CN103082934A - Intelligent glass robot cleaner based on foot type wall climbing - Google Patents
Intelligent glass robot cleaner based on foot type wall climbing Download PDFInfo
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- CN103082934A CN103082934A CN201210584759XA CN201210584759A CN103082934A CN 103082934 A CN103082934 A CN 103082934A CN 201210584759X A CN201210584759X A CN 201210584759XA CN 201210584759 A CN201210584759 A CN 201210584759A CN 103082934 A CN103082934 A CN 103082934A
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Abstract
The invention provides an intelligent glass robot cleaner based on foot type wall climbing. The intelligent glass robot cleaner comprises a robot main body, a walking unit, four absorbing units, a driving unit, a machine body control unit, a clean unit, an image identification unit and a wireless control unit. The walking unit comprises four mechanical feet, the four absorbing units are respectively arranged on the four mechanical feet to form four absorbing feet, and the four absorbing feet and the driving unit conduct coordination motion under the effect of the machine body control unit and drive the robot main body to move. The image identification unit is connected with the machine body control unit, an obstacle and a curtain wall edge are detected by real-time collection of an image signal, and the collected image signal is transmitted to the machine body control unit after processed. The wireless control unit is connected with the machine body control unit and used for remotely controlling motion of the robot main body. The intelligent glass robot cleaner absorbs obstacles such as a crossed window frame on one side of glass, has an image identification function, and is flexible in walking mode, and stable in motion.
Description
Technical field
The present invention relates to a kind of intelligent robot of climbing wall based on sufficient formula, be applied to high building outside glass cleaning work.
Background technology
In daily life, people generally use the rag cleaning to clean the glass of fritter, manually clean structural glass and the outer facade glass of window with aids such as bar and ladders.Not only the amount of labour is large for the mode of this cleaning glass, efficient is low, and operation is difficult during the outer facade glass of cleaned window, has certain potential safety hazard.
Along with the development in city, high-rise building becomes the key construction in city, and the wall of these high buildings adopts glass curtain wall as decoration more, and is every through a period of time, just need to clean wall.Because the curtain wall area is larger, part is in tens meters even height of up to a hundred meters, and on every side without the support that can climb up by holding on to, the cleaning of curtain wall also just becomes heavy, dangerous, a costly job.At present, the cleaning of skyscraper mainly by manually completing, is cleaned the workman and taken hanging basket or waist tether rope and carry out the high-altitude and clean, very dangerous, and also the efficient of manual work is very low, cleans somewhat expensive.Moreover, manual cleaning is very high to the requirement of the environmental conditions such as weather, and floor is higher, requires that wind speed is less and temperature is suitable, and rainwater weather can't operation.
Summary of the invention
The purpose of this invention is to provide a kind of intelligent glass clean robot of climbing wall based on sufficient formula, the present invention is in the one-sided absorption of glass, can cross over the barriers such as window frame, has image identification function, walking manner is flexible, motion has steadily realized wireless monitor, has solved that manual cleaning glass efficient is low, unsafe technical problem.
The present invention solves the problems of the technologies described above and is achieved by the following technical solution: a kind of intelligent glass clean robot of climbing wall based on sufficient formula, comprise robot body, walking unit, absorbing unit, driver element, body control module, cleaning unit, image identification unit and wireless energy control units
Described walking unit comprises four machinery foots; Described absorbing unit is provided with four, be arranged on respectively on four machinery foots, form four absorption foots together with described machinery foot, under the effect of described body control module, described four absorption foots and the described driver element coordinated movement of various economic factors drive described robot body's motion;
Described image identification unit is connected with the body control module, detects barrier and curtain wall edge by the real-time image acquisition signal, is transferred to the body control module after the picture signal that gathers is processed;
Described wireless energy control units is connected with the body control module, is used for the described robot body's motion of Long-distance Control.
Preferably, described absorbing unit comprises connecting plate, gold utensil, anti-slip sucking disc, buffer unit, and buffer cell is enclosed within on gold utensil; The gold utensil one end sucker of ining succession, the other end connecting plate of ining succession; Described buffer unit is arranged on gold utensil.
Preferably, described driver element comprises reducing motor, ratch and gear; Described gear is arranged on reducing motor, and described reducing motor is fixed on described robot body, the described ratch of described engaged gears.
Preferably, described body control module comprises motor-driven plate, steering wheel control panel, electromagnetic relay and single-chip microcomputer, described motor-driven plate is connected with described reducing motor, described steering wheel control panel is connected with steering wheel on described machinery foot, and described single-chip microcomputer is connected with described motor-driven plate, steering wheel control panel and described electromagnetic relay respectively.
Preferably, described image identification unit comprises camera, image pick-up card, main frame and radio receiving transmitting module, and described camera is arranged on described robot body; By described camera collection realtime graphic, process by described radio receiving transmitting module sending through described image pick-up card, feed back to the body control module after receiving and process by described main frame.
Preferably, described wireless energy control units comprises Zigbee sending module and Zigbee receiver module, and described Zigbee sending module is used for transmitting control signal; Described Zigbee receiver module is arranged on described robot body, is used for reception control signal, and described control signal is transferred to the body control module.
Compared with prior art, beneficial effect of the present invention is as follows:
1, walking manner of the present invention flexibly stable, speed is fast, it is on glass that synchronization has two groups of suckers to be adsorbed on, and effectively prevents from falling, and can cross over the window frame barrier, only in the one-sided absorption of glass, is not subjected to the restriction of thickness of glass and mounting means; Described cleaning glass machine people window frame is arranged, without window frame, indoor, outdoor on glass all practical.
2, the present invention adopts the driver element of motor, gear and ratch combination, and driving force is large, has improved the efficient of cleaning glass, and a described robot water square movement velocity that makes progress can be regulated.
3, robot of the present invention only is adsorbed on a side of glass, is not subjected to the constraint of thickness of glass and glass mounting means.
4, the present invention has installed buffer unit on sucker group gold utensil, adsorbs unsettled problem when having solved the main body unbalance stress.
Description of drawings
Be elaborated below in conjunction with the technical scheme of accompanying drawing to described unit:
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the structural representation of absorbing unit;
Fig. 4 is the structural representation of driver element;
Fig. 5 is the schematic diagram of absorption foot;
Fig. 6 is the connection diagram of absorption foot and absorbing unit;
Fig. 7 is the structural representation of image identification unit.
The specific embodiment
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing, but embodiments of the present invention are not limited to this.
Embodiment
The present invention is based on sufficient formula climbs the intelligent glass clean robot of wall and comprises robot body, walking unit, absorbing unit, driver element, body control module, image identification unit, wireless energy control units and cleaning unit.
As shown in Figure 1, 2, described walking unit comprises four machinery foots, and wherein two just level is to machinery foot 2,4, and every level is comprised of 2 described steering wheels to the machinery foot, is arranged on the two ends of described ratch; Other two just vertically to machinery foot 1,3, and every vertically is comprised of 3 steering wheels to the machinery foot, is arranged on described robot body's two ends up and down.The quantity of the upper steering wheel of machinery foot can be according to the volume and weight change of body.
Described absorbing unit is provided with four.As shown in Figure 3, each absorbing unit comprises a connecting plate 5,2 gold utensils 6,2 anti-slip sucking discs 7,2 cover buffer units 8, and buffer cell is enclosed within on gold utensil 6, and the gold utensil 6 one ends sucker 7 of ining succession, the other end connecting plate 5 of ining succession forms a cover sucker group.Described sucker group is connected with asepwirator pump 9, and described asepwirator pump 9 work produce vacuum, described sucker group are adsorbed on glass, and when its technological difficulties are to guarantee to adsorb at every turn, described sucker and glass surface are fitted fully, can not stay a gap.For solving this technological difficulties, the buffer unit 8 of being dressed up by the groups of springs of two different stiffness factors is installed on described gold utensil 6, flexibility for increasing described absorbing unit, guarantee that described sucker can be fitted fully with glass surface when described robot body up and down and left and right unbalance stress, stablize be adsorbed on glass.The quantity of described sucker, asepwirator pump, magnetic valve can change according to the volume and weight of body.
As shown in Figure 4, described driver element comprises a reducing motor 10, a rooted tooth bar 11, a gear 12.The reducing motor 10 that gear 12 is installed is fixed on described robot body, the described ratch 11 of described engaged gears, described reducing motor 10 have enough driving forces and speed adjustable.
Described every machinery foot links together by connecting plate with described each absorbing unit, is assembled into an absorption foot.As shown in Figure 5, have 4 absorption foots in described robot, wherein two is that level is to adsorbing foot 22,24, other two just vertically to absorption sufficient 21,23.As shown in Figure 6, described two levels are connected to the two ends of described ratch 11 to absorption foot 22,24 by connecting plate 5.
Described body control module comprises a motor-driven plate, a steering wheel control panel, two electromagnetic relays and a single-chip microcomputer, and the body control module is arranged on described robot body.Described motor-driven plate is connected with described reducing motor 10, described steering wheel control panel is connected with 10 steering wheels of described machinery foot, described electromagnetic relay is connected with described magnetic valve, and described single-chip microcomputer is connected with described electromagnetic relay with described motor-driven plate, described steering wheel control panel.Enter in programming under the control of program of single-chip microcomputer, described unit can co-ordination, guarantees described robot can be adsorbed on glass and the follow procedure requirement up and down the left and right four direction move.Under the control of described body control module, described walking unit, absorbing unit and driver element can co-ordinations, and described robot is adsorbed on glass curtain wall, and left and right four direction easy motion up and down, and cross over the barrier such as window frame.
As shown in Figure 7, described image identification unit is for detection of the barriers such as window frame and curtain wall edge, comprise camera, image pick-up card, main frame, radio receiving transmitting module, described camera 13 is arranged on described robot body, by described camera collection realtime graphic, process by described radio receiving transmitting module 14 through described image pick-up card and send, feed back to the single-chip microcomputer of body control module after receiving and process by described main frame, then by the motion control program of described single-chip microcomputer, body movement speed and direction etc. are carried out a series of regulation and control.
Described wireless energy control units comprises the Zigbee delivery and reception module, is used for the described cleaning glass machine of Long-distance Control people motion.Described Zigbee receiver module is arranged on described robot body, when described robot is used for cleaning high building curtain wall glass, the operator utilizes described Zigbee sending module to transmit control signal, described Zigbee receiver module receives signal, and described control signal is transferred to the single-chip microcomputer of body control module, realize the Long-distance Control to described robot.
Described cleaning unit comprises cleaning brush, liquid-jet device, cleaning solution and clear water sequential fuel injection.Described cleaning brush is connected with steering wheel, be arranged on the two ends of described robot ratch, to when motion, the program of setting can be attached on glass wall described cleaning brush to clean by adjusting described steering wheel angle in described robot level, and described liquid-jet device is with cleaning solution and clear water sequential fuel injection.
The below climbs wall the present invention is based on sufficient formula intelligent glass clean robot is cleaned the glass with frame as example, and machine human motion flow process of the present invention is described:
after program initialization, four absorption foots of described robot firmly are adsorbed on glass wall simultaneously, described camera begins to gather the wall image, and image information is passed to described image pick-up card, information after image pick-up card is processed sends described main frame to, described main frame judges whether described robot is in the frame place in the upper left corner, and judgement information is fed back to described single-chip microcomputer, if information shows described robot and is not positioned over the frame place in the upper left corner, the described robot ambulation of described Single-chip Controlling is to the upper left corner, described cleaning unit is not worked in this course.
described robot ambulation process is as described below: if need to begin level to walking, when described image identification unit does not detect barrier at direction of travel, described vertically firmly be adsorbed on to absorption foot on glass, described single-chip microcomputer makes its valve opening with described level to the magnetic valve that the absorption ambulacra is connected by controlling described electromagnetic relay control, described level breaks away from glass wall to the sucker of absorption foot, then described level is to the sufficient lifting of absorption, described reducing motor work, drive described gear to rotating clockwise, driving described ratch travels forward a step with maximum step pitch m, then described level is fallen to the absorption foot, touch glass surface, described single-chip microcomputer makes its valve closing with described level to the described magnetic valve that the absorption ambulacra communicates by controlling described electromagnetic relay control, the air that asepwirator pump is found time rapidly in described sucker forms vacuum, described level firmly is adsorbed on glass wall to the absorption foot, describedly afterwards vertically be enough to above-mentioned same way as to absorption and break away from glass wall, the described reducing motor of described Single-chip Controlling drives described gear to counterclockwise rotating, driving described robot body travels forward, then described vertically again be adsorbed on to absorption foot on glass, level is to the sufficient lifting of absorption, motion before repeating.
when described image identification unit when direction of travel detects barrier, with barrier and body apart from the maximum step pitch m-of n(n＜ratch robot body width k, as n〉during the maximum step pitch m-of ratch robot body width k, single-chip microcomputer does not respond to feedback information) feed back to single-chip microcomputer, the described level of described Single-chip Controlling is to the sufficient lifting of absorption, the described ratch n+k distance that travels forward, described level is to the sufficient leaping over obstacles of absorption, be adsorbed on glass, described vertically to the sufficient lifting of absorption, described reducing motor work, drive the described body main body leaping over obstacles that travels forward.
Be in the frame in the glass upper left corner when described robot after, described robot begins in the manner described above level and moves right, if do not meet barrier this moment, described cleaning brush drops to glass wall and contacts, and moves right with described ratch, cleans glass.When moving to the frame place in the upper right corner, then move downward a step, then to left movement.Described robot moves in the manner described above and cleans glass, until complete the scouring work of monolithic glass, program stops operation, and the level of described robot restPoses to adsorbing foot and vertically being adsorbed on together on glass wall to the absorption foot.
The image identification system of described robot can be identified window frame, barrier and glass curtain wall edge, crosses over window frame identical with the across obstacle mode.
Described robot can operated from a distance, when described robot in the high-altitude or during long distance work, the operator utilizes described Zigbee transmitter module to send a series of control informations, Zigbee receiver module on described robot body receives this control information and is transferred to described single-chip microcomputer, and described single-chip microcomputer is according to this control information control motion.
Above-described embodiment is the better embodiment of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (6)
1. intelligent glass clean robot of climbing wall based on sufficient formula comprises robot body, walking unit, absorbing unit, driver element, body control module, cleaning unit, image identification unit and wireless energy control units, it is characterized in that:
Described walking unit comprises four machinery foots; Described absorbing unit is provided with four, be arranged on respectively on four machinery foots, form four absorption foots together with described machinery foot, under the effect of described body control module, described four absorption foots and the described driver element coordinated movement of various economic factors drive described robot body's motion;
Described image identification unit is connected with the body control module, detects barrier and curtain wall edge by the real-time image acquisition signal, is transferred to the body control module after the picture signal that gathers is processed;
Described wireless energy control units is connected with the body control module, is used for the described robot body's motion of Long-distance Control.
2. intelligent glass clean robot according to claim 1, is characterized in that, described absorbing unit comprises connecting plate, gold utensil, anti-slip sucking disc, buffer unit, and buffer cell is enclosed within on gold utensil; The gold utensil one end sucker of ining succession, the other end connecting plate of ining succession; Described buffer unit is arranged on gold utensil.
3. intelligent glass clean robot according to claim 1, is characterized in that, described driver element comprises reducing motor, ratch and gear; Described gear is arranged on reducing motor, and described reducing motor is fixed on described robot body, the described ratch of described engaged gears.
4. intelligent glass clean robot according to claim 3, it is characterized in that, described body control module comprises motor-driven plate, steering wheel control panel, electromagnetic relay and single-chip microcomputer, described motor-driven plate is connected with described reducing motor, described steering wheel control panel is connected with steering wheel on described machinery foot, and described single-chip microcomputer is connected with described motor-driven plate, steering wheel control panel and described electromagnetic relay respectively.
5. intelligent glass clean robot according to claim 1, is characterized in that, described image identification unit comprises camera, image pick-up card, main frame and radio receiving transmitting module, and described camera is arranged on described robot body; By described camera collection realtime graphic, process by described radio receiving transmitting module sending through described image pick-up card, feed back to the body control module after receiving and process by described main frame.
6. intelligent glass clean robot according to claim 1, is characterized in that, described wireless energy control units comprises Zigbee sending module and Zigbee receiver module, and described Zigbee sending module is used for transmitting control signal; Described Zigbee receiver module is arranged on described robot body, is used for reception control signal, and described control signal is transferred to the body control module.
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| CN201210584759.XA CN103082934B (en) | 2012-12-28 | 2012-12-28 | The intelligent glass clean robot of wall is climbed based on sufficient formula |
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