signal of barrier, enter step S130, otherwise, return step S110;
Step S130: the control module of driving machine controls driving machine and retreats;
Step S140: the control module of driving machine controls driving machine and turns to and advance;
Step S150: if advanced in Preset Time, do not encounter barrier, driving machine enters step S160, otherwise returns step S130;
Step S160: the control module of driving machine judge the working direction of driving machine whether turn to described driving machine before direction identical, in this way, then enter step S110, otherwise return step S140.
It is turn to by presetting angle that driving machine described in step S140 turns to, and presetting angle is 5-10 °.The distance that driving machine described in step S130 retreats is preset distance, and preset distance is 5-15cm.
It should be noted that, the angle rotated in the distance retreated in step S130 of the present invention and step S140 can regulate according to the size of glass cleaning device, should not be only limitted to above-mentioned numerical value.
Embodiment 2
The difference of the present embodiment and embodiment 1 is: glass cleaning device is adsorb and the monomer-type device moved on the glass surface.
In the present embodiment, glass cleaning device comprises control module 11 ', driver element 16 ', walking unit 15 ' and sensing element 12 ', driver element 16 ' drives walking unit 15 ' to walk, and control module 11 ' is connected with driver element 16 ' and sensing element 12 ' respectively; Sensing element 12 ' comprises the same side that the first sensing unit 121 ' being positioned at glass cleaning device front end and the second sensing unit 122 ', the first sensing unit 121 ' being positioned at glass cleaning device sidepiece and the second sensing unit 122 ' lay respectively at glass cleaning device.
Glass cleaning device is provided with welt pattern, and under welt pattern, control module 11 ', according to the signal receiving the second sensing unit 122 ', controls the walking of glass cleaning device welt; First sensing unit 121 ' senses the barrier in glass cleaning device front, the signal that control module 11 ' sends according to the first sensing unit 121 ', controls driver element 16 ' and drives walking unit 15 ', make described glass cleaning device dodge barrier.
Sensing element 12 ' comprises the 3rd sensing unit 123 ', and when the first sensing unit 123 ' is one, the 3rd sensing unit 123 and the first sensing unit 121 ' that are positioned at the front end of glass cleaning device front end are that axle Central Symmetry is arranged relative to glass cleaning device;
Or described sensing element 12 ' comprises the 3rd sensing unit 123 ', the 3rd sensing unit 123 ' is positioned at the front end of glass cleaning device, and is positioned at glass cleaning device axle center position.
Glass cleaning device is adsorbed on glass surface by support member, support member be there is repetition adsorptive power stickum as plasticine.In addition, glass cleaning device can also realize being attached to glass surface by the method for negative pressure of vacuum, and now, support member is vacuum rubber sucker or negative pressure chamber's sucker etc.The technology how being adsorbed on glass surface about glass cleaning device is prior art, does not repeat them here.
The glass cleaning device illustrated below in the present embodiment dodges the process of barrier.The method dodging barrier of glass cleaning device specifically comprises the steps:
Step S100: start glass cleaning device;
Step S110: the control module of glass cleaning device, according to the signal of the second sensing unit receiving described glass cleaning device sidepiece, controls the walking of glass cleaning device welt;
Step S120: if when the control module of glass cleaning device the first sensing unit senses of receiving glass cleaning device leading section is to the signal of barrier, enter step S130, otherwise, return step S110;
Step S130: the control module of glass cleaning device controls glass cleaning device and retreats;
Step S140: the control module of glass cleaning device controls glass cleaning device and turns to and advance;
Step S150: if advanced in Preset Time, do not encounter barrier, glass cleaning device enters step S160, otherwise returns step S130;
Step S160: the control module of glass cleaning device judge the working direction of glass cleaning device whether turn to described glass cleaning device before direction identical, in this way, then enter step S110, otherwise return step S140.
It is turn to by presetting angle that driving machine described in step S140 turns to, and presetting angle is 5-10 °; The distance that driving machine described in step S130 retreats is preset distance, and preset distance is 5-15cm.
It should be noted that, the angle rotated in the distance retreated in step S130 of the present invention and step S140 can regulate according to the size of glass cleaning device, should not be only limitted to above-mentioned numerical value.
Claims (23)
1. a glass cleaning device, comprises driving machine and follower, in described driving machine and follower, be respectively equipped with opposite polarity magnet, moves so that described follower follows described driving machine; Described driving machine comprises control module, driver element, walking unit and sensing element, and unit of walking described in described drive unit drives is walked, and described control module is connected with described driver element and described sensing element respectively;
It is characterized in that, described sensing element comprises the first sensing unit being positioned at described driving machine front end and the second sensing unit being positioned at described driving machine sidepiece, and described first sensing unit and described second sensing unit lay respectively at the same side of described driving machine;
Described driving machine is provided with welt pattern, and under welt pattern, described control module, according to the signal receiving described second sensing unit, controls the walking of described driving machine welt; The barrier in driving machine front described in described first sensing unit senses, the signal that described control module sends according to described first sensing unit, control to walk described in described drive unit drives unit, after making described driving machine dodge barrier, walk on along former direction.
2. want the glass cleaning device described in 1 according to right, it is characterized in that, described sensing element comprises the 3rd sensing unit, and when the first sensing unit is one, the 3rd sensing unit and described first sensing unit that are positioned at the front end of described driving machine are that axle Central Symmetry is arranged relative to described driving machine;
Or described sensing element comprises the 3rd sensing unit, described 3rd sensing unit is positioned at the front end of described driving machine, and is positioned at described drives crankshaft center position.
3. glass cleaning device according to claim 1, is characterized in that, described first sensing unit is touch sensor or non-contacting sensor, and described second sensing unit is touch sensor or non-contacting sensor.
4. glass cleaning device according to claim 2, is characterized in that, described 3rd sensing unit is touch sensor or non-contacting sensor.
5. the glass cleaning device according to claim 3 or 4, is characterized in that, touch sensor is travel switch, pressure transducer or conductive rubber.
6. the glass cleaning device according to claim 3 or 4, is characterized in that, non-contacting sensor is infrared-reflectance sensors or sonac.
7. glass cleaning device according to claim 1, is characterized in that, the control module of described driving machine comprises driving machine processing module and driving machine wireless signal transmission module; Described follower comprises follower processing module, follower wireless signal transmission module and follower sensing module; Described follower sensing module is connected with described follower processing module; The follower status information that described follower sensing module senses by described follower processing module, carries out information interaction by described follower wireless signal transmission module and described driving machine wireless signal transmission module and described driving machine processing module.
8. glass cleaning device according to claim 7, is characterized in that,
Described follower sensing module comprises the 4th sensing unit being positioned at side, described follower front end.
9. glass cleaning device according to claim 8, is characterized in that, described follower sensing module comprises the 5th sensing unit being positioned at described follower sidepiece, and described 4th sensing unit and described 5th sensing unit are positioned at the same side of described follower.
10. the method dodging barrier of glass cleaning device as claimed in claim 1, is characterized in that, specifically comprise the steps:
Step S100: start driving machine;
Step S110: the control module of driving machine is according to the signal of the second sensing unit receiving driving machine sidepiece, and control the walking of driving machine welt, follower produces servo-actuated;
Step S120: if when the control module of driving machine the first sensing unit senses of receiving driving machine leading section is to the signal of barrier, enter step S130, otherwise, return step S110;
Step S130: the control module of driving machine controls driving machine and retreats;
Step S140: the control module of driving machine controls driving machine and turns to and advance;
Step S150: if advanced in Preset Time, do not encounter barrier, driving machine enters step S160, otherwise returns step S130;
Step S160: the control module of driving machine judge the working direction of driving machine whether turn to described driving machine before direction identical, in this way, then enter step S110, otherwise return step S140.
11. methods dodging barrier as claimed in claim 10, it is characterized in that, it is turn to by presetting angle that the driving machine described in step S140 turns to.
12. methods dodging barrier as claimed in claim 11, it is characterized in that, presetting angle is 5-10 °.
13. methods dodging barrier as claimed in claim 10, is characterized in that, the distance that the driving machine described in step S130 retreats is preset distance, and described preset distance is 5cm-15cm.
14. 1 kinds of glass cleaning devices, for the monomer-type device that absorption is also moved on the glass surface, comprise control module, driver element, walking unit and sensing element, unit of walking described in described drive unit drives is walked, and described control module is connected with described driver element and described sensing element respectively;
It is characterized in that, described sensing element comprises the first sensing unit being positioned at described glass cleaning device front end and the second sensing unit being positioned at described glass cleaning device sidepiece, and described first sensing unit and described second sensing unit lay respectively at the same side of described glass cleaning device;
Described glass cleaning device is provided with welt pattern, and under welt pattern, described control module, according to the signal receiving described second sensing unit, controls the walking of described glass cleaning device welt; The barrier in glass cleaning device front described in described first sensing unit senses, the signal that described control module sends according to described first sensing unit, control to walk described in described drive unit drives unit, after making described glass cleaning device dodge barrier, walk on along former direction.
15. want the glass cleaning device described in 14 according to right, it is characterized in that, described sensing element comprises the 3rd sensing unit, when the first sensing unit is one, the 3rd sensing unit and described first sensing unit that are positioned at the front end of described driving machine are that axle Central Symmetry is arranged relative to described glass cleaning device;
Or described sensing element comprises the 3rd sensing unit, described 3rd sensing unit is positioned at the front end of described glass cleaning device, and is positioned at described glass cleaning device axle center position.
16. glass cleaning devices according to claim 14, is characterized in that, described first sensing unit is touch sensor or non-contacting sensor, and described second sensing unit is touch sensor or non-contacting sensor.
17. glass cleaning devices according to claim 15, is characterized in that, described 3rd sensing unit is touch sensor or non-contacting sensor.
18. glass cleaning devices according to claim 16 or 17, it is characterized in that, touch sensor is travel switch, pressure transducer or conductive rubber.
19. glass cleaning devices according to claim 16 or 17, it is characterized in that, non-contacting sensor is infrared-reflectance sensors or sonac.
The method dodging barrier of 20. 1 kinds of glass cleaning devices as claimed in claim 14, is characterized in that, specifically comprise the steps:
Step S100: start glass cleaning device;
Step S110: the control module of glass cleaning device, according to the signal of the second sensing unit receiving described glass cleaning device sidepiece, controls the walking of glass cleaning device welt;
Step S120: if when the control module of glass cleaning device the first sensing unit senses of receiving glass cleaning device leading section is to the signal of barrier, enter step S130, otherwise, return step S110;
Step S130: the control module of glass cleaning device controls glass cleaning device and retreats;
Step S140: the control module of glass cleaning device controls glass cleaning device and turns to and advance;
Step S150: if advanced in Preset Time, do not encounter barrier, glass cleaning device enters step S160, otherwise returns step S130;
Step S160: the control module of glass cleaning device judge the working direction of glass cleaning device whether turn to described glass cleaning device before direction identical, in this way, then enter step S110, otherwise return step S140.
21. methods dodging barrier as claimed in claim 20, it is characterized in that, it is turn to by presetting angle that the driving machine described in step S140 turns to.
22. methods dodging barrier as claimed in claim 20, it is characterized in that, presetting angle is 5-10 °.
23. methods dodging barrier as claimed in claim 20, is characterized in that, the distance that the driving machine described in step S130 retreats is preset distance, and described preset distance is 5cm-15cm.
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| CN104921652A (en) * | 2014-03-17 | 2015-09-23 | 科沃斯机器人科技(苏州)有限公司 | Automatic movement device with clamping mechanism |
| CN110543168B (en) | 2014-04-14 | 2022-10-04 | 科沃斯机器人股份有限公司 | Walking method of self-moving robot and walking method of sweeping robot |
| CN105137992B (en) * | 2015-09-02 | 2018-12-28 | 深圳朗特智能控制股份有限公司 | The control system and its control method and control circuit board of Intelligent cleaning robot |
| CN106725081B (en) * | 2017-02-06 | 2019-03-01 | 赵东来 | A kind of control method of the obstacle detouring mode of glass-cleaning robot on full frame glass |
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