CN104921651A - Self-moving device and motion surface defect detection and control method thereof - Google Patents
Self-moving device and motion surface defect detection and control method thereof Download PDFInfo
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- CN104921651A CN104921651A CN201410097596.1A CN201410097596A CN104921651A CN 104921651 A CN104921651 A CN 104921651A CN 201410097596 A CN201410097596 A CN 201410097596A CN 104921651 A CN104921651 A CN 104921651A
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- self
- moving device
- moving
- vacuum
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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Abstract
The invention provides a self-moving device and a motion surface defect detection and control method thereof. The self-moving device includes a body (100), a control unit is arranged on the body, the self-moving device is further provided with a motion surface defect detection device (A), the self-moving device includes a detection rod (200) movably arranged on the self-moving device body, an air-flow channel (230) is arranged in the detection rod, the bottom end of the detection rod is a free end, a cavity (22) is arranged inside the free end, the air-flow channel and the cavity are communicated to form a small sucker structure, a spring (300) is arranged on the detection rod and is positioned between the body and the free end, the cavity (220) is connected with one end of a vacuum induction device (600) through a flexible pipe (800), the vacuum induction device is connected with a vacuum-pumping device (700) through the flexible pipe (800), and the vacuum induction device is connected with the control unit. The self-moving device and the motion surface defect detection and control method thereof are simple in structure and sensitive in detection, can detect slits, bosses, or frameless boundaries, are stable in performance and high in accuracy.
Description
Technical field
The present invention relates to a kind of self-moving device and moving surface defects detection thereof and control method, belong to family expenses small electric apparatus manufacturing technology field.
Background technology
Along with self-moving device is as the appearance of window wiping robot, wipes this work of window and become more and more simpler.Machine is adsorbed on window and works by the mode of window wiping robot many employings vacuum suction that existing market is sold, when operation walked by machine on the glass of the situations such as frame-free glass, apertured glass and low step, there is certain potential safety hazard, that is: if robot does not have recognition capability to the gap on the border of frame-free glass, glass surface and low step edge, will as usual pass through from these local walkings, and play adsorbing sucker from these places through out-of-date, can leak gas instantaneously, cause robot to fall.Therefore, need in robot, arrange certain testing agency, help robot judge the defect of walkway surface and stop robot from these local processes, to avoid the generation of falling.
Summary of the invention
Technical problem to be solved by this invention is for the deficiencies in the prior art, a kind of self-moving device and moving surface defects detection thereof and control method are provided, structure easy detection is sensitive, no matter is gap, boss or all can detect without edge circle, stable performance and accuracy rate is high.
Technical problem to be solved of the present invention is achieved by the following technical solution:
A kind of self-moving device, comprise body, this body is provided with control unit, and described body is also provided with moving surface defect detecting device, this device comprises the test rod be removably set on self-moving device body, feeler inside is provided with gas channel, and the bottom of feeler is free end, and the inside of free end is provided with cavity, gas channel and cavity through, form a small sucker structure, feeler is provided with spring, and spring is located between body and free end; Cavity is connected by flexible pipe with one end of vacuum induction device, and vacuum induction device is connected by flexible pipe with vacuum extractor; Described vacuum induction device is connected with control unit.
Conveniently fix, described test rod is fixed by snap on the body of self-moving device.
In order to reduce self-moving device in motion process, the frictional force between moving surface defect detecting device and operation surface, described own end is billiard table shape.
In order to keep the sealing of cavity and moving surface, the free end of described feeler and the contact surface on surface to be detected are provided with sealing gasket.
In order to be spring effective location, body is provided with stop section, spring bottom stop section and feeler between space inner position.
As required, the bottom of described body is also provided with main sucker, and described moving surface defect detecting device is arranged on the periphery of the main sucker of self-moving device, and magnitude setting is multiple.
Specifically, the uniform periphery being arranged on the main sucker of self-moving device of described moving surface defect detecting device.
Except said structure is arranged, described self-moving device can also comprise the absorbing unit and walking unit that are arranged on organism bottom, and described walking unit is connected with a driver element; In addition, for the ease of cleaning operation, described self-moving device also comprises rag support, and rag mid-stent is provided with perforate, and described body is rotatable to be embedded in described perforate.
Absorbing unit can adopt various mechanism or device to realize the absorption of body on operation surface, but under normal circumstances, described absorbing unit is sucker, and described sucker is connected to vavuum pump by flexible pipe, vavuum pump work makes to form negative pressure in sucker, makes described self-moving device be adsorbed on operation surface.
For the ease of self-moving device, the corner at operation surface rotates, and described rag support is square.
The present invention also provides a kind of moving surface defects detection and control method of above-mentioned self-moving device, and the method comprises the steps:
Step 100: self-moving device moves at glass surface, vacuum induction device detects the vacuum of cavity in real time, and sends data message to control unit;
Step 200: control unit process data message, judges whether the real-time vacuum of cavity is less than predetermined vacuum degree, if so, then enters step 300; Otherwise, return step 100;
Step 300: control unit controls self-moving device and turns to.
In sum, the invention provides a kind of self-moving device and moving surface defects detection thereof and control method, structure easy detection is sensitive, no matter is gap, boss or all can detect without edge circle, stable performance and accuracy rate is high.
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in detail.
Accompanying drawing explanation
Fig. 1 is moving surface defect detecting device partial structurtes schematic diagram of the present invention;
Fig. 2 is the position view of moving surface defect detecting device on self-moving device;
Fig. 3 is the state diagram of self-moving device motion surface defect detection apparatus when normally walking;
Fig. 4 is the state diagram of self-moving device motion surface defect detection apparatus when running into Rimless border;
Fig. 5 is the state diagram of self-moving device motion surface defect detection apparatus when running into moving surface gap;
Fig. 6 is the state diagram of self-moving device motion surface defect detection apparatus when running into moving surface boss.
Detailed description of the invention
Fig. 1 is moving surface defect detecting device partial structurtes schematic diagram of the present invention.As shown in Figure 1, moving surface defect detecting device comprises feeler 200, is fixed on the body 100 of self-moving device by buckle 500.The inside of feeler 200 is provided with gas channel 230, and the bottom of feeler 200 is free end, and free end inside is provided with cavity 220, and gas channel 230 is through with cavity 220, forms a small sucker structure.Feeler 200 is provided with spring 300, and as spring 300 is sheathed on feeler 200, body 100 is provided with stop section 110, spring 300 bottom stop section 110 and feeler between space inner position.Preferably, facilitate free end to move at moving surface, free end is billiard table shape 210, and the outer surface of billiard table is arc, and the bottom surface that billiard table 210 contacts with moving surface is plane.The free end of feeler 200 and the contact surface on surface to be detected are provided with sealing gasket 400, and also namely the inner side of billiard table 210 is provided with sealing gasket 400, and the gas channel only retaining center contacts with moving surface, ensure the sealing of cavity 220 and moving surface further.The cavity 220 of the inside of feeler 200 is connected by flexible pipe 800 with one end of vacuum induction device 600, and vacuum induction device 600 is connected by flexible pipe 800 with vacuum extractor 700.
Fig. 2 is the position view of moving surface defect detecting device on self-moving device.As shown in Figure 2; this small sucker vibrational power flow that moving surface defect detecting device A is formed is in the periphery of the main sucker of self-moving device B; the magnitude setting of small sucker structure is not limit; vacuum induction device 600 is relied on to detect the air pressure of small sucker; if the air pressure of the small sucker in which direction decrease beyond setting atmospheric pressure value; self-moving device just can identify that this direction is deathtrap, controls self-moving device and performs and shut down or to turn to etc. action to avert danger.Be described in detail below in conjunction with the specific works process of accompanying drawing to moving surface defect detecting device.
Shown in composition graphs 2, except said structure is arranged, described self-moving device can also comprise the absorbing unit and walking unit that are arranged on organism bottom, and described walking unit is connected with a driver element.In addition, for the ease of cleaning operation, described self-moving device also comprises rag support, and rag mid-stent is provided with perforate, and described body is rotatable to be embedded in described perforate.For the ease of self-moving device, the corner at operation surface rotates, and described rag support is square.The absorbing unit of self-moving device can adopt various mechanism or device to realize the absorption of body on operation surface, but under normal circumstances, described absorbing unit is sucker, described sucker is connected to vavuum pump (as extraction fan by flexible pipe, piston vacuum pump etc.), vavuum pump work makes to form negative pressure in sucker, makes described self-moving device be adsorbed on operation surface.In addition, the walking unit of self-moving device also according to the needs of moving surface, can be set to micro-move device wheel or crawler belt.
Fig. 3 is the state diagram of self-moving device motion surface defect detection apparatus when normally walking.As shown in Figure 3, when self-moving device is adsorbed on window-glass surface time, the billiard table 210 of feeler 200 bottom, under the effect of spring 300 elastic force, is adjacent on glass 1000 surface, because the inner side of the billiard table 210 of feeler 200 is provided with sealing gasket 400, good sealing effectiveness can be played.Now, vacuum extractor 700 works, and this airtight road pipeline can be made to produce certain negative pressure by flexible pipe 800, vacuum induction device 600 can detect the real-time negative pressure value inside pipeline.A standard negative pressure value is preset, if when negative pressure value is more than or equal to standard negative pressure value in real time, show that self-moving device is in normal walking states in the control unit of self-moving device.
Fig. 4 is the state diagram of self-moving device motion surface defect detection apparatus when running into Rimless border.As shown in Figure 4, when self-moving device walk frame-free glass 1000 border on time, the billiard table 210 of feeler 200 reaches outside the border of glass 1000, airtight pipeline gas leakage, now, vacuum induction device 600 can detect the change of vacuum, sends a signal to control unit, control unit controls self-moving device immediately and performs the action of retrogressing to avoid border, prevents from falling.
Fig. 5 is the state diagram of self-moving device motion surface defect detection apparatus when running into moving surface gap.As shown in Figure 5, when the billiard table 210 of feeler 200 runs into the gap on glass 1000 surface time, pipeline liquid injecting device can leak gas equally, vacuum induction device 600 detects the change of vacuum, output signal to control unit, control unit can control self-moving device and perform corresponding action to avoid defect simultaneously.
Fig. 6 is the state diagram of self-moving device motion surface defect detection apparatus when running into moving surface boss.As shown in Figure 6, when self-moving device walk the low step limit on glass 1000 surface protruding or convex stupefied time, the billiard table 210 of feeler 200 will cause pipeline liquid injecting device to leak gas because lifting, vacuum induction device 600 detects the change of vacuum, output signal to control unit equally, control unit and then self-moving device can be controlled perform corresponding action to avoid defect.
The present invention also provides moving surface defects detection and the control method of above-mentioned self-moving device, and the method comprises the steps:
Step 100: self-moving device moves at glass surface, vacuum induction device 600 detects the vacuum of cavity in real time, and sends data message to control unit;
Step 200: control unit process data message, judges whether the real-time vacuum of cavity is less than predetermined vacuum degree, if so, then enters step 300; Otherwise, return step 100;
Step 300: control unit controls self-moving device and turns to.
In sum, structure easy detection of the present invention is sensitive, no matter is gap, boss or all can detect without edge circle, stable performance and accuracy rate is high.In addition, it should be noted that, self-moving device of the present invention can be window wiping robot, robot for cleaning wall surfaces etc., its by adsorption device adsorbs in various surface to be cleaned, as metope, inclined plane etc., thus perform cleaning.
Claims (10)
1. a self-moving device, comprise body (100), this body is provided with control unit, it is characterized in that, described body is also provided with moving surface defect detecting device (B), this device comprises the test rod (200) be removably set on self-moving device body (100), described feeler inside is provided with gas channel (230), the bottom of feeler is free end, the inside of free end is provided with cavity (220), gas channel and cavity through, form a small sucker structure, feeler is provided with spring (300), spring is located between body and free end, cavity (220) is connected by flexible pipe (800) with one end of vacuum induction device (600), and vacuum induction device is connected by flexible pipe (800) with vacuum extractor (700), described vacuum induction device is connected with control unit.
2. self-moving device as claimed in claim 1, it is characterized in that, described test rod (200) is fixed on the body (100) of self-moving device by buckle (500).
3. self-moving device as claimed in claim 2, it is characterized in that, the free end of described feeler (200) and the contact surface on surface to be detected are provided with sealing gasket (400).
4. self-moving device as claimed in claim 3, it is characterized in that, body (100) is provided with stop section (110), spring (300) bottom stop section (110) and feeler between space inner position.
5. the self-moving device as described in any one of claim 1-4, it is characterized in that, the bottom of described body (100) is also provided with main sucker, and described moving surface defect detecting device (B) is arranged on the periphery of the main sucker of self-moving device, and magnitude setting is multiple.
6. self-moving device as claimed in claim 5, it is characterized in that, described moving surface defect detecting device (B) is in the uniform setting in periphery of the main sucker of self-moving device.
7. self-moving device as claimed in claim 1, is characterized in that, described self-moving device comprises the absorbing unit and walking unit that are arranged on organism bottom, and walking unit is connected with driver element; Also comprise rag support, rag mid-stent is provided with perforate, and described body is rotatable to be embedded in described perforate.
8. self-moving device as claimed in claim 7, it is characterized in that, described absorbing unit is sucker, and described sucker is connected to vavuum pump by flexible pipe, and vavuum pump work makes to form negative pressure in sucker, makes described self-moving device be adsorbed on operation surface.
9. self-moving device as claimed in claim 7, it is characterized in that, described rag support is square.
10. the moving surface defects detection of the self-moving device as described in any one of claim 1-9 and a control method, is characterized in that, the method comprises the steps:
Step 100: self-moving device moves at glass surface, vacuum induction device (600) detects the vacuum of cavity in real time, and sends data message to control unit;
Step 200: control unit process data message, judges whether the real-time vacuum of cavity is less than predetermined vacuum degree, if so, then enters step 300; Otherwise, return step 100;
Step 300: control unit controls self-moving device and turns to.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410097596.1A CN104921651B (en) | 2014-03-17 | 2014-03-17 | Self-moving device and its moving surface defects detection and control method |
| PCT/CN2015/074380 WO2015139608A1 (en) | 2014-03-17 | 2015-03-17 | Self-moving apparatus and movement surface defect detection and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410097596.1A CN104921651B (en) | 2014-03-17 | 2014-03-17 | Self-moving device and its moving surface defects detection and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104921651A true CN104921651A (en) | 2015-09-23 |
| CN104921651B CN104921651B (en) | 2017-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410097596.1A Active CN104921651B (en) | 2014-03-17 | 2014-03-17 | Self-moving device and its moving surface defects detection and control method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104921651B (en) |
| WO (1) | WO2015139608A1 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105769041A (en) * | 2015-12-15 | 2016-07-20 | 深圳市宝乐机器人技术有限公司 | Edge detection method for glass rubbing device |
| WO2017079886A1 (en) * | 2015-11-10 | 2017-05-18 | 深圳市赛亿科技开发有限公司 | Method for dynamically adjusting suction force of window cleaning robot |
| CN107028547A (en) * | 2017-04-28 | 2017-08-11 | 厦门华蔚物联网科技有限公司 | A kind of curtain wall robot for walking stable and control method |
| CN107865609A (en) * | 2016-09-23 | 2018-04-03 | 青岛海尔模具有限公司 | A kind of window wiping robot of fall-proofing device and the application device |
| CN107917875A (en) * | 2016-10-11 | 2018-04-17 | 青岛海尔模具有限公司 | A kind of window wiping robot of surface detection apparatus and the application device |
| CN109199207A (en) * | 2018-09-11 | 2019-01-15 | 广东宏穗晶科技服务有限公司 | A kind of packaged type window wiping robot |
| CN109419458A (en) * | 2017-08-25 | 2019-03-05 | 科沃斯机器人股份有限公司 | Multimedium intelligent cleaning system and its control method |
| TWI691299B (en) * | 2017-11-08 | 2020-04-21 | 日商日立環球生活方案股份有限公司 | Autonomous walking electric sweeping robot |
| CN113520207A (en) * | 2021-08-12 | 2021-10-22 | 同济大学 | Cleaning robot with curtain wall surface detection function and working method |
| CN116649826A (en) * | 2023-07-26 | 2023-08-29 | 科沃斯家用机器人有限公司 | Cleaning apparatus, edge detection device, and edge detection method |
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| TWI580387B (en) * | 2015-05-27 | 2017-05-01 | 趙志謀 | Robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017079886A1 (en) * | 2015-11-10 | 2017-05-18 | 深圳市赛亿科技开发有限公司 | Method for dynamically adjusting suction force of window cleaning robot |
| CN107205594A (en) * | 2015-11-10 | 2017-09-26 | 深圳市赛亿科技开发有限公司 | A kind of absorption affinity dynamic adjusting method of glass-cleaning robot |
| CN105769041A (en) * | 2015-12-15 | 2016-07-20 | 深圳市宝乐机器人技术有限公司 | Edge detection method for glass rubbing device |
| CN107865609A (en) * | 2016-09-23 | 2018-04-03 | 青岛海尔模具有限公司 | A kind of window wiping robot of fall-proofing device and the application device |
| CN107917875A (en) * | 2016-10-11 | 2018-04-17 | 青岛海尔模具有限公司 | A kind of window wiping robot of surface detection apparatus and the application device |
| CN107028547B (en) * | 2017-04-28 | 2022-12-27 | 厦门华蔚物联网科技有限公司 | Stably-walking curtain wall robot and control method |
| CN107028547A (en) * | 2017-04-28 | 2017-08-11 | 厦门华蔚物联网科技有限公司 | A kind of curtain wall robot for walking stable and control method |
| CN109419458A (en) * | 2017-08-25 | 2019-03-05 | 科沃斯机器人股份有限公司 | Multimedium intelligent cleaning system and its control method |
| CN109419458B (en) * | 2017-08-25 | 2024-02-23 | 科沃斯机器人股份有限公司 | Multi-medium intelligent cleaning system and control method thereof |
| TWI691299B (en) * | 2017-11-08 | 2020-04-21 | 日商日立環球生活方案股份有限公司 | Autonomous walking electric sweeping robot |
| CN109199207A (en) * | 2018-09-11 | 2019-01-15 | 广东宏穗晶科技服务有限公司 | A kind of packaged type window wiping robot |
| CN109199207B (en) * | 2018-09-11 | 2021-05-11 | 广东聚晨知识产权代理有限公司 | Movable window cleaning robot |
| CN113520207A (en) * | 2021-08-12 | 2021-10-22 | 同济大学 | Cleaning robot with curtain wall surface detection function and working method |
| CN116649826A (en) * | 2023-07-26 | 2023-08-29 | 科沃斯家用机器人有限公司 | Cleaning apparatus, edge detection device, and edge detection method |
| CN116649826B (en) * | 2023-07-26 | 2023-10-03 | 科沃斯家用机器人有限公司 | Cleaning apparatus, edge detection device, and edge detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104921651B (en) | 2017-08-15 |
| WO2015139608A1 (en) | 2015-09-24 |
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