CN107802203A - Window cleaning robot with safety detection function - Google Patents
Window cleaning robot with safety detection function Download PDFInfo
- Publication number
- CN107802203A CN107802203A CN201711230084.8A CN201711230084A CN107802203A CN 107802203 A CN107802203 A CN 107802203A CN 201711230084 A CN201711230084 A CN 201711230084A CN 107802203 A CN107802203 A CN 107802203A
- Authority
- CN
- China
- Prior art keywords
- safety
- connecting portion
- wiping robot
- window wiping
- sucker
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- 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
Abstract
The invention discloses a window cleaning robot with safety detection, which comprises: the body is used for walking on the window to perform window cleaning work; the safety protection device is arranged near the body and connected with the body and used for preventing the body from falling; and the detection device is used for detecting the connection state of the body and the safety protection device. The invention can improve the working safety of the window cleaning robot and prevent the robot from falling and accidents in the window cleaning process by detecting whether the window cleaning robot is safely connected with the safety protection device around the window cleaning robot.
Description
Technical field
The invention belongs to intelligent cleaning equipment technical field, is related to a kind of window wiping robot with safety detection.
Background technology
At present, existing window wiping robot is all carried out, and can run to people when performing operation on vertical glass surface
The not tangibly eminence of hand.To prevent it from dropping, present window wiping robot is before work, it is necessary to increase a safety device
(including fixable safety buckle and safety rope for connecting window wiping robot), safety device is connected to by window wiping robot
On, to determine that safety device can provide protection when window wiping robot drops.But user is entirely in actual use
Complete to operate by products instruction, as user's whether as requested device safe to use, existing window wiping robot
Itself it is to have no idea to detect and judge whether to complete to be effectively protected to be connected with safety device.
Based on above mentioned problem, China Patent Publication No. CN206218048U patent of invention discloses a kind of window wiping robot,
And specifically disclose and provide sucker (safety device) the absorption information of safeguard protection to wiping window by the way that window wiping robot can be detected as
The operation of robot is controlled.Although the technical scheme described in it can control wiping window by detecting the adsorbed state of sucker
The operation of robot, but in actual use, sucker can be placed in optional position by user, without by sucker and window cleaning equipment device
People is connected, and window wiping robot can be caused to obtain safeguard protection in operation.So only the adsorbed state of sucker is examined
Survey can not exclude potential safety hazard completely, it is also necessary to which the annexation between safety device and window wiping robot is detected.
The content of the invention
It is an object of the invention to provide a kind of window wiping robot with safety detection to solve asking in background technology
Topic, technical scheme are as follows：
A kind of window wiping robot with safety detection, including：
Body, window work is wiped to perform for being walked on window；
Safety guard, it is arranged at body nearby and is connected with body, for preventing body from falling；
Detection means, for detection body and the connection status of safety guard.
Further, the safety guard includes sucker, and the sucker is connected by connector with the body.
Further, the connector includes first connecting portion and second connecting portion, the first connecting portion with described
Body is connected, and the second connecting portion is connected with the sucker.
Further, the sucker is provided with gas pressure detector, and the gas pressure detector connects with the processing module signal
Connect and export the pressure information when sucker is in adsorbed state.
Further, the safety guard includes connecting rope, and one end of the connecting rope is connected with the body, separately
One end is connected with the fixture being fixedly installed on around the body.
Further, the detection means is arranged on the body and/or the safety guard.
Further, in one embodiment, detection means includes acceptance division and connecting portion, and the acceptance division is arranged at described
On body, the connecting portion is arranged on the safety guard, when the connecting portion is near to or in contact with the acceptance division,
The acceptance division exports the connection status of the body and the safety guard.
Further, in one embodiment, the detection means includes acceptance division and connecting portion, and the acceptance division is arranged at
On institute's safety guard, the connecting portion is arranged on the body, when the connecting portion is near to or in contact with the acceptance division
When, the acceptance division exports the connection status of the body and the safety guard.
Further, in one embodiment, the detection means includes magnetic inductor, and the magnetic inductor includes the first magnetic
Element and the second magnetic cell, first magnetic cell are arranged at the body, and second magnetic cell is arranged at the safety and protected
On protection unit, when first magnetic cell and second magnetic cell are close to each other, output is by the magnetic strength of window wiping robot identification
Strength signal.
Compared with prior art, the beneficial effects of the present invention are：By whether detecting window wiping robot with wiping window
Safety guard around robot is provided with secure connection, to improve the job security of window wiping robot, prevents from wiping window
During robot drop and accident occur.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, common for this area
For technical staff, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the window wiping robot of embodiment one in the present invention；
Fig. 2 is the cross section structure schematic diagram of connector and safety guard in Fig. 1；
Fig. 3 is the structural representation of the window wiping robot of embodiment two in the present invention；
Fig. 4 is the cross section structure schematic diagram of connector and safety guard in Fig. 3.
Embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with the drawings and specific embodiments, it is clear that this
In described embodiment be only the part of the embodiment invented, rather than whole embodiment.Described based on the present invention
Specific embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, should all belong in the protection domain that the claims in the present invention are limited.
As shown in Figures 1 to 4, a kind of window wiping robot with safety detection, it has：Form window wiping robot profile
Body 100, body 100 can be static in clean surface or mobile, and control machine people is provided with body 100 and performs default journey
The processing module (not shown) of sequence/action, the processing module can receive or send signal, meanwhile, on body 100 also
Provided with starting switch 101, external power supply connecting line 102 and detection means (not shown), detection means is surveying window cleaning equipment device
People is detected before performing cleaning to whether body 100 has effective connection status with safety device, and detection means is directed to
Connection status exports a signal and can perform next default to processing module, processing module basis signal selection window wiping robot
Program.Also, a fixed device is set with the range of movement of body 100 or outside range of movement as safety guard
(300,310), the gravity of window wiping robot can be born when window wiping robot drops, prevent body continue tenesmus to people or its
He causes damage at property.Certain safety guard (300,310) can also limit the moving range of window wiping robot, make wiping window
Robot is effectively moving with safety guard (300,310) in join domain.
Specifically, as shown in figures 1 and 3, during window wiping robot is used, it is necessary to first using as safety device
Safety guard (300,310) is arranged on home, and safety guard (300,310) here can be guardrail or consolidate
The fastener (thrust) being scheduled on wall, can be by connector (200,211) by window wiping robot and safety guard
(300,310) connect.
Embodiment one
As depicted in figs. 1 and 2, connector 200 is wholely set with body 100, and safeguard protection is provided with around body 100
Device 300, to use window wiping robot safely, user should use connector 200 by body 100 and safety guard 300
Connect, then user opens window wiping robot, the processing mould of Ca Ca robots by the key 101 on body 100
Whether BOB(beginning of block) detection detection means receives the signal that connector 200 completes connection with safety guard 300.For ease of detection
The signal of connection status is completed to connector 200 and safety guard 300, detection means includes being arranged at safety guard
Acceptance division 303 on 300, and be arranged at the connecting portion 203 of the one end of connector 200 and connect.
When connector 200 is completed to be connected by user with safety guard 300, connecting portion 203 exists with acceptance division 303
Near to or in contact with when produce a signal to processing module, processing module receive the signal then represent connector 200 with safety
Protection device 300 on secure connection, can start to perform and wipe window cleaning.If processing module is not received by signal,
Processing module then allows window wiping robot slack or alarmed.
In certain embodiments, the acceptance division of detection means can be arranged on body 100, and connecting portion is arranged on connection
The connection end of part 200 and body 100, when connecting portion is connected on body 100 by user, processing module can receive connector
200 then send signal and start to perform wiping window cleaner by window wiping robot with the signal on the secure connection of body 100, processing module
Make.If processing module is not received by signal, processing module then allows window wiping robot slack or alarmed.
In certain embodiments, safety guard can be the absorbent bodies that can be dismantled from building, such as sucker
(300,310), to ensure safety during window wiping robot work, it is also necessary to enter in real time to the adsorbed state of sucker (300,310)
Row monitoring, can or can not be inadequate and automatic because of adsorption strength in the course of the work to determine whether sucker (300,310) adsorbs firmly
Come off, or come off being pullled when adsorption strength not enough causes window wiping robot to drop.
As shown in Figure 2 and Figure 4, sucker (300,310) has the flexible glue disk body (301,311) of enlarging shape, passes through pressing plate
Body (301,311) can make disk body (300,310) form negative pressuren zone with absorption surface.Thus, it is provided with sucker (300,310)
Gas pressure detector (302,312), gas pressure detector (302,312), it is connected with processing module signal and exports sucker (300,310)
In pressure information during adsorbed state, when sucker (300,310) adsorption strength is inadequate and alarm or to stop wiping window in time
Work.Detected with reference to the connection status of body 100 and connector 200, the safe to use of window wiping robot can be effectively improved
Property.
When sucker (300,310) is adsorbed in glass surface, it is also necessary to by connector (200,211) by window wiping robot
Connected with sucker (300,310), could to window wiping robot provide in real time protection, avoid only install sucker (300,
310) without connecting window wiping robot, window wiping robot is made easily to be dropped in motion process.
Based on above-described embodiment, because connector 200 also needs to be attached with sucker (300,310), so only to inhaling
The adsorbed state of disk (300,310) does the safety guarantee that detects and can not meet to window wiping robot, therefore, also needing to connection
Part 200 and the connection status of sucker (300,310) are detected, to avoid user from not inhaling the secure connection of connector 200
On disk (300,310), be with sucker (300,310) be provided with sensor with detect connector 200 whether with sucker (300,
310) connection is completed, and connection state information is sent to processing module, judges to wipe according to connection state information by processing module
Whether window robot can perform cleaning.
Due to needing window wiping robot during to dropping to provide safeguard protection, the sucker as safety guard needs strong
Strong absorption affinity, after the completion of cleaning, it is also necessary to sucker is removed, because adsorption strength is high, sucker is difficult to remove,
So propose in this application：The edge of the disk body (301,311) of sucker (300,310) is additionally provided with handle (304,313), needs
When moving sucker (300,310), user, which can hold handle (304,313) and be outwardly away from the side of adsorption plane one, makes power, you can
Disk body (301,311) part is departed from adsorption plane, cause the negative pressure of negative pressuren zone to disappear, and then depart from sucker (300,310)
Adsorption plane is easier.
As shown in Fig. 2 detection means includes magnetic inductor, magnetic inductor includes the first magnetic cell 303 and the second magnetic cell
203, the first magnetic cell 303 is arranged on sucker (safety guard) 300, and the second magnetic cell 203, which is arranged at, is connected to body
It is strong to be exported to processing module in the first magnetic cell 303 and the second magnetic cell 203 close to each other on connector 200 on 100
Spend the link information of change.It is understood that those skilled in the art can set the first magnetic cell of magnetic inductor respectively
In on body 100 or sucker 300, the second magnetic cell is arranged on connector 200, so can be effectively to 200 liang of connector
The connection status at end is detected.It should further be appreciated that when connector 200 is connected on body 100 or sucker 300, connector
200 can produce the connection status of continuous induction change in the second magnetic cell 203 into the approach process of the first magnetic cell 303
Information, processing module can according to the connection state information of change judge connector 200 whether the body 100 with window wiping robot
And sucker 300 completes secure connection, to ensure that window wiping robot can obtain safety guarantee during cleaning.
Embodiment two
As shown in figure 3, the both ends of connector 211 are directly connected with body 100 and sucker 310, it can use screw thread to connect
The mode connect is to realize the fast quick-detach of connector 211.Moreover, detection means can be separately positioned on body 100 and sucker 310
On, when processing module receives body with exporting the signal on being connected on sucker, processing module then judges window cleaning equipment device
People can perform cleaning safely, if only one of which signal, processing module then stops cleaning or alarm, Zhi Daoyi
Normal state is released from.
Based on the above embodiments, connector 200 can use the rope body with certain extensibility, and rope body both ends are respectively
First connecting portion and second connecting portion, first connecting portion are connected with body 100, and second connecting portion is connected with sucker (300,310).
What deserves to be explained is connector 200 can be threadedly coupled with body 100 and sucker (300,310) connected mode, or the body that will restrict
Arbitrary end set rope sling body 100 or sucker (300,310) are socketed.As preferential, connector 200 can be safety
Rope.
In addition, in certain embodiments, detection means includes the acceptance division and connecting portion being detachably connected, acceptance division is set
In, to receive the triggering of connecting portion and export connection state information to processing module, connecting portion is arranged at connector on body 100
The arbitrary end of (200,211).When acceptance division and connecting portion contact with each other and reach precalculated position, detection means can be gathered
Or one connection state information of generation exports to processing module.For ease of dismounting, acceptance division and connecting portion can be mutual cutting ferrules
Or dismountable mode such as threaded connection or clamping connects.
In certain embodiments, detection means can also be pulling force sensor, and one end of pulling force sensor is to be arranged at this
Acceptance division on body 100, the other end of pulling force sensor be with connector (200,211) connecting portion, when connector (200,211)
When completing to connect with connecting portion, user can make pulling force sensor get a drawing by tearing connector (200,211)
Force signal, processing module is according to whether receive whether pulling force signal determining body 100 is completed to connect with connector (200,211)
Connect.
In the above embodiments, the connection state information enumerated can be the pulling force born comprising acceptance division or connecting portion
Or the electric signal of chucking power, it can also be the signal that magnetic induction during magnetic strength detection changes.
Above disclosed is only the embodiment of technical solution of the present invention, it is impossible to the right of the present invention is limited with this
Scope, therefore the equivalent variations made according to the claims in the present invention, still belong to the scope that the present invention is covered.
Claims (9)
- A kind of 1. window wiping robot with safety detection, it is characterised in that including：Body, window work is wiped to perform for being walked on window；Safety guard, it is arranged at body nearby and is connected with body, for preventing body from falling；Detection means, for detection body and the connection status of safety guard.
- 2. the window wiping robot according to claim 1 with safety detection, it is characterised in that the safety guard Including sucker, the sucker is connected by connector with the body.
- 3. the window wiping robot according to claim 2 with safety detection, it is characterised in that the connector includes the One connecting portion and second connecting portion, the first connecting portion are connected with the body, and the second connecting portion connects with the sucker Connect.
- 4. the window wiping robot according to claim 2 with safety detection, it is characterised in that the sucker is provided with gas Detector is pressed, the gas pressure detector is connected with the processing module signal and exports the air pressure when sucker is in adsorbed state Information.
- 5. the window wiping robot according to claim 1 with safety detection, it is characterised in that the safety guard Including connecting rope, one end of the connecting rope is connected with the body, and the other end is with being fixedly installed on consolidating around the body Earnest connects.
- 6. the window wiping robot according to claim 1 with safety detection, it is characterised in that the detection means is set In on the body and/or the safety guard.
- 7. the window wiping robot according to claim 6 with safety detection, it is characterised in that detection means includes receiving Portion and connecting portion, the acceptance division are arranged on the body, and the connecting portion is arranged on the safety guard, work as institute When stating connecting portion near to or in contact with the acceptance division, the acceptance division exports the connection of the body and the safety guard State.
- 8. the window wiping robot according to claim 6 with safety detection, it is characterised in that the detection means includes Acceptance division and connecting portion, the acceptance division are arranged on institute's safety guard, and the connecting portion is arranged on the body, when When the connecting portion is near to or in contact with the acceptance division, the acceptance division exports the company of the body and the safety guard Connect state.
- 9. the window wiping robot according to claim 1 with safety detection, it is characterised in that the detection means includes Magnetic inductor, the magnetic inductor include the first magnetic cell and the second magnetic cell, and first magnetic cell is arranged at the body, Second magnetic cell is arranged on the safety guard, in first magnetic cell and the second magnetic cell phase mutual connection The magnetic induction signal that output is identified by window wiping robot when near.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711230084.8A CN107802203A (en) | 2017-11-29 | 2017-11-29 | Window cleaning robot with safety detection function |
| PCT/CN2018/075231 WO2019104870A1 (en) | 2017-11-29 | 2018-02-05 | Window wiping robot and safety detection method for window wiping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711230084.8A CN107802203A (en) | 2017-11-29 | 2017-11-29 | Window cleaning robot with safety detection function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107802203A true CN107802203A (en) | 2018-03-16 |
Family
ID=61590336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711230084.8A Pending CN107802203A (en) | 2017-11-29 | 2017-11-29 | Window cleaning robot with safety detection function |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107802203A (en) |
| WO (1) | WO2019104870A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110279342A (en) * | 2018-03-19 | 2019-09-27 | 科沃斯家用机器人有限公司 | Robot security's system for cleaning glass window window |
| US20210030242A1 (en) * | 2017-08-25 | 2021-02-04 | Ecovacs Robotics Co., Ltd. | Cleaning system and control method thereof |
| CN113491476A (en) * | 2020-04-08 | 2021-10-12 | 科沃斯家用机器人有限公司 | Window cleaning method and window cleaning 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 |
| CN116067480A (en) * | 2023-04-06 | 2023-05-05 | 山东德普检测技术有限公司 | Noise detection device |
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| 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 |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2019104870A1 (en) | 2019-06-06 |
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Address after: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B and C) Applicant after: GUANGDONG BONA ROBOT Corp.,Ltd. Address before: 518000 2nd and 3rd floors, block D, No. 438, Donghuan Road, Shajing street, Bao'an District, Shenzhen City, Guangdong Province Applicant before: GUANGDONG BONA ROBOT Corp.,Ltd. |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20220512 Address after: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province Applicant after: GUANGZHOU COAYU ROBOT Co.,Ltd. Address before: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B and C) Applicant before: GUANGDONG BONA ROBOT Corp.,Ltd. |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180316 |