CN107569166A - A kind of alarm control system of building glass-wall cleaning robot - Google Patents
A kind of alarm control system of building glass-wall cleaning robot Download PDFInfo
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- CN107569166A CN107569166A CN201710902195.2A CN201710902195A CN107569166A CN 107569166 A CN107569166 A CN 107569166A CN 201710902195 A CN201710902195 A CN 201710902195A CN 107569166 A CN107569166 A CN 107569166A
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Abstract
The invention discloses a kind of alarm control system of building glass-wall cleaning robot, it is characterised in that including detection module, judge module, alarm control module and power supply module；By setting pressure sensor to detect pressure caused by sucker suction, by the pressure value of reception compared with pressure threshold, after if pressure value is less than pressure threshold, the velocity amplitude that velocity sensor is received again is compared with threshold speed, if velocity amplitude is more than threshold speed, the cleaning machine talent starts to alarm, and sensing is sensitive, detection is accurate, while reduces the false alarm rate of alarm；Provided with movable alarm device, it is easy to related personnel to carry with, realizes unattended cleaning mode, it is cost-effective, and the alarm arrangement is simple, easy to operate, alarm is very directly perceived.
Description
Technical field
The invention belongs to glass-wall cleaning robot field, specially a kind of controlling alarm of building glass-wall cleaning robot
System.
Background technology
With the quick raising of the raising of modern civilization, rapid development of economy and people's living standard, more and more
High buildings and large mansions are rised sheer from level ground, and the thing followed is exactly the rise of Cleaning for Outer Wall of Building industry, and outside Wall Cleaning industry has been drawn in China
Rise and generally pay attention to and pay attention to.All high-rise building outer walls, due to long-term Exposure to Sunlight and expose to wind and rain, and be harmful in air
Gas and oil smoke etc. pollute and the erosion of chemical reaction so that skin generates dirt and weathering, both have impact on building
The beautiful and appearance of the city of thing, has damaged building again.Therefore, the exterior wall of building is cleaned, has not only beautified environment, and serve
Protect the effect of building.
However, cleaning at present to glass curtain wall is main or is completed using manual type, i.e.,：By cleanup crew from
After roof is suspended in midair to the side wall of building, manually curtain wall surface is cleared up by cleanup crew, such a mode is not only present
The problems such as whole process cleaning efficiency is not high, danger coefficient is big, and cleaning cost is higher, also thus have impact on glass curtain wall
Attractive in appearance, cleaning and the space further developed.
At present, in the market has been developed for glass-wall cleaning robot, the warning device of the glass-wall cleaning robot mainly by
Pressure sensor detects absorption affinity to realize warning function, if the pressure sensor being arranged under robot sucker is damaged,
False alarm then occurs, the warning device false alarm probability is high, easily produces miscue under normal circumstances, causes personnel to fear
Unbearably.
The content of the invention
The goal of the invention of the present invention is：The problem of false alarm probability is high be present for above-mentioned, there is provided a kind of building curtain wall
The alarm control system of clean robot.
The present invention technical solution be：
A kind of alarm control system of building glass-wall cleaning robot, it is characterised in that including detection module, judge module,
Alarm control module and power supply module；
The detection module, for transmitting pressure sensor information and gravity sensor information to judge module, while receive confession
The power supply of electric module；
The judge module, for receiving the pressure sensor information and gravity sensor information of detection module transmission, and connect
Powered by power supply module, while transmit judgement and finish signal to alarm control module；
The alarm control module, the judgement for receiving judge module finishes signal, and receives the power supply of power supply module.
Further, the detection module is provided with computing module, and the computing module calculates the pressure that each pressure sensor receives
Force value sum, the pressure sensor information are gross pressure value information.
The pressure sensor is arranged on the lower section of each sucker of clean robot, and the velocity sensor is arranged on cleaning
In robot.
Further, the judge module receives pressure sensor information and velocity sensor information, while will receive
Pressure value is compared with pressure threshold, by the velocity amplitude received compared with threshold speed.
Further, the pressure threshold F is the summation of the absorption affinity of the sucker number at least adsorbed when clean robot is walked,
The maximum speed of travel when threshold speed is clean robot normal use.
Further, the judge module judges that pressure value is less than pressure threshold, and when velocity amplitude is more than threshold speed, touches
Send out alarm control module and send alarm signal.
The alarm control system is provided with mobile alarm module.
Further, the mobile alarm module communicates to connect with alarm control module, for receiving alarm control module hair
The alarm signal sent, start the alarm in mobile alarm module.
The alarm control method that a kind of alarm control system based on building glass-wall cleaning robot is carried out, its feature exist
In comprising the steps:
S1, receive pressure sensor information and velocity sensor information；
S2, judge whether the stagnation pressure force value of pressure sensor information is less than pressure threshold, if so, then continuing to judge velocity sensor
Whether the velocity amplitude of information is more than threshold speed；If so, then perform step S3；
S3, triggering alarm control module send alarm signal and give mobile alarm module, and mobile alarm module starts alarm.
In summary, beneficial effects of the present invention are：By setting pressure sensor to detect pressure caused by sucker suction
Power, by the pressure value of reception compared with pressure threshold, if after pressure value is less than pressure threshold, then velocity sensor is received
Velocity amplitude is compared with threshold speed, if velocity amplitude is more than threshold speed, the cleaning machine talent starts to alarm, and sensing is sensitive, inspection
It is accurate to survey, while reduces the false alarm rate of alarm；Provided with movable alarm device, it is easy to related personnel to carry with, realizes
Unattended cleaning mode, it is cost-effective, and the alarm arrangement is simple, easy to operate, alarm is very directly perceived.
Brief description of the drawings
Fig. 1 is a kind of alarm control system block diagram of building glass-wall cleaning robot of the present invention.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
This specification（Including any accessory claim, summary）Disclosed in any feature, unless specifically stated otherwise,
Replaced by other equivalent or with similar purpose alternative features.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalent or similar characteristics.
A kind of alarm control system of building glass-wall cleaning robot, as shown in figure 1, including detection module, judging mould
Block, alarm control module and power supply module；
The detection module, for transmitting pressure sensor information and gravity sensor information to judge module, while receive confession
The power supply of electric module；
The judge module, for receiving the pressure sensor information and gravity sensor information of detection module transmission, and connect
Powered by power supply module, while transmit judgement and finish signal to alarm control module；
The alarm control module, the judgement for receiving judge module finishes signal, and receives the power supply of power supply module.
The detection module is provided with computing module, the computing module calculate pressure value that each pressure sensor receives it
With the pressure sensor information is gross pressure value information；The computing module calculates each pressure sensor and connect in advance
The pressure value of receipts, follow-up judge module is facilitated to judge.
The pressure sensor is arranged on the lower section of each sucker of clean robot, and the velocity sensor is arranged on cleaning
In robot；The installation of the pressure sensor and velocity sensor is simple, and test is accurate, and sensing is sensitive, can effectively improve and sentence
Disconnected accuracy.
The judge module receives pressure sensor information and velocity sensor information, at the same by the pressure value received with
Pressure threshold compares, by the velocity amplitude received compared with threshold speed, when the pressure threshold F is clean robot walking most
The summation of the absorption affinity of the sucker number adsorbed less, the maximum row walking speed when threshold speed is clean robot normal use
Degree；By given threshold, by the pressure value received and velocity amplitude respectively compared with corresponding threshold value, simplify deterministic process, if clearly
The absorption affinity of single sucker is N during clean robot ambulation, while because robot ambulation sucker number can change, when becoming rail
The minimum absorption number of sucker is a, and now pressure threshold is F=a*N.
The judge module judges that pressure value is less than pressure threshold, and when velocity amplitude is more than threshold speed, triggering alarm
Control module sends alarm signal, and by judging pressure value and velocity amplitude jointly, and pressure value is less than pressure threshold, velocity amplitude
Alarm could be triggered during more than threshold speed, adds the reliability of alarm.
The alarm control system is provided with mobile alarm module, the mobile alarm module and alarm control module communication link
Connect, for receiving the alarm signal of alarm control module transmission, start the alarm in mobile alarm module, the mobile alarm
Device make it is very light and can carry with, robot convenient for cleaning dropped from curtain wall alarm prompting related personnel carry out
Processing.
The alarm uses buzzer, and alarm is very directly perceived.
A kind of alarm control method carried out based on building glass-wall cleaning robot alarm control system, it is characterised in that
Comprise the steps:
S1, receive pressure sensor information and velocity sensor information；
S2, judge whether the stagnation pressure force value of pressure sensor information is less than pressure threshold, if so, then continuing to judge velocity sensor
Whether the velocity amplitude of information is more than threshold speed；If so, then perform step S3；
S3, triggering alarm control module send alarm signal and give mobile alarm module, and mobile alarm module starts alarm.
The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (9)
1. a kind of alarm control system of building glass-wall cleaning robot, it is characterised in that including detection module, judge mould
Block, alarm control module and power supply module；
The detection module, for transmitting pressure sensor information and gravity sensor information to judge module, while receive confession
The power supply of electric module；
The judge module, for receiving the pressure sensor information and gravity sensor information of detection module transmission, and connect
Powered by power supply module, while transmit judgement and finish signal to alarm control module；
The alarm control module, the judgement for receiving judge module finishes signal, and receives the power supply of power supply module.
2. a kind of alarm control system of building glass-wall cleaning robot as claimed in claim 1, it is characterised in that described
Detection module is provided with computing module, and the computing module calculates the pressure value sum that each pressure sensor receives, and the pressure passes
Sensor information is gross pressure value information.
3. a kind of alarm control system of building glass-wall cleaning robot as claimed in claim 2, it is characterised in that described
Pressure sensor is arranged on the lower section of each sucker of clean robot, and the velocity sensor is arranged on clean robot.
4. a kind of alarm control system of building glass-wall cleaning robot as claimed in claim 1, it is characterised in that described
Judge module receives pressure sensor information and velocity sensor information, while by the pressure value received and pressure threshold ratio
Compared with by the velocity amplitude received compared with threshold speed.
5. a kind of alarm control system of building glass-wall cleaning robot as claimed in claim 4, it is characterised in that described
Pressure threshold F is the summation of the absorption affinity of the sucker number at least adsorbed when clean robot is walked, and the threshold speed is cleaning
Maximum speed of travel during robot normal use.
6. a kind of alarm control system of building glass-wall cleaning robot as claimed in claim 5, it is characterised in that described
Judge module judges that pressure value is less than pressure threshold, and when velocity amplitude is more than threshold speed, triggering alarm control module is sent
Alarm signal.
7. a kind of alarm control system of building glass-wall cleaning robot as claimed in claim 1, it is characterised in that described
Alarm control system is provided with mobile alarm module.
8. a kind of alarm control system of building glass-wall cleaning robot as claimed in claim 7, it is characterised in that described
Mobile alarm module communicates to connect with alarm control module, for receiving the alarm signal of alarm control module transmission, starts and moves
Alarm in dynamic alarm module.
9. the alarm control method that a kind of alarm control system based on claim 1-8 any claims is carried out, its feature
It is, comprises the steps：
S1, receive pressure sensor information and velocity sensor information；
S2, judge whether the stagnation pressure force value of pressure sensor information is less than pressure threshold, if so, then continuing to judge velocity sensor
Whether the velocity amplitude of information is more than threshold speed；If so, then perform step S3；
S3, triggering alarm control module send alarm signal and give mobile alarm module, and mobile alarm module starts alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710902195.2A CN107569166A (en) | 2017-09-29 | 2017-09-29 | A kind of alarm control system of building glass-wall cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710902195.2A CN107569166A (en) | 2017-09-29 | 2017-09-29 | A kind of alarm control system of building glass-wall cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107569166A true CN107569166A (en) | 2018-01-12 |
Family
ID=61040292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710902195.2A Withdrawn CN107569166A (en) | 2017-09-29 | 2017-09-29 | A kind of alarm control system of building glass-wall cleaning robot |
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| CN (1) | CN107569166A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111820826A (en) * | 2019-04-17 | 2020-10-27 | 松下家电(中国)有限公司 | Automatic correction method for floor wiping robot |
| CN113491474A (en) * | 2020-04-08 | 2021-10-12 | 科沃斯家用机器人有限公司 | Window cleaning robot system, information output method and equipment |
| CN115336939A (en) * | 2022-09-21 | 2022-11-15 | 北京史河科技有限公司 | Multi-cavity negative pressure adsorption curtain wall cleaning robot |
-
2017
- 2017-09-29 CN CN201710902195.2A patent/CN107569166A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111820826A (en) * | 2019-04-17 | 2020-10-27 | 松下家电(中国)有限公司 | Automatic correction method for floor wiping robot |
| CN113491474A (en) * | 2020-04-08 | 2021-10-12 | 科沃斯家用机器人有限公司 | Window cleaning robot system, information output method and equipment |
| CN115336939A (en) * | 2022-09-21 | 2022-11-15 | 北京史河科技有限公司 | Multi-cavity negative pressure adsorption curtain wall cleaning robot |
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| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180112 |
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| WW01 | Invention patent application withdrawn after publication |