CN106725081A - The control method of glass-cleaning robot and its obstacle detouring pattern - Google Patents
The control method of glass-cleaning robot and its obstacle detouring pattern Download PDFInfo
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- CN106725081A CN106725081A CN201710065488.XA CN201710065488A CN106725081A CN 106725081 A CN106725081 A CN 106725081A CN 201710065488 A CN201710065488 A CN 201710065488A CN 106725081 A CN106725081 A CN 106725081A
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- Prior art keywords
- glass
- robot
- obstacle detouring
- frame
- cleaning robot
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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
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to climbing robot field, it is related to the control method of a kind of glass-cleaning robot and its obstacle detouring pattern.Glass-cleaning robot of the present invention includes sub- glass-cleaning robot one, sub- glass-cleaning robot two and intermediate connecting rod, obstacle detouring instruction according to different directions, determine the specific control method of obstacle detouring pattern, during obstacle detouring, glass frame is propped up by robot shells, reaction force by glass frame strengthens the anti-torsion ability of robot, small-sized window wiping robot is realized stabilization, reliable obstacle crossing function.
Description
Technical field
The invention belongs to climbing robot field, and in particular to the controlling party of a kind of glass-cleaning robot and its obstacle detouring pattern
Method.
Background technology
As robot technology is developed rapidly, the glass-cleaning robot for belonging to climbing robot field all takes in each occasion
Obtained certain application and development.Because glass window is generally all combined by multiple glass frames, therefore in order to complete glass
The scouring operation of glass, robot must have the ability across window frame.But the glass-cleaning robot of current domestic type commercialization
Do not have the function, they are merely able to carry out operation in single sheet face.And some development in can obstacle detouring window cleaning equipment device
People due to bulky, complex structure, the shortcomings of translational speed is slower not can successful conversion be product.By window chi
Very little limitation, the characteristics of the glass-cleaning robot of commercialization must is fulfilled for compact, flexible, but miniaturization glass-cleaning robot
Anti-torsion ability is weaker, it is impossible to the moment of torsion needed for providing obstacle detouring, during obstacle detouring robot can on glass surface torque creep so as to lead
Cause obstacle detouring failure.
The content of the invention
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, one kind to be provided first and is cleaned the windows machine
The control method of people's obstacle detouring pattern, the direction of obstacle detouring, selects corresponding obstacle detouring pattern as needed.
Secondly, the present invention also provides a kind of glass-cleaning robot using above-mentioned obstacle detouring mode control method, makes robot
Realize reliable and stable obstacle detouring.
The technical problems to be solved by the invention are real by following technical solution.
Glass-cleaning robot is piece construction, including sub- glass-cleaning robot one, sub- glass-cleaning robot two and centre
Connecting rod, wherein every sub- glass-cleaning robot all includes mobile device and adsorbent equipment, can adsorb and mobile in glass surface stabilization,
Connected by intermediate connecting rod between two sub- glass-cleaning robots, had between intermediate connecting rod and each sub- glass-cleaning robot really
Determine drive connection, rotated by controlling robot motor internal, intermediate connecting rod can relatively sub- glass-cleaning robot respectively flat
Row is rotated in glass surface and in the plane of glass surface.
A kind of control method of glass-cleaning robot obstacle detouring pattern on full frame glass comprises the following steps.
Step 1：Glass-cleaning robot judges to need the direction of obstacle detouring according to command request.
Step 2：When obstacle detouring direction for it is upward when, robot moved to the upper side frame of glass surface first and carry out step 3 and
Step 4, otherwise robot are moved to the lower frame 1 of glass and carry out step 3 and step 4 first.
Step 3：Distance measuring sensor measures the distance of glass-cleaning robot and glass frame on moving direction, as measured value S
During more than preset value L, robot is drawn close according to normal movement speed to correspondence glass frame, when measured value S is less than or equal to pre-
If during value L, robot low speed is drawn close to correspondence glass frame.
Step 4:When robot shells encounter correspondence glass frame, touching switch sends touching signal, and robot carries out appearance
State is finely tuned, it is ensured that one side of robot can completely support upper glass frame.
Step 5：When robot needs obstacle detouring to the left, robot adjustment moving direction is frameed shift to glass medial side and is moved simultaneously
Step 3 and step 4 are carried out, when robot needs obstacle detouring to the right, robot adjustment moving direction, to the movement of glass left frame simultaneously
Step 3 and step 4 are carried out, when robot needs obstacle detouring up or down, robot adjustment moving direction, to glass or so side
A side shifting closer to the distance and step 3 and step 4 are carried out in frame.
Step 6：After a both sides for sub- robot shells of window wiping robot prop up glass frame completely, another height
Robot stops and the absorption between glass surface, and this child robot is lifted away from glass surface to certain height by the intermediate connecting rod of window wiping robot
Degree, then connecting rod is rotated, and this child robot is crossed glass frame and is reached in target glass window.
Step 7：After a child robot of window wiping robot crosses glass frame, intermediate connecting rod is by this child robot pressure
On glass surface, while the child robot restarts adsorption function and is adsorbed with glass surface stabilization.
Step 8：Glass-cleaning robot carries out pose adjustment, makes the both sides for having passed over the child robot shell of instrument bezel complete
It is against entirely on corresponding instrument bezel, then carries out step 6.
Step 9：After second child robot crosses instrument bezel, be pressed in this child robot on glass surface by intermediate connecting rod,
The child robot restarts adsorption function and is adsorbed with glass surface stabilization simultaneously, and so far glass-cleaning robot completes whole glass
The obstacle detouring process of frame.
The present invention proposes a kind of catamaran type glass-cleaning robot, including sub- glass-cleaning robot one, sub- glass-cleaning robot
Two and intermediate connecting rod, and using obstacle detouring pattern on above-mentioned full frame glass.The obstacle detouring pattern props up glass frame by robot, borrows
The reaction force produced to robot with glass frame, increases the anti-torsion ability of robot itself, makes small-sized glass cleaning machine
Device people can realize obstacle crossing function.The control method of the glass-cleaning robot obstacle detouring pattern that the present invention is provided can be according to connecing simultaneously
The obstacle detouring order for receiving, it is determined that required obstacle detouring direction and obstacle detouring gait so that efficiently, securely achieve robot obstacle detouring mistake
Journey.
Brief description of the drawings
Fig. 1 is window wiping robot overall schematic of the present invention.
Fig. 2 is the relatively sub- glass-cleaning robot 1 of window wiping robot intermediate connecting rod 3 of the present invention in the plane perpendicular to glass surface
Upper rotation schematic diagram.
Fig. 3 is the relatively sub- glass-cleaning robot 1 of window wiping robot intermediate connecting rod 3 of the present invention in the plane parallel to glass surface
Upper rotation schematic diagram.
Fig. 4 is the schematic flow sheet of the control method of glass-cleaning robot obstacle detouring pattern of the present invention.
Fig. 5 is that glass-cleaning robot obstacle detouring mode control method of the present invention on full frame glass illustrate to the left by obstacle detouring process one
Figure.
Fig. 6 is that glass-cleaning robot obstacle detouring mode control method of the present invention on full frame glass illustrate to the left by obstacle detouring process two
Figure.
Fig. 7 is that glass-cleaning robot obstacle detouring mode control method of the present invention on full frame glass illustrate to the left by obstacle detouring process three
Figure.
Fig. 8 is that glass-cleaning robot obstacle detouring mode control method of the present invention on full frame glass illustrate to the left by obstacle detouring process four
Figure.
Fig. 9 is that glass-cleaning robot obstacle detouring mode control method of the present invention on full frame glass illustrate to the left by obstacle detouring process five
Figure.
In figure
1. the adsorbent equipment of 4. mobile device of sub- 2 3. intermediate connecting rod of glass-cleaning robot of sub- glass-cleaning robot 1 5.
6. plane 8. middle frame 9. upper side frame 10. lower frame 11. left frame of the glass surface 7. perpendicular to glass surface.
Specific embodiment
Below in conjunction with accompanying drawing and specific implementation, the controlling party of glass-cleaning robot obstacle detouring pattern of the present invention is further illustrated
Method.
As shown in figure 1, the glass-cleaning robot include sub- glass-cleaning robot 1, sub- glass-cleaning robot 22 and in
Between connecting rod 3, wherein every sub- glass-cleaning robot all includes mobile device 4 and the sucker of adsorbent equipment 5, every sub- glass cleaning machine device
People has mobile and adsorption function；By intermediate connecting rod 3, between sub- glass-cleaning robot 1 and sub- glass-cleaning robot 2 mutually
Connection.
As shown in Figure 2 and Figure 3, there is determination between intermediate connecting rod 3 and sub- glass-cleaning robot 1 and sub- glass-cleaning robot 2
Drive connection, by control intermediate connecting rod 3 can relatively sub- glass-cleaning robot 1 or sub- glass-cleaning robot 2 respectively parallel
Rotated in glass surface 6 and in the plane of glass surface 6.
As shown in figure 4, the control method of glass-cleaning robot obstacle detouring pattern of the present invention comprises the following steps.
Step 1：Glass-cleaning robot judges to need the direction of obstacle detouring according to command request.
Step 2：When obstacle detouring direction is upward, robot is moved to the upper side frame 9 of glass surface 6 and carries out step 3 first
With step 4, otherwise robot is moved to the lower frame 10 of glass 6 and carries out step 3 and step 4 first.
Step 3：Distance measuring sensor measures the distance of glass-cleaning robot and glass frame on moving direction, as measured value S
During more than preset value L, robot is drawn close according to normal movement speed to correspondence glass frame, when measured value S is less than or equal to pre-
If during value L, robot low speed is drawn close to correspondence glass frame.
Step 4:When robot shells encounter correspondence glass frame, touching switch sends touching signal, and robot carries out appearance
State is finely tuned, it is ensured that one side of robot can completely support upper glass frame.
Step 5：When robot needs obstacle detouring to the left, robot adjustment moving direction is moved to the middle frame 8 of glass 6
Step 3 and step 4 are moved and carry out, when robot needs obstacle detouring to the right, robot adjustment moving direction, to the right of glass 6
Frame 11 is moved and carries out step 3 and step 4, when robot is adjustment movement side of robot when needing obstacle detouring up or down
To a side shifting closer to the distance in glass left and right side frame and carrying out step 3 and step 4.
Step 6：After a both sides for sub- robot shells of window wiping robot prop up glass frame completely, another height
The adsorbent equipment 5 of robot stops and the absorption between glass surface 6, and be lifted away from for this child robot by the intermediate connecting rod 3 of window wiping robot
Glass surface 6 to certain altitude, then intermediate connecting rod 3 is rotated, and the child robot is crossed glass frame and is reached target glass
In window.
Step 7：After a child robot of window wiping robot crosses glass frame, intermediate connecting rod 3 is by this child robot
It is pressed on glass surface, while the child robot restarts adsorbent equipment 5 and adsorbed with glass surface stabilization.
Step 8：Glass-cleaning robot carries out pose adjustment, makes the both sides for having passed over the child robot shell of instrument bezel complete
It is against entirely on corresponding instrument bezel, then carries out step 6.
Step 9：After second child robot crosses instrument bezel, be pressed in this child robot on glass surface by intermediate connecting rod 3,
The child robot restarts device 5 and is adsorbed with glass surface stabilization simultaneously, and so far glass-cleaning robot completes whole instrument bezel
Obstacle detouring process.
It is glass-cleaning robot obstacle detouring pattern of the present invention in obstacle detouring to the left as shown in Fig. 5, Fig. 6, Fig. 7, Fig. 8 and Fig. 9
Key step.
As shown in figure 5, when robot receive think that left obstacle detouring is indicated after, robot is moved down first, until son cleans the windows
The shell of robot 1 props up the lower frame 10 of glass surface 6.
As shown in fig. 6, after the shell of group glass-cleaning robot 1 props up the lower frame 10 of glass surface 6, robot is to the left
It is mobile, until the shell of sub- glass-cleaning robot 1 also props up the middle frame 8 of glass surface 6 simultaneously.
As shown in fig. 7, the adsorbent equipment 5 of sub- glass-cleaning robot 2 is stopped, intermediate connecting rod 3 cleans the windows machine
People 2 is lifted away from glass surface 6, and is turned left relative to sub- glass-cleaning robot 1, sub- glass-cleaning robot 2 is crossed middle frame
8, sub- glass-cleaning robot 2 is then pressed into glass surface 6, the adsorbent equipment 5 of sub- glass-cleaning robot 2 is reworked, and makes son
The stabilization absorption of glass-cleaning robot 2 is on glass surface 6.
As shown in figure 8, robot adjustment attitude, make the shell of sub- glass-cleaning robot 2 at the same prop up lower frame 10 with
Between frame 8.
As shown in figure 9, the adsorbent equipment 5 of sub- glass-cleaning robot 1 is stopped, intermediate connecting rod 3 cleans the windows machine
People 1 is lifted away from glass surface 6, and is turned left relative to sub- glass-cleaning robot 2, sub- glass-cleaning robot 1 is crossed middle frame
8, sub- glass-cleaning robot 1 is then pressed into glass surface 6, the adsorbent equipment 5 of sub- glass-cleaning robot 1 is reworked, and makes son
On glass surface 6, so far robot completes the whole process of obstacle detouring to the left to the stabilization absorption of glass-cleaning robot 1.
Claims (2)
1. the control method of a kind of glass-cleaning robot and its obstacle detouring pattern, it is characterised in that：Glass-cleaning robot is catamaran type
Structure, including sub- glass-cleaning robot one, sub- glass-cleaning robot two and intermediate connecting rod, wherein every sub- glass-cleaning robot is all
Including mobile device and adsorbent equipment, can be in the absorption of glass surface stabilization and movement, in passing through between two sub- glass-cleaning robots
Between connecting rod connection, have determination drive connection between intermediate connecting rod and each sub- glass-cleaning robot, intermediate connecting rod can be relative
Respectively in the rotation for realizing determining parallel to glass surface and in the plane of glass surface, one kind wipes glass to sub- glass-cleaning robot
Control method of the glass robot obstacle detouring pattern on full frame glass comprises the following steps：
Step 1：Glass-cleaning robot judges to need the direction of obstacle detouring according to command request；
Step 2：When obstacle detouring direction is upward, robot is moved to the upper side frame of glass surface and carries out step 3 and step first
4, otherwise robot is moved to the lower frame 1 of glass and carries out step 3 and step 4 first；
Step 3：Distance measuring sensor measures the distance of glass-cleaning robot and glass frame on moving direction, when measured value S is more than
During preset value L, robot is drawn close according to normal movement speed to correspondence glass frame, when measured value S is less than or equal to preset value L
When, robot low speed is drawn close to correspondence glass frame；
Step 4:When robot shells encounter correspondence glass frame, touching switch sends touching signal, and it is micro- that robot carries out attitude
Adjust, it is ensured that one side of robot can completely support upper glass frame；
Step 5：When robot needs obstacle detouring to the left, robot adjustment moving direction is frameed shift dynamic and is carried out to glass medial side
Step 3 and step 4, when robot needs obstacle detouring to the right, robot adjustment moving direction is moved and carried out to glass left frame
Step 3 and step 4, when robot needs obstacle detouring up or down, robot adjustment moving direction, in glass left and right side frame
A side shifting closer to the distance simultaneously carries out step 3 and step 4；
Step 6：After a both sides for sub- robot shells of window wiping robot prop up glass frame completely, another handset device
People stops and the absorption between glass surface, and this child robot is lifted away from glass surface to certain altitude by the intermediate connecting rod of window wiping robot,
Then connecting rod is rotated, and this child robot is crossed glass frame and is reached in target glass window；
Step 7：After a child robot of window wiping robot crosses glass frame, this child robot is pressed in glass by intermediate connecting rod
On glass face, while the child robot restarts adsorption function and is adsorbed with glass surface stabilization；
Step 8：Glass-cleaning robot carries out pose adjustment, the both sides for having passed over the child robot shell of instrument bezel is supported completely
On corresponding instrument bezel, step 6 is then carried out；
Step 9：After second child robot crosses instrument bezel, be pressed in this child robot on glass surface by intermediate connecting rod, while
Child robot restarting adsorption function is adsorbed with glass surface stabilization, and so far glass-cleaning robot completes getting over for whole instrument bezel
Barrier process.
2. the control method of a kind of glass-cleaning robot according to claim 1 and its obstacle detouring pattern, it is characterised in that：
During robot realizes obstacle detouring, the shell of robot borrows reaction of the glass frame to it by propping up glass frame
Power increases the anti-torsion ability of robot itself, so as to realize obstacle climbing ability.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710065488.XA CN106725081B (en) | 2017-02-06 | 2017-02-06 | A kind of control method of the obstacle detouring mode of glass-cleaning robot on full frame glass |
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| CN201710065488.XA CN106725081B (en) | 2017-02-06 | 2017-02-06 | A kind of control method of the obstacle detouring mode of glass-cleaning robot on full frame glass |
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| CN106725081A true CN106725081A (en) | 2017-05-31 |
| CN106725081B CN106725081B (en) | 2019-03-01 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108078478A (en) * | 2017-12-13 | 2018-05-29 | 上海工程技术大学 | A kind of intelligentized glass cleaning device and control method |
| CN108903762A (en) * | 2018-08-08 | 2018-11-30 | 宁波史河机器人科技有限公司 | A kind of clean robot |
| CN109199209A (en) * | 2018-11-09 | 2019-01-15 | 沈阳航空航天大学 | It is a kind of can obstacle detouring Full-automatic window cleaning machine device people |
| CN110200538A (en) * | 2019-07-18 | 2019-09-06 | 佳木斯大学 | A kind of vacuum adsorption type obstacle detouring glass cleaning machine people and its control method |
| CN111938491A (en) * | 2020-08-13 | 2020-11-17 | 北京黑蚁兄弟科技有限公司 | Obstacle crossing method of high-altitude operation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108078478A (en) * | 2017-12-13 | 2018-05-29 | 上海工程技术大学 | A kind of intelligentized glass cleaning device and control method |
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| CN111938491A (en) * | 2020-08-13 | 2020-11-17 | 北京黑蚁兄弟科技有限公司 | Obstacle crossing method of high-altitude operation robot |
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