CN106491039B - 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 PDFInfo
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- CN106491039B CN106491039B CN201610998588.3A CN201610998588A CN106491039B CN 106491039 B CN106491039 B CN 106491039B CN 201610998588 A CN201610998588 A CN 201610998588A CN 106491039 B CN106491039 B CN 106491039B
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- 239000011521 glass Substances 0.000 title claims abstract description 103
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000003708 edge detection Methods 0.000 title claims abstract description 14
- 230000008569 process Effects 0.000 claims abstract description 18
- 238000004140 cleaning Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 5
- 238000011897 real-time detection Methods 0.000 claims description 4
- 238000011160 research Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
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- 238000012790 confirmation Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 244000207740 Lemna minor Species 0.000 description 1
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- 230000035772 mutation Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
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Classifications
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
A kind of swing type window wiping robot glass edge detection method, comprising: fault tolerance judgment mode is added in glass edge detection process；Allow window wiping robot to wipe window chassis in swing type window wiping robot erasing operation process once to judge glass edge position by accident, when somewhere is temporarily determined as glass edge by window wiping robot, window wiping robot verifies first time judging result by way of retracting a step and wiping again.If where there is glass edges for discovery in erase process twice, then think that the first foot M1 arrives at glass edge with larger possibility, hereafter, the movement that window chassis carries out to direction of travel being identical to the first foot M1 is wiped by another of control window wiping robot, determine whether the first foot M2 arrives at glass edge, it is judged to arriving at glass edge simultaneously and if only if the first foot M1 and the first foot M2, just determines herein to be the corresponding flag bit of glass edge position juxtaposition.
Description
Technical field
The present invention relates to Intelligent housing fields, and in particular to swing type window wiping robot glass edge detection method.
Background technique
Quick due to wisdom life is popularized, and various types of window wiping robots are increasingly appearing in the daily of people
In life, wherein for swing type window wiping robot because it uses negative-pressure adsorption principle, contour structures are simple, while working as window turntable is wiped
It does walking mechanism and completes swing type walking motion, absorption, walking and wiping action are unified, it can be most while eliminating scratch
Improve wiping effect to limits and relatively conventional in 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 there are still to glass edge for swing type window wiping robot currently on the market
There is situations such as erroneous judgement, glass erasure rate is unstable in edge position.For example, when glass surface is there are when larger foul, window cleaning equipment device
People is easy this foul position being judged as glass edge, directly executes subsequent direction switching flow, unclean so as to cause wiping
With the appearance for wiping window dead zone.Therefore how to be accurately judged to glass edge and improve erasure rate as a weight to require study
Point.
Currently, the research for window wiping robot is concentrated mainly on form construction design, driving method design, control method
Etc., it is less for specific glass edge detection method research.Yao Chongbin gives two more popular on the market intelligence
Can window wiping robot it is detailed comparison (research of the refined intelligence glass-cleaning robot of Yao Chong and applied analysis [J] science and technology wind, 2015
(15): 119-120.), the general description form construction design and method for deleting of swing type window wiping robot, but do not have
Analysis is described for the glass edge detection in control method；Du Wei, Sun Yaping, Meng Yanping of Changchun Institute of Technology pass through
To mechanical analysis of window wiping robot when across movement, show that robot guarantees not incline when crossing under normal circumstances
Turn over and the condition formula crossed in the state of gliding (Du Wei, Sun Yaping, Meng Yan duckweed window wiping robot obstacle detouring problem is ground
Study carefully [J] scientific and technical innovation and application, 2015 (34): 79-79.), but its crawler type window wiping robot for being directed to two car bodies,
Complicated in mechanical structure does not provide solution to the problem proposed by the invention；Sound control method is added by Wang Shuhuan, Li Hongli
Into the control of window wiping robot, DTW (Dynamic Time Warping, dynamic time warping) speech recognition skill is used
Art, by control task carried out to a certain extent subdivision (a kind of voice control window wiping robot method of the joyous of Wang Shu: China,
104865973 [P] .2015-08-26), but its research can have been completed 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.
Summary of the invention
The present invention will overcome the disadvantages mentioned above of the prior art, provide a kind of swing type window wiping robot glass edge detection side
Method.
The present invention detects relevant portion for glass edge in the specific control flow of swing type window wiping robot, provides use
The method of fault tolerance judgment mode accurate judgement glass edge, it is intended to solve swing type window wiping robot glass existing in the prior art
The touching of glass edge detects inaccurate problem, so that swing type window wiping robot is reduced as far as wiping window dead zone at work, mentions
High erasure rate.
The present invention to solve above-mentioned technical problem and the technical solution adopted is that: in glass edge detection process be added hold
It is as shown in Figure 1 specifically to execute process for misinterpretation mode；Allow window cleaning equipment in swing type window wiping robot erasing operation process
Device people wipes window chassis and is once judged by accident to glass edge position, when somewhere is temporarily determined as glass edge by window wiping robot
When, window wiping robot verifies first time judging result by way of retracting a step and wiping again.If being sent out in erase process twice
Now where there is glass edges, then it is assumed that the first foot M1 arrives at glass edge with larger possibility, hereafter, is wiped by control
Another wiping window chassis (the first foot M2) of window robot carries out the movement for being identical to the first foot M1 to direction of travel, determines first
Whether sufficient M2 arrives at glass edge, is judged to arriving at glass edge simultaneously and if only if the first foot M1 and the first foot M2, just determines
It is herein the corresponding flag bit of glass edge position juxtaposition.Specific step is as follows:
Step 1: the first foot M1 of control is run to direction of travel, and real-time detection its Feedback of Power situation, if in wiping window
Robot fuselage tilt angle limits in range (fuselage angle limits range) and detects touching glass edge, then controls the first foot
M1 retreats certain angle, and hereafter the first foot M1 moves forward and detects Feedback of Power size, if limited in fuselage angle
In range and touching glass edge is not detected, then illustrates to be judged to judging by accident for the first time, window wiping robot does not execute follow-up process,
It is directly entered normal walking mode；On the contrary, illustrating first if second of first foot M1 equally detects touching glass edge
Sufficient M1 arrives at glass edge with larger possibility, and setting the first foot M1 touching glass edge flag bit is 1, subsequent execution step 2.
Step 2: the first foot M2 of control is moved to direction of travel, and real-time detection its Feedback of Power situation, if in fuselage
Angle limits in range and detects touching glass edge, then controls the first foot M2 and retreat certain angle, hereafter the first foot M2 continues
It travels forward and detects Feedback of Power size, if limiting in range and being not detected touching glass edge in fuselage angle,
Illustrate that the first foot M2 is judged to judging by accident for the first time, the detection of first foot M1 glass edge is also erroneous judgement, window wiping robot in step 1
Follow-up process is not executed, normal walking mode is directly entered；On the contrary, if second of first foot M2 equally detects touching glass
Edge then illustrates that the first foot M2 arrives at glass edge, and setting the first foot M2 touching glass edge flag bit is 1.
Step 3: setting window wiping robot and accurately arriving at glass edge flag bit is 1, meanwhile, in order to reduce other flag bits pair
Down-stream executes the influence of logic, removes the first foot M1, the first foot M2 and touches glass edge flag bit, at this time window wiping robot
Accurately find glass edge position.
Above step is by being written as computer software operation, it includes two large divisions, and first part is window cleaning equipment device
Confirmation is detected in judgement of some foot of people to glass edge, including front and back twice；The detection confirmation twice of another foot of second part, it is right
Previous foot touching glass edge judgement is verified.By the cooperation of the two, swing type window wiping robot may be implemented to glass
Effectively touch detection in glass edge.
The swing type window wiping robot glass edge detection method provided by the invention comparison prior art has following beneficial
Effect:
1, fault tolerance judgment mode is introduced, multiple authentication touches glass edge accuracy, effectively avoids window wiping robot to glass
The erroneous judgement at glass edge reduces and wipes window dead zone.
2, repeatedly judge that checkout procedure can increase the cleaning dynamics to glass spot compared with multizone, make window wiping robot work
Make that efficiency is more preferable, using effect becomes apparent from.
Detailed description of the invention
Fig. 1 is swing type window wiping robot fault tolerance judgment mode execution flow chart of the invention
Fig. 2 is that swing type window wiping robot glass edge detection method of the invention tests Win-Robot swing type used
Window wiping robot；
Fig. 3 is fault-tolerant mode for glass surface foul execution schematic diagram；
Fig. 4 is fault-tolerant mode for glass edge execution schematic diagram；
Specific embodiment
Simplified example is passed through to a kind of swing type window wiping robot glass edge detection method of the present invention below in conjunction with attached drawing
It is further described.
A kind of swing type window wiping robot glass edge detection method of the present invention mainly has the following contents: examining in glass edge
Fault tolerance judgment mode is added during surveying, it is as shown in Figure 1 specifically to execute process；Operation is wiped in swing type window wiping robot
Allow window wiping robot to wipe window chassis in journey once to judge glass edge position by accident, when window wiping robot, some wipes window chassis
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 determined as glass edge herein, be also possible to herein as biggish foul, hereafter, window cleaning equipment
Device people retracts a step and again to carrying out erasing operation herein, while recording the first foot M1 Feedback of Power in second of erase process
Positive transition situation carries out second of erasing to verify first time judging result.If being found herein in erase process twice
There are glass edges, 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 movement for being identical to the first foot M1 to direction of travel, determines that the first foot M2 is
No arrival glass edge, is judged to arriving at glass edge simultaneously and if only if the first foot M1 and the first foot M2, and just judgement is herein
The corresponding flag bit of glass edge position juxtaposition.In case study on implementation, using the window wiping robot of Win-Robot swing type shown in Fig. 2,
Its part basic parameter is as follows:
Net weight: 0.94kg
Size: 300 × 150 × 120mm (long * wide * high)
Wipe window chassis distance of shaft centers: 150mm
Turntable radius: 145mm
Erasing speed: 4 minutes/square centimeter
By taking the first foot M1 first touches glass edge as an example, detailed process is as follows for example implementation:
Step 1: verifying whether the first foot M1 touches glass edge twice
A piece of biggish regional simulation glass surface foul is applied out using mud in front of glass edge, uses Win-
When Robot swing type window wiping robot is wiped, when its first foot M1 enter the region wiped when, the first foot M1 due to
The mutation of biggish Feedback of Power is generated by the resistance being mutated, that is, detects touching glass edge, and then the first foot M1 can be to
After retract certain angle after, be further continued for wiping forward, since the path nuzzled up for the first time is there is no mud, second
When travelling forward, Win-Robot does not detect that touching glass edge, window wiping robot are normally walked forward, fault-tolerant mode
It is as shown in Figure 3 for glass surface foul operation schematic diagram.
Step 2: the first foot M2 moves back and forth verifying the first foot M1 touching glass edge judgment accuracy twice.
Setting program, Win-Robot stop motion and issue alarm after arriving at glass edge, in the specific implementation process general
Win-Robot is placed near glass edge, is kept glass surface without obvious spot, is transported Win-Robot close to glass edge
Dynamic, the fault tolerance judgment mode of Win-Robot is as shown in Figure 4 for glass edge operation schematic diagram.Confirm in the first foot M1 and touches
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
It only moves, and prompts to have arrived at glass edge, meet experiment and be expected.
Step 3: removing flag bit corresponding to setting.
In the soft project of Win-Robot, it is 1 that setting window wiping robot, which arrives at glass edge flag bit, removes first
The foot M2 of sufficient M1 and first touches glass edge flag bit, and the step can be realized by the way that corresponding global variable is arranged.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Range should not be construed as being limited to the specific forms stated in the embodiments, and protection scope of the present invention is also and in art technology
Personnel conceive according to the present invention it is conceivable that equivalent technologies mean.
Claims (1)
1. a kind of swing type window wiping robot glass edge detection method, comprising the following steps:
Step 1: the first foot M1 of control is to direction of travel operation, and real-time detection its Feedback of Power situation, if in window cleaning equipment device
Man-machine body tilt angle limits in range and detects touching glass edge, then controls the first foot M1 retrogressing certain angle, and hereafter the
One foot M1 moves forward and detects Feedback of Power size, if limiting in range in fuselage angle and touching glass being not detected
Glass edge then illustrates to be judged to judging by accident for the first time, and window wiping robot does not execute follow-up process, is directly entered normal walking mode；
On the contrary, illustrate the first foot M1 arrival glass edge if second first foot M1 equally detects touching glass edge, the is set
It is 1 that one foot M1, which touches glass edge flag bit, subsequent execution step 2；
Step 2: the second foot M2 of control is moved to direction of travel, and real-time detection its Feedback of Power situation, if in fuselage angle
It limits in range and detects touching glass edge, then control the second foot M2 and retreat certain angle, hereafter the second foot M2 continues forward
Feedback of Power size is moved and detected, if being limited in range in fuselage angle and touching glass edge being not detected, is illustrated
Second foot M2 is judged to judging by accident for the first time, and the detection of first foot M1 glass edge is also erroneous judgement in step 1, and window wiping robot is not held
Row follow-up process is directly entered normal walking mode；On the contrary, if second of second foot M2 equally detects touching glass edge
Edge then illustrates that the second foot M2 arrives at glass edge, and setting the second foot M2 touching glass edge flag bit is 1；
Step 3: setting window wiping robot and accurately arriving at glass edge flag bit is 1, meanwhile, in order to reduce other flag bits to subsequent
The influence of program execution logic removes the first foot M1, the second foot M2 and touches glass edge flag bit, and window wiping robot is accurate at this time
Find glass edge position.
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