CN105747984A - Window-wiping robot and control method thereof - Google Patents
Window-wiping robot and control method thereof Download PDFInfo
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- CN105747984A CN105747984A CN201610142998.8A CN201610142998A CN105747984A CN 105747984 A CN105747984 A CN 105747984A CN 201610142998 A CN201610142998 A CN 201610142998A CN 105747984 A CN105747984 A CN 105747984A
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- temperature
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- window wiping
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a window-wiping robot and a control method thereof. The window-wiping robot comprises a robot body, a temperature detection device and a control device, wherein the temperature detection device is arranged on the robot body and is used for detecting the temperature outside the robot body and the control device is used for controlling the robot body to act and is connected with the temperature detection device. According to the window-wiping robot provided by the invention, the temperature detection device is mounted, so that the temperature detection device can be used for detecting the air temperature nearby the surface of a to-be-wiped window in real time. When the detected air temperature exceeds or is lower than a preset value, the controller can control the robot body to take corresponding measures, so as to increase the working safety of the window-wiping robot.
Description
Technical field
The present invention relates to household appliance technical field, especially relate to a kind of window wiping robot and control method thereof.
Background technology
Window wiping robot in correlation technique, it it is a kind of meeting product in outdoor application, ambient temperature is relatively low or higher all can its duty be had undesirable effect, such as, when temperature is relatively low, steam in air easily waiting to wipe icing or formation dew on forms, is susceptible to skid during window wiping robot work；When temperature is higher, air can ratio leaner, same rotation speed of fan can cause that vacuum reduces, so that the absorption affinity of window wiping robot weakens, it is easy to fall.
Summary of the invention
It is contemplated that at least solve one of technical problem of existence in prior art.For this, the invention reside in a kind of window wiping robot of proposition, the job security of described window wiping robot is high.
The present invention also proposes the control method of a kind of above-mentioned window wiping robot.
The window wiping robot of embodiment according to a first aspect of the present invention, including: body；Temperature-detecting device, described temperature-detecting device is located on described body and for detecting described extra-organismal temperature；Controlling device, described control device is used for controlling described body action and being connected with described temperature-detecting device.
Window wiping robot according to the present invention, by installing temperature-detecting device, wait to wipe the air themperature near window surface thus temperature-detecting device can detect in real time, when the air themperature of detection exceedes or during lower than predetermined value, control device can control body and take corresponding counter-measure, and then improves the job security of window wiping robot.
In certain embodiments, described control device is located in described body, and described temperature-detecting device includes: probe, being at least partially disposed at outside described body and for detecting described extra-organismal temperature of described probe；And wire, the two ends of described wire are connected with described probe and described control device respectively.
In certain embodiments, the diapire of described body having mounting groove, described probe is arranged in described mounting groove, and one end of described wire is located in described mounting groove to be connected with described probe, the other end passes described mounting groove to be connected with described control device.
In certain embodiments, described temperature-detecting device is fixed in described mounting groove by fixation kit.
In certain embodiments, described fixation kit includes: fixing lid, and described fixing lid includes the accommodation portion and the connecting portion that are connected, and described probe is contained between the roof of described accommodation section and described mounting groove, securing member, described connecting portion is fastened on described mounting groove by described securing member.
In certain embodiments, described accommodation section is formed as semi-cylindrical shaped, and described connecting portion is two and is connected to the radially opposite sides of described accommodation section.
In certain embodiments, the roof of described mounting groove is provided with brace rod, and described probe support is on described brace rod.
In certain embodiments, described brace rod being formed with locating slot, the part of described probe is held and is positioned in described locating slot.
In certain embodiments, described brace rod is multiple and spaced apart to support described probe respectively on the length direction of described probe.
In certain embodiments, described body includes: casing, and the diapire of described casing is formed with air entry；Wiping widget, described wiping widget is located on described diapire and around described air entry；Blower fan, described blower fan is located in described casing and is connected with described control device, described wind mechanism cause by described control device control with by described air entry from described wiping widget and described diapire, wait to wipe sucking-off gas in the cavity that forms limit jointly so that described body be adsorbed on described in wait to wipe on forms.
In certain embodiments, described body includes: casing；And running gear, described running gear sets on the housing and is connected with described control device, and described running gear is configured to be controlled to drive described casing waiting to wipe walking on forms by described control device.
In certain embodiments, described body includes: casing；And warning devices, described warning devices sets on the housing and is connected with described control device, and described warning devices is configured to be controlled by described control device to send alarm.
In certain embodiments, described body includes: casing；With air-conditioning device, described air-conditioning device sets on the housing and is connected with described control device, described air-conditioning device be configured to by described control device control with regulate wait wipe forms wait wipe surface temperature.
The control method of the window wiping robot of embodiment according to a second aspect of the present invention, for the window wiping robot of embodiment according to a first aspect of the present invention is controlled, described control method comprises the following steps: described temperature-detecting device detects described extra-organismal temperature in real time；Described control device controls described body according to the temperature that described temperature-detecting device detects in real time and performs corresponding action.
The control method of the window wiping robot according to the present invention, it is possible to be effectively improved the job security of window wiping robot.
In certain embodiments, the described body of described control performs corresponding action and sends alarm particularly as follows: control described body；Control described body and slow down the speed of travel；Control described body and increase the absorption affinity treating wiping forms；And regulate wait to wipe forms wait wipe at least one in surface temperature.
The additional aspect of the present invention and advantage will part provide in the following description, and part will become apparent from the description below, or is recognized by the practice of the present invention.
Accompanying drawing explanation
Fig. 1 is a front schematic view of window wiping robot according to embodiments of the present invention；
Fig. 2 is a schematic rear view of the window wiping robot shown in Fig. 1；
Fig. 3 is the A portion enlarged drawing that Fig. 2 centre circle shows；
Fig. 4 is another schematic rear view of the window wiping robot shown in Fig. 1, not shown go out temperature-detecting device；
Fig. 5 is the B portion enlarged drawing that Fig. 4 centre circle shows；
Fig. 6 is another front schematic view of the window wiping robot shown in Fig. 1, not shown go out body top cover；
Fig. 7 is the schematic diagram of the fixing lid shown in Fig. 1；
Fig. 8 is the schematic diagram of the temperature-detecting device shown in Fig. 1.
Accompanying drawing labelling:
Window wiping robot 100；
Casing 1；Diapire 11；Mounting groove 111；Perforation 111a；Brace rod 112；Locating slot 113；Air entry 114；
Temperature-detecting device 2；Probe 21；Wire 22；
Fixing lid 31；Accommodation portion 311；Connecting portion 312；Installing hole 313；Securing member 32；
Blower fan 2；Running gear 3；Control device 4.
Detailed description of the invention
Being described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of same or like function from start to finish.The embodiment described below with reference to accompanying drawing is illustrative of, it is intended to is used for explaining the present invention, and is not considered as limiting the invention.
Following disclosure provides many different embodiments or example for realizing the different structure of the present invention.In order to simplify disclosure of the invention, hereinafter parts and setting to specific examples are described.Certainly, they are only merely illustrative, and are not intended to the restriction present invention.Additionally, the present invention can in different examples repeat reference numerals and/or letter.This repetition is for purposes of simplicity and clarity, the relation between itself not indicating discussed various embodiment and/or arranging.Additionally, the example of the various specific technique that the invention provides and material, but those of ordinary skill in the art are it can be appreciated that the use of the property of can be applicable to of other techniques and/or other materials.
Window wiping robot 100 according to embodiments of the present invention and control method thereof are described below with reference to Fig. 1-Fig. 8.
As Figure 1-Figure 8, window wiping robot 100 according to embodiments of the present invention, including: body, temperature-detecting device 2 and control device 4.Here, it is necessary to explanation, other compositions of window wiping robot 100 according to embodiments of the present invention and operation are all known for those of ordinary skills, are not detailed herein.
As depicted in figs. 1 and 2, temperature-detecting device 2 is located on body and for detecting extra-organismal temperature, that is, temperature-detecting device 2 is mounted on body, and temperature-detecting device 2 is used for testing machine external body, such as waits to wipe window surface ambient air temperature, thus, window wiping robot 100 can real-time perception operating ambient temperature change about.Further, control device 4 to be used for controlling body action and being connected with temperature-detecting device 2, thus, the temperature conditions of its detection can be sent to control device 4 by temperature-detecting device 2, so that controlling device 4 according to the current operating ambient temperature of window wiping robot 100, control body to take appropriate measures, so that it is guaranteed that the job security of window wiping robot 100.
Such as, when temperature-detecting device 2 detects that ambient temperature is relatively low, control device 4 can control body treat wiping window surface carry out hyperthermic treatment, with the problem preventing from occurring on forms to freeze or form dew, thus avoiding the problem that body work is skidded, or, control device 4 can also control body raising to be treated the absorption affinity of wiping forms, slows down and treat the modes such as the speed of service problem to avoid window wiping robot 100 work skidding wiping forms mutually；Again such as, when temperature-detecting device 2 detects that ambient temperature is higher, control device 4 can control body treat wiping window surface carry out cooling process, wait to wipe forms ambient air concentration such that it is able to improve, the problem that weakens of absorption affinity wiping forms to improve body to treat, thus avoiding body to fall, certainly, control device 4 can also control body improve treat wipe forms absorption affinity, slow down to treat mutually and wipe the problem that the mode such as the speed of service of forms is fallen to avoid window wiping robot 100 to work.
To sum up, window wiping robot 100 according to embodiments of the present invention, by on body (such as bottom, the i.e. vicinity of body are waited to wipe on a side surface of forms), temperature-detecting device 2 is installed, wait to wipe air themperature on window surface or about thus temperature-detecting device 2 can detect in real time, body is made to take corresponding counter-measure so that controlling device 4 according to the temperature of detection, such as when the temperature of detection exceedes or lower than predetermined value, control device 4 can control body and take corresponding counter-measure, and then improves the job security of window wiping robot 100.Here, it should be noted that, predetermined value can be a temperature range, for instance 5 DEG C～25 DEG C, and " exceeding or lower than predetermined value " refers to the maximum (such as more than 25 DEG C) exceeding this temperature range or the minima (such as lower than 5 DEG C) lower than this temperature range.
By upper, the control method of window wiping robot 100 according to embodiments of the present invention may include steps of: in the process of window wiping robot 100 work, temperature-detecting device 2 is adopted to detect extra-organismal temperature in real time, simultaneously, control the temperature that device 4 detects in real time according to temperature-detecting device 2, control body and perform corresponding action, namely perform to adapt to current operating environment temperature, improve the action of window wiping robot 100 job security, such as, control body and send alarm, or control body and slow down in the speed of travel treated on wiping forms, or control body and increase the absorption affinity treating wiping forms, or regulate and wait to wipe the actions such as window surface temperature.Thus, it is possible to make window wiping robot 100 can better adapt to the variations in temperature of working environment, improve the job security of window wiping robot 100.
nullIn one embodiment of the invention，With reference to Fig. 1、Fig. 2 and Fig. 6，Body may include that casing 1、Wipe widget (not shown go out) and blower fan 2，The diapire 11 of casing 1、Namely the vicinity of casing 1 is waited to wipe on a side surface of forms and is formed with air entry 114，Such as air entry 114 can be multiple and be evenly distributed on the central part bottom casing 1，Wipe widget (such as rag、Sponge etc.) it is located on diapire 11 and surrounds air entry 114 1 weeks，Thus，Wipe widget、Diapire 11 and wait to wipe between forms and can limit substantially airtight cavity，Blower fan 2 is located in casing 1 and is connected with controlling device 4，That is，Blower fan 2 can by controlling device 4 control action，Blower fan 2 be configured to by control device 4 control with by air entry 114 from sucking-off gas in cavity，Cavity is made to present vacuum or negative pressure state，Wait to wipe on forms so that body entirety is adsorbed on.Certainly, the invention is not restricted to this, in other embodiments of the invention, the diapire 11 of casing 1 can also arrange sucker, blower fan 2 can pass through sucker suction and treat that on wiping forms, wherein, the concept of sucker is well known to those skilled in the art, and no longer describes in detail here.
Thus, when the air themperature that temperature-detecting device 2 detects in real time exceedes predetermined value or during lower than predetermined value, the blower fan 2 that control device 4 can control in body increases power, to improve the reduced pressure of cavity, thus improving body to treat the absorption affinity wiping forms, and then prevent the problem that window wiping robot 100 falls from forms or skid, to improve the job security of window wiping robot 100.
In one embodiment of the invention, body may include that casing 1 and running gear 3, running gear 3 is located in casing 1 and is connected with controlling device 4, that is, running gear 3 can by controlling device 4 control action, running gear 3 is configured to be controlled to drive casing 1 waiting to wipe walking on forms by control device 4, such as in the illustrated example shown in fig. 2, running gear 3 can be the roller being located at bottom casing 1 and wait to wipe window surface for being supported on, and controls device 4 and occurs to roll so that roller drives casing 1 waiting to wipe walking on forms for controlling roller.
Thus, when the air themperature that temperature-detecting device 2 detects in real time exceedes predetermined value or during lower than predetermined value, the running gear 3 that control device 4 can control in body slows down the speed of travel, to improve window wiping robot 100 from the problem fallen or skid forms, thus improving the job security of window wiping robot 100.
In one embodiment of the invention, body may include that casing 1 and air-conditioning device, air-conditioning device is located in casing 1 and is connected with controlling device 4, that is, air-conditioning device can by controlling device 4 control action, air-conditioning device be configured to by control device 4 control to regulate wait to wipe forms wait wipe surface temperature.
Thus, when the air themperature that temperature-detecting device 2 detects in real time exceedes predetermined value, control device 4 can control the air-conditioning device in body treat wiping forms carry out cooling process, wait to wipe forms ambient air concentration to improve, thus improving body to treat the problem that the absorption affinity of wiping forms weakens, and then avoid body to fall or skid, to improve the job security of window wiping robot 100.When the air themperature that temperature-detecting device 2 detects in real time is lower than predetermined value, control device 4 can control the air-conditioning device in body treat wiping forms carry out hyperthermic treatment, with the problem preventing forms from occurring to freeze or form dew, thus avoiding body to fall or skidding, to improve the job security of window wiping robot 100.
In one embodiment of the invention, body may include that casing 1 and warning devices, warning devices is located in casing 1 and is connected with controlling device 4, that is, warning devices can by controlling device 4 control action, warning devices is configured to be controlled to send alarm by control device 4, and wherein alarm can be audio alarm or color break-up alarm etc..
Thus, when the air themperature that temperature-detecting device 2 detects in real time exceedes predetermined value or during lower than predetermined value, the warning devices that control device 4 can control in body sends alarm, so that user knows window wiping robot 100 and is in the duty of danger, thus user can manually take some measures, such as take off window wiping robot 100 and forms are carried out the operations such as relevant treatment, thus avoiding the problem that window wiping robot 100 falls from forms or skids, and then improve the job security of window wiping robot 100.
Below, the temperature-detecting device 2 of window wiping robot 100 according to embodiments of the present invention it is briefly described.
As shown in Fig. 2, Fig. 3, Fig. 6 and Fig. 8; control device 4 (such as pcb board) and be arranged in body; such as it is located in casing 1; to be protected controlling device 4 by casing 1; temperature-detecting device 2 includes: probe 21 and wire 22; probe 21 to be at least partially disposed at body outer and for detecting extra-organismal temperature; the two ends of wire 22 are connected with probe 21 and control device 4 respectively; that is; probe 21 is connected by wire 22 with controlling device 4, and wire 22 sends control device 4 to the temperature by probe 21 detection.Thus, the simple in construction of temperature-detecting device 2, it is simple to install, temperature detection accuracy is high.
Certainly, the invention is not restricted to this, control device and can also be located at outside body, such as control device can be intelligent chip and be loaded in remote-control handle, so that body remotely to be controlled, now, probe 21 can adopt the mode of communication to be connected with controlling device, to realize the transmission of detection temperature.
Preferably, with reference to Fig. 2 and Fig. 3 and in conjunction with Fig. 8, the diapire 11 of body has mounting groove 111, such as mounting groove 111 is formed by the diapire 11 of casing 1 is upwardly recessed, thus the bottom-open of mounting groove 111, probe 21 is arranged in mounting groove 111 by the bottom up of mounting groove 111, detects with the air contact outside with mounting groove 111, one end of wire 22 is located in mounting groove 111 to be connected with probe 21, the other end through mounting groove 111 to be connected with control device 4.
Thus; mounting groove 111 can play the effect of protection probe 21; avoid the problems such as probe 21 is scraped off; and, by probe 21 is arranged in mounting groove 111, it is also possible to improve convenience and the reliability of probe 21 installation; additionally; owing to probe 21 is arranged in mounting groove 111, it is also possible to improve the structural compactness of window wiping robot 100 entirety, and improve the aesthetic measure etc. of window wiping robot 100.
Preferably, temperature-detecting device 2 can be fixed in mounting groove 111 by fixation kit.Thus, it is possible to improve the installation fixing of temperature-detecting device 2, it is ensured that temperature-detecting device 2 can work safely and reliably, improve the service life of temperature-detecting device 2.As Figure 2-Figure 5, fixation kit may include that fixing lid 31 and securing member 32, fixing lid 31 includes the accommodation portion 311 and the connecting portion 312 that are connected, between roof that probe 21 is contained in accommodation portion 311 and mounting groove 111 (i.e. mounting groove 111 away from the side wall surface treating wiping forms), connecting portion 312 is fastened on mounting groove 111 (on the roof of the mounting groove 111 such as fastened) by securing member 32, such as securing member 32 can be threaded fastener 32 with by connecting portion 312 screw-threaded coupling on mounting groove 111, thus, easy to assembly.
Preferably, with reference to Fig. 3, Fig. 7 and Fig. 8, probe 21 is formed as substantially elongated cylindrical, accommodation portion 311 is formed as semi-cylindrical shaped, to be substantially coaxially located on probe 21 with probe 21, connecting portion 312 is two and is connected to the radially opposite sides in accommodation portion 311, that is, the connecting portion 312 being respectively provided on two sides with two engaging lug shapes in accommodation portion 311, each connecting portion 312 can be respectively formed with an installing hole 313 (such as screw hole), thus, two securing members 32, two installing holes 313 of correspondence traverse respectively can be adopted, so that two connecting portions 312 are fixed on mounting groove 111, thus improving the reliability of fixing lid 31 fixed temperature detection devices 2.It addition, the simple in construction of fixing lid 31, it is simple to processing, easy to connect with securing member 32, and may insure that the installation fixing of temperature-detecting device 2.
Further, with reference to Fig. 3 and Fig. 5, the roof of mounting groove 111 is provided with brace rod 112, and probe 21 is supported on brace rod 112.Thus, it is possible to make probe 21 away from body surface, thus reducing the impact on probe 21 detection temperature of the body surface temperature, and then improve the accuracy of probe 21 detection temperature.Wherein, brace rod 112 can be multiple and probe 21 length direction on (such as on axial direction) spaced apart to support probe 21 respectively.Thus, it is possible to improve the installation reliability of probe 21, improve the accuracy of probe 21 detection temperature further.
Preferably, with reference to Fig. 3 and Fig. 5, brace rod 112 being formed with locating slot 113, the part of probe 21 is held and is positioned in locating slot 113.Such as in the example depicted in fig. 5, locating slot 113 is formed as arch and is formed by the diapire 11 of brace rod 112 is upwardly recessed, and the radius of locating slot 113 is generally equalized with the radius of probe 21, thus, it is stably spacing that probe 21 can be positioned groove 113, thus improving the problem of probe 21 generation play, and then improve the functional reliability of probe 21.
Thus, temperature-detecting device 2 according to embodiments of the present invention is when assembling, can first the probe 21 of temperature-detecting device 2 be positioned on the brace rod 112 in the mounting groove 111 bottom casing 1, and guarantee in the locating slot 113 that probe 21 is supported on brace rod 112, then fixing lid 31 can be covered on probe 21, then two installing holes 313 are passed again accordingly with two securing members 32 to be fixed in mounting groove 111 by fixing lid 31, then again the wire 22 of temperature-detecting device 2 is passed the perforation 111a on mounting groove 111 to stretch in casing 1, it is connected with control device 4 (such as pcb board) again.
To sum up, window wiping robot 100 according to embodiments of the present invention, in the process of work, temperature-detecting device 2 can detect in real time to be waited to wipe the air themperature above window surface, and the temperature data signal detected is sent to control device 4 (such as pcb board), the program pre-set according to controlling device 4, when above or below preset value, control body automatically take corresponding counter-measure, such as when detection temperature is too low, wait that wiping window surface is susceptible to freeze or condensation situation, control device 4 can control body and slows down the speed of service or send alarm, with the problem avoiding window wiping robot 100 to occur work to skid；Again such as when detection temperature is too high, the pull of vacuum that blower fan 2 produces can reduce, it may happen that drop, this timed unit 4 can control body and automatically improves the rotating speed of blower fan 2 or send warning, thereby through taking at least one corresponding counter-measure, improve the job security of window wiping robot 100.
In describing the invention, it will be appreciated that, orientation or the position relationship of the instruction such as term " top ", " end ", " interior ", " outward " are based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or hint indication device or element must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or integral；Can be mechanically connected, it is also possible to be electrical connection, it is also possible to be communication；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be connection or the interaction relationship of two elements of two element internals.For the ordinary skill in the art, it is possible to understand above-mentioned term concrete meaning in the present invention as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height less than second feature.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example describe are contained at least one embodiment or the example of the present invention.In this manual, the schematic representation of above-mentioned term is necessarily directed to identical embodiment or example.And, the specific features of description, structure, material or feature can combine in one or more embodiments in office or example in an appropriate manner.Additionally, when not conflicting, the feature of the different embodiments described in this specification or example and different embodiment or example can be carried out combining and combining by those skilled in the art.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: these embodiments can being carried out multiple change, amendment, replacement and modification when without departing from principles of the invention and objective, the scope of the present invention is limited by claim and equivalent thereof.
Claims (15)
1. a window wiping robot, it is characterised in that including:
Body；
Temperature-detecting device, described temperature-detecting device is located on described body and for detecting described extra-organismal temperature；
Controlling device, described control device is used for controlling described body action and being connected with described temperature-detecting device.
2. window wiping robot according to claim 1, it is characterised in that described control device is located in described body, and described temperature-detecting device includes:
Probe, being at least partially disposed at outside described body and for detecting described extra-organismal temperature of described probe；With
Wire, the two ends of described wire are connected with described probe and described control device respectively.
3. window wiping robot according to claim 2, it is characterized in that, the diapire of described body has mounting groove, described probe is arranged in described mounting groove, and one end of described wire is located in described mounting groove to be connected with described probe, the other end passes described mounting groove to be connected with described control device.
4. window wiping robot according to claim 3, it is characterised in that described temperature-detecting device is fixed in described mounting groove by fixation kit.
5. window wiping robot according to claim 4, it is characterised in that described fixation kit includes:
Fixing lid, described fixing lid includes the accommodation portion and the connecting portion that are connected, and described probe is contained between the roof of described accommodation section and described mounting groove,
Securing member, described connecting portion is fastened on described mounting groove by described securing member.
6. window wiping robot according to claim 5, it is characterised in that described accommodation section is formed as semi-cylindrical shaped, described connecting portion is two and is connected to the radially opposite sides of described accommodation section.
7. window wiping robot according to claim 3, it is characterised in that the roof of described mounting groove is provided with brace rod, and described probe support is on described brace rod.
8. window wiping robot according to claim 7, it is characterised in that be formed with locating slot on described brace rod, the part of described probe is held and is positioned in described locating slot.
9. window wiping robot according to claim 7, it is characterised in that described brace rod is multiple and spaced apart to support described probe respectively on the length direction of described probe.
10. the window wiping robot according to any one of claim 1-9, it is characterised in that described body includes:
Casing, the diapire of described casing is formed with air entry；
Wiping widget, described wiping widget is located on described diapire and around described air entry；
Blower fan, described blower fan is located in described casing and is connected with described control device, described wind mechanism cause by described control device control with by described air entry from described wiping widget and described diapire, wait to wipe sucking-off gas in the cavity that forms limit jointly so that described body be adsorbed on described in wait to wipe on forms.
11. the window wiping robot according to any one of claim 1-9, it is characterised in that described body includes:
Casing；With
Running gear, described running gear sets on the housing and is connected with described control device, and described running gear is configured to be controlled to drive described casing waiting to wipe walking on forms by described control device.
12. the window wiping robot according to any one of claim 1-9, it is characterised in that described body includes:
Casing；With
Warning devices, described warning devices sets on the housing and is connected with described control device, and described warning devices is configured to be controlled by described control device to send alarm.
13. the window wiping robot according to any one of claim 1-9, it is characterised in that described body includes:
Casing；With
Air-conditioning device, described air-conditioning device sets on the housing and is connected with described control device, described air-conditioning device be configured to by described control device control with regulate wait wipe forms wait wipe surface temperature.
14. the control method of a window wiping robot, it is characterised in that described window wiping robot is the window wiping robot according to any one of claim 1-13, and described control method comprises the following steps:
Described temperature-detecting device detects described extra-organismal temperature in real time；
Described control device controls described body according to the temperature that described temperature-detecting device detects in real time and performs corresponding action.
15. the control method of window wiping robot according to claim 14, it is characterised in that the described body of described control perform corresponding action particularly as follows:
Control described body and send alarm；
Control described body and slow down the speed of travel；
Control described body and increase the absorption affinity treating wiping forms；And
Regulate wait to wipe forms wait wipe at least one in surface temperature.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610142998.8A CN105747984B (en) | 2016-03-14 | 2016-03-14 | Window wiping robot and its control method |
| CA2970696A CA2970696A1 (en) | 2016-02-16 | 2016-07-22 | Window cleaning robot, window cleaning robot system and method for controlling the window cleaning robot |
| PCT/CN2016/090950 WO2017140088A1 (en) | 2016-02-16 | 2016-07-22 | Window cleaning robot, window cleaning robot system, and window cleaning robot control method |
| US15/238,642 US10265734B2 (en) | 2016-02-16 | 2016-08-16 | Window cleaning robot, window cleaning robot system and method for controlling the window cleaning robot |
| EP16184472.5A EP3207843B1 (en) | 2016-02-16 | 2016-08-17 | Window cleaning robot, window cleaning robot system and method for controlling the window cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610142998.8A CN105747984B (en) | 2016-03-14 | 2016-03-14 | Window wiping robot and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105747984A true CN105747984A (en) | 2016-07-13 |
| CN105747984B CN105747984B (en) | 2019-06-14 |
Family
ID=56332021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610142998.8A Active CN105747984B (en) | 2016-02-16 | 2016-03-14 | Window wiping robot and its control method |
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| CN108403019A (en) * | 2018-02-13 | 2018-08-17 | 北京小米移动软件有限公司 | floor cleaning control method and device |
| CN108995729A (en) * | 2017-11-23 | 2018-12-14 | 北京黑蚁兄弟科技有限公司 | A kind of absorption running gear suitable for moist high-altitude curtain wall |
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| CN105747984B (en) | 2019-06-14 |
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