CN106491039A - A kind of swing type window wiping robot glass edge detection method - Google Patents

A kind of swing type window wiping robot glass edge detection method Download PDF

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Publication number
CN106491039A
CN106491039A CN201610998588.3A CN201610998588A CN106491039A CN 106491039 A CN106491039 A CN 106491039A CN 201610998588 A CN201610998588 A CN 201610998588A CN 106491039 A CN106491039 A CN 106491039A
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China
Prior art keywords
glass edge
foot
wiping robot
window wiping
window
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CN201610998588.3A
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Chinese (zh)
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CN106491039B (en
Inventor
禹鑫燚
李壮
欧林林
卢靓
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浙江工业大学
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    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00Cleaning windows
    • A47L1/02Power-driven machines or devices
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0203Cleaning or polishing vehicle

Abstract

A kind of swing type window wiping robot glass edge detection method, including:Fault tolerance judgment pattern is added in glass edge detection process;In swing type window wiping robot erasing operation process allow window wiping robot to wipe window chassis once to judge glass edge position by accident, when somewhere is temporarily judged to glass edge by window wiping robot, window wiping robot verifies first time judged result by way of returning a step and wiping again.If finding twice to where there is glass edge in erase process, then think that the first foot M1 arrives at glass edge with larger possibility, hereafter, the motion for being same as the first foot M1 is carried out to direct of travel by controlling another wiping window chassis of window wiping robot, judge whether the first foot M2 arrives at glass edge, if and only if, and the first foot M1 and the first foot M2 is judged to arrive at glass edge simultaneously, just judges herein as the corresponding flag bit of glass edge position juxtaposition.

Description

A kind of swing type window wiping robot glass edge detection method
Technical field
The present invention relates to Intelligent housing field, and in particular to swing type window wiping robot glass edge detection method.
Background technology
Due to the quick popularization of wisdom life, various types of window wiping robots are increasingly appearing in the daily of people In life, wherein swing type window wiping robot adopts negative-pressure adsorption principle because of which, and contour structures are simple, while will wipe window rotating disk working as Do walking mechanism and complete swing type walking motion, absorption, walking and wiping action are unified, can be most while scratch is eliminated Improve to limits wiping effect and relatively conventional on the market.Window wiping robot will realize higher erasure rate, it is necessary to assure The position of wiped window jamb can be accurately determined, but swing type window wiping robot is there are still to glass edge in the market Situations such as there is erroneous judgement in edge position, glass erasure rate is unstable.For example, when glass surface has larger foul, window cleaning equipment device People easily by this foul position judgment be glass edge, directly execute follow-up direction switching flow, so as to cause erasing unclean With the appearance for wiping window dead band.Therefore how to be accurately judged to glass edge and improve erasure rate become a weight for requiring study Point.
At present, the research for window wiping robot is concentrated mainly on form construction design, type of drive design, control method Etc. aspect, less for specific glass edge detection method research.Yao Chongbin gives two more popular on the market intelligence Can the comparing in detail of window wiping robot (Yao Chongbin. the research and applied analysis [J] of intelligent glass-cleaning robot. scientific and technological wind, 2015 (15):119-120.), the general description form construction design of swing type window wiping robot and method for deleting, but do not have Glass edge detection in for control method is described analysis;Du Wei, Sun Yaping, Meng Yanping of Changchun Institute of Technology passes through To window wiping robot across motion when mechanical analysis, drawn generally robot across when ensure do not incline Turn over and crossed in the state of gliding condition formula (Du Wei, Sun Yaping, Meng Yanping. window wiping robot obstacle detouring problem is ground Study carefully [J]. scientific and technical innovation and application, 2015 (34):79-79.), but which is directed to the crawler type window wiping robot of two car bodies, Complicated in mechanical structure, does not provide the solution of problem proposed by the invention;Sound control method is added by Wang Shuhuan, Li Hongli To in the control of window wiping robot, DTW (Dynamic Time Warping, dynamic time warping) speech recognition skill is employed Art, by control task carried out subdivision to a certain extent (Wang Shuhuan. a kind of Voice command window wiping robot method:China, 104865973 [P] .2015-08-26), but its research can complete to carry out on basic exercise function based on window wiping robot Method for remotely controlling research, be not directed to window wiping robot controller internal processes and sentencing for glass edge context of detection Disconnected processing method.
Content of the invention
The present invention will overcome the disadvantages mentioned above of prior art, there is provided a kind of swing type window wiping robot glass edge detection side Method.
The present invention provides use for glass edge detection relevant portion in the concrete control flow of swing type window wiping robot The method that fault tolerance judgment pattern accurately judges glass edge, it is intended to solve glass present in swing type window wiping robot prior art The inaccurate problem of glass edge touching detection so that swing type window wiping robot is reduced as far as wiping window dead band at work, carries High erasure rate.
The present invention is for solving above-mentioned technical problem and the technical scheme that adopts is:Add in glass edge detection process and hold Misinterpretation pattern, it is as shown in Figure 1 which specifically executes flow process;Window cleaning equipment is allowed in swing type window wiping robot erasing operation process Device people wipes window chassis and glass edge position is once judged by accident, when somewhere is temporarily judged to window wiping robot glass edge When, window wiping robot verifies first time judged result by way of returning a step and wiping again.If sending out in erase process twice Now where there is glass edge, then it is assumed that the first foot M1 arrives at glass edge with larger possibility, hereafter, wiped by control Another wiping window chassis (the first foot M2) of window robot carries out the motion for being same as the first foot M1 to direct of travel, judges first Whether sufficient M2 arrives at glass edge, and and if only if, and the first foot M1 and the first foot M2 is judged to arrive at glass edge simultaneously, just judges It is the corresponding flag bit of glass edge position juxtaposition herein.Comprise the following steps that:
Step 1:The first foot M1 of control is run to direct of travel, and real-time detection its Feedback of Power situation, if in wiping window Robot fuselage angle of inclination limits in scope (fuselage angle limits scope) and detects touching glass edge, then the first foot of control M1 retreats certain angle, and hereafter the first foot M1 moves forward and detects Feedback of Power size, if limited in fuselage angle In the range of and be not detected by touching glass edge, then explanation for the first time is judged to judge by accident, and window wiping robot does not execute follow-up process, It is directly entered normal walking mode;If conversely, second first foot M1 equally detects touching glass edge, illustrating first Sufficient M1 arrives at glass edge with larger possibility, and it is 1 to put the first foot M1 touching glass edge flag bits, subsequent execution step 2.
Step 2:The first foot M2 of control is moved to direct of travel, and real-time detection its Feedback of Power situation, if in fuselage Angle detects touching glass edge in the range of limiting, then the first foot M2 of control retreats certain angle, and hereafter the first foot M2 continues Feedback of Power size is travelled forward and detects, if in the range of fuselage angle is limited and being not detected by touching glass edge, Illustrate that the first foot M2 is judged to judge by accident for the first time, the detection of the first foot M1 glass edges in step 1 is also erroneous judgement, window wiping robot Follow-up process is not executed, be directly entered normal walking mode;If conversely, second first foot M2 equally detects touching glass Edge, then illustrate that the first foot M2 arrives at glass edge, and it is 1 to put the first foot M2 touching glass edge flag bits.
Step 3:It is 1 to put window wiping robot and accurately arrive at glass edge flag bit, meanwhile, in order to reduce other flag bits pair The impact of down-stream execution logic, removes the first foot M1, the first foot M2 touching glass edge flag bit, now window wiping robot Glass edge position is accurately found.
By being written as computer software operation, it includes two large divisions to above step, and Part I is window cleaning equipment device The judgement of people certain foot to glass edge, including detection confirms twice in front and back;Part II another foot detection twice confirms, right Previous foot touching glass edge judges to be verified.By the cooperation of the two, it is possible to achieve swing type window wiping robot is to glass Detection is effectively touched in glass edge.
The swing type window wiping robot glass edge detection method contrast prior art that the present invention is provided has following beneficial Effect:
1st, fault tolerance judgment pattern is introduced, and multiple authentication is touched glass edge accuracy, is prevented effectively from window wiping robot to glass The erroneous judgement at glass edge, reduces and wipes window dead band.
2nd, repeatedly judge that checkout procedure can increase to glass spot compared with the cleaning dynamics of multizone, make window wiping robot work Make efficiency more preferably, using effect becomes apparent from.
Description of the drawings
Fig. 1 is the swing type window wiping robot fault tolerance judgment pattern execution flow chart of the present invention
Fig. 2 is Win-Robot swing types used by the swing type window wiping robot glass edge detection method of the present invention is tested Window wiping robot;
Fig. 3 is that fault-tolerant mode executes schematic diagram for glass surface foul;
Fig. 4 is that fault-tolerant mode executes schematic diagram for glass edge;
Specific embodiment
Simplified example is passed through to a kind of swing type window wiping robot glass edge detection method of the invention below in conjunction with accompanying drawing It is further described.
A kind of swing type window wiping robot glass edge detection method of the present invention mainly has herein below:Examine in glass edge Fault tolerance judgment pattern is added during survey, it is as shown in Figure 1 which specifically executes flow process;Operation is wiped in swing type window wiping robot Allow window wiping robot to wipe window chassis once to judge glass edge position by accident in journey, when certain wiping window chassis of window wiping robot Corresponding motor (the first foot M1) is detected above power of motor feedback positive transition (the touching glass edge of given threshold for the first time Edge) when, window wiping robot will temporarily be judged to glass edge herein, be also possible to as larger foul, hereafter, window cleaning equipment herein Device people returns a step and again to carrying out erasing operation herein, while recording the first foot M1 Feedback of Power in second erase process Positive transition situation, that is, carry out second erasing to verify first time judged result.If finding herein in erase process twice There is glass edge, then it is assumed that the first foot M1 arrives at glass edge with larger possibility, hereafter, by controlling window cleaning equipment device Another wiping window chassis (the first foot M2) of people carries out the motion for being same as the first foot M1 to direct of travel, judges that the first foot M2 is No arrive at glass edge, and if only if the first foot M1 and the first foot M2 is judged to arrive at glass edge simultaneously, just judge herein as The corresponding flag bit of glass edge position juxtaposition.In case study on implementation, using the window wiping robots of Win-Robot swing types shown in Fig. 2, Its part basic parameter is as follows:
Net weight:0.94kg
Size:300 × 150 × 120mm (long * width * is high)
Wipe window chassis distance of shaft centers:150mm
Rotating disk radius:145mm
Erasing speed:4 minutes/square centimeter
So that the first foot M1 first touches glass edge as an example, it is as follows that example implements detailed process:
Step 1:Whether the first foot M1 of checking touches glass edge twice
A piece of larger regional simulation glass surface foul is applied out using mud in front of glass edge, using Win- When Robot swing type window wiping robots are wiped, when its first foot M1 enters the region to be wiped, the first foot M1 due to It is subject to the resistance that is mutated and produces larger Feedback of Power and be mutated, that is, detect touching glass edge, then the first foot M1 can be to After return certain angle after, be further continued for wiping forward, as the path nuzzled up of first time there is no longer mud, therefore second When travelling forward, Win-Robot does not detect touching glass edge, and window wiping robot is normally walked forward, fault-tolerant mode As shown in Figure 3 for glass surface foul operation schematic diagram.
Step 2:First foot M2 moves back and forth checking the first foot M1 touching glass edge judgment accuracies twice.
Setting program, Win-Robot stop motion send warning after arriving at glass edge, will in specific implementation process Win-Robot is positioned near glass edge, keeps glass surface without obvious spot, Win-Robot is transported near glass edge Dynamic, the fault tolerance judgment pattern of Win-Robot is as shown in Figure 4 for glass edge operation schematic diagram.Touching is confirmed in the first foot M1 After glass edge, Win-Robot controls the first foot M2 and executes in Fig. 4 4.-process 7., arrival process 7. after, Win-Robot stops Only move, and point out to have arrived at glass edge, meet experiment expection.
Step 3:Remove and the corresponding flag bit of setting.
In the soft project of Win-Robot, it is 1 to arrange window wiping robot and arrive at glass edge flag bit, removes first The foots of sufficient M1 and first M2 touches glass edge flag bit, can achieve the step by arranging corresponding global variable.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, the protection of the present invention Scope is not construed as being only limitted to the concrete form stated by embodiment, and protection scope of the present invention is also and in art technology Personnel according to present inventive concept it is conceivable that equivalent technologies mean.

Claims (1)

1. a kind of swing type window wiping robot glass edge detection method, comprises the following steps:
Step 1:The first foot M1 of control is to direct of travel operation, and real-time detection its Feedback of Power situation, if in window cleaning equipment device People's fuselage angle of inclination detects touching glass edge in the range of limiting, then the first foot M1 of control retrogressings certain angle, and hereafter the One foot M1 moves forward and detects Feedback of Power size, if in the range of fuselage angle is limited and being not detected by touching glass Glass edge, then explanation are judged to judge by accident for the first time, and window wiping robot does not execute follow-up process, is directly entered normal walking mode; If conversely, second first foot M1 equally detects touching glass edge, illustrating that the first foot M1 is arrived at larger possibility Glass edge, it is 1 to put the first foot M1 touching glass edge flag bits, subsequent execution step 2;
Step 2:The second foot M2 of control is moved to direct of travel, and real-time detection its Feedback of Power situation, if in fuselage angle Touching glass edge is detected in the range of restriction, then the second foot M2 of control retreats certain angle, and hereafter the second foot M2 continues forward Feedback of Power size is moved and detected, if in the range of fuselage angle is limited and being not detected by touching glass edge, is illustrated Second foot M2 is judged to judge by accident for the first time, and the detection of the first foot M1 glass edges in step 1 is also erroneous judgement, and window wiping robot is not held Row follow-up process, is directly entered normal walking mode;If conversely, second second foot M2 equally detects touching glass edge Edge, then illustrate that the second foot M2 arrives at glass edge, and it is 1 to put the second foot M2 touching glass edge flag bits;
Step 3:It is 1 to put window wiping robot and accurately arrive at glass edge flag bit, meanwhile, in order to reduce other flag bits to follow-up The impact of program execution logic, removes the first foot M1, the second foot M2 touching glass edge flag bit, and now window wiping robot is accurate Find glass edge position.
CN201610998588.3A 2016-11-14 2016-11-14 A kind of swing type window wiping robot glass edge detection method Active CN106491039B (en)

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