CN108078478B - Intelligent glass wiping device and control method - Google Patents
Intelligent glass wiping device and control method Download PDFInfo
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- CN108078478B CN108078478B CN201711327756.7A CN201711327756A CN108078478B CN 108078478 B CN108078478 B CN 108078478B CN 201711327756 A CN201711327756 A CN 201711327756A CN 108078478 B CN108078478 B CN 108078478B
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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
Abstract
The invention relates to the technical field of intelligent control, and discloses an intelligent glass wiping device which comprises a machine body, wherein a processor is arranged in the machine body, a first cleaning unit is arranged on the bottom surface of the machine body, two steering units are respectively arranged at two ends of the machine body, an adsorption unit is arranged on the bottom surface of each steering unit, a second cleaning unit is arranged on the top surface of each steering unit, a rotating unit is arranged between each steering unit and the adsorption unit, each steering unit comprises a steering motor and a steering mechanism, and the processor controls the steering mechanisms to rotate through the steering motors so that the second cleaning units and the first cleaning units are positioned on the same plane; the processor controls the rotation mechanism to rotate through the rotating motor, drives the first cleaning unit of the machine body and the second cleaning unit of one of the steering units to synchronously rotate, and performs glass wiping operation; the adsorption unit is connected with the processor and used for adsorbing the machine body on the surface of the glass to be wiped, and the processor is also connected with the power supply unit. The device of the invention is convenient for popularization and promotion.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to an intelligent glass wiping device and a control method.
Background
As high-rise buildings increase, the cleaning of the outer wall glass becomes a difficult problem. To date, 95% of urban high-rise outer wall glass is still finished by means of manual cleaning. At present, machines such as glass girls, window treasures and the like appear on the market. However, the machine cannot be comprehensively popularized due to the problems that the adsorption cannot be realized if cracks exist on the surface of the window body, the curved surface cannot work, the obstacle crossing capability does not exist, the motion mode is complex and the like, and people and the market urgently need a more complete machine.
Patent application No.: 201611093863.3, the battery is respectively connected with the control system, the flying wheel, the liquid-spraying pump and the brush body with the sensor; the liquid storage chamber is communicated with the liquid spraying pump through a liquid communicating pipe, and the liquid spraying pump is connected with the liquid spraying port; the control system is electrically connected with the flying wheel, the liquid spraying pump and the brush body with the sensor respectively; the control system comprises a flying unit and a glass wiping unit; the brush body with the sensor comprises a first direction sensor, a second direction sensor, a first oil stain sensor and a second oil stain sensor. The robot can automatically search for oil stains on glass and clean the glass in a flight mode, but the flight mode is unsafe, is easy to cause danger to the ground and is not easy to carry.
Patent application No.: 201710065488.X comprises a first sub-glass cleaning robot, a second sub-glass cleaning robot and a middle connecting rod, a specific control method of an obstacle crossing mode is determined according to obstacle crossing instructions in different directions, in the obstacle crossing process, a robot shell props against a glass frame, the anti-torsion capability of the robot is enhanced by means of the reaction force of the glass frame, and the small-sized window cleaning robot achieves a stable and reliable obstacle crossing function. The robot has small size, small cleaning area and low working efficiency.
Disclosure of Invention
The invention provides an intelligent glass wiping device and a control method, and solves the problems that an existing glass wiping robot is complex in movement mode and the like.
The invention can be realized by the following technical scheme:
an intelligent glass wiping device comprises a machine body, a processor is arranged in the machine body, a first cleaning unit is arranged on the bottom surface, two steering units are respectively arranged at two ends of the machine body, an adsorption unit is arranged on the bottom surface of each steering unit, a second cleaning unit is arranged on the top surface of each steering unit, a rotating unit is arranged between each steering unit and the corresponding adsorption unit,
the processor controls the steering mechanism to rotate through the steering motor, so that the second cleaning unit and the first cleaning unit are positioned on the same plane;
the processor controls the rotation mechanism to rotate through the rotating motor, drives the first cleaning unit of the machine body and the second cleaning unit of one of the steering units to synchronously rotate, and performs glass cleaning operation;
the adsorption unit is connected with the processor and used for adsorbing the machine body on the glass surface to be wiped, and the processor is also connected with the power supply unit.
Further, the side of the steering unit is provided with an induction unit, the induction unit is connected with the processor and used for detecting distance information between the steering unit and the glass surface to be wiped, a telescopic unit is further arranged between the steering unit and the adsorption unit and comprises a telescopic motor and a telescopic mechanism, and the processor controls the telescopic mechanism to extend or shorten according to the received distance information so as to increase or reduce the distance between the machine body and the glass surface to be wiped.
Furthermore, the sensing unit comprises a plurality of distance sensors which are arranged on the side surface of the steering unit at equal intervals, and the distance between the distance sensors and the surface of the glass to be wiped is the same.
Further, the first cleaning unit and the second cleaning unit each include one or more cleaning plates, and the plurality of cleaning plates are arranged at equal intervals.
A control method of the intelligent glass wiping device based on the above comprises the following steps:
step one, controlling an adsorption unit by a processor to adsorb a machine body on a glass surface to be wiped;
step two, the processor controls the turning unit corresponding to the other adsorption unit to rotate so that the second cleaning unit on the top surface of the turning unit is positioned on the same plane with the first cleaning unit on the machine body;
step three, the processor controls the rotation unit corresponding to the adsorption unit to rotate, the first cleaning unit and the second cleaning unit in the step two are driven to rotate, the glass cleaning operation is carried out, and meanwhile the induction unit on the side face of the steering unit in the step two starts to work;
step four, the processor judges the distance information detected by the induction unit and determines whether to start the telescopic unit for obstacle crossing;
fifthly, the rotating unit corresponding to the adsorption unit rotates to a specified angle, the processor controls the other adsorption unit to be adsorbed on the glass surface to be wiped, and one adsorption unit leaves the glass surface to be wiped;
and step six, repeating the step two to the step five, completing the glass wiping operation of one period, turning to the step one, and starting the glass wiping operation of the next period.
Further, the determining in step four includes: if the distances detected by the plurality of distance sensors in the sensing unit are different and the difference value is within the set range, the telescopic unit extends for a specified length to increase the distance between the machine body and the glass surface to be wiped, the rotating unit corresponding to the adsorption unit continues to rotate until the distances detected by the plurality of distance sensors in the sensing unit are the same, and the telescopic unit shortens the specified length to enable the machine body to contact the glass surface to be wiped to continue to wipe the glass.
Further, the specified length is set to be five centimeters to fifteen centimeters, and the set range is set to be two centimeters to ten centimeters.
Further, the specified angle is set to 90 degrees, 180 degrees, or 270 degrees.
The beneficial technical effects of the invention are as follows:
through the cooperation of turning to unit and rotation unit, wipe the glass operation, combine the distance data that the induction element detected simultaneously, open the work of telescoping unit, realized especially the obstacle crossing operation of glass frame etc. to the barrier, improved and wiped the intellectuality that glass loaded, in addition, whole device compact structure, easy operation, control is convenient, is convenient for popularize and promote.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a general circuit connection block diagram of the present invention;
wherein, 1-machine body, 2-first cleaning unit, 3-steering unit, 4-adsorption unit, 5-second cleaning unit, 6-rotating unit, 7-induction unit and 8-telescopic unit.
Detailed Description
The following describes in further detail specific embodiments of the present invention with reference to the accompanying drawings.
Referring to fig. 1 and 2, the invention provides an intelligent glass wiping device, which comprises a machine body 1, wherein a processor is arranged in the machine body 1, a first cleaning unit 2 is arranged on the bottom surface, two steering units 3 are respectively arranged at two ends of the machine body, an adsorption unit 4 is arranged on the bottom surface of each steering unit 3, a second cleaning unit 5 is arranged on the top surface of each steering unit 3, and a rotating unit 6 is arranged between each steering unit 3 and each adsorption unit 4.
The steering unit 3 comprises a steering motor and a steering mechanism, and the processor controls the steering mechanism to rotate through the steering motor so as to enable the second cleaning unit 5 and the first cleaning unit 2 to be positioned on the same plane; the rotating unit 6 comprises a rotating motor and a rotating mechanism, the processor controls the rotating mechanism to rotate through the rotating motor, and drives the first cleaning unit 2 of the machine body 1 and the second cleaning unit 5 of one of the steering units 3 to synchronously rotate so as to wipe the glass; the adsorption unit 6 is connected with a processor and used for adsorbing the machine body 1 on the glass surface to be wiped, and the processor is also connected with a power supply unit and used for supplying electric energy.
The steering mechanism and the rotating mechanism can be realized by adopting the existing gear transmission, such as a straight gear or a helical gear.
The adsorption unit 6 comprises a suction cup and a vacuum generation pump connected with the suction cup, the vacuum generation pump is connected with the processor, the processor sends out a control instruction, and the suction cup is inflated or sucked by the vacuum generation pump, so that the suction cup is separated from or adsorbed on the surface of the glass to be wiped.
Be provided with induction element 7 in the side of turning to unit 3, this induction element 7 links to each other with the treater for detect turn to unit 3 and wait to wipe the distance information between the glass face, still be provided with telescopic unit 8 between turning to unit 3 and absorption unit 4, this telescopic unit 8 includes telescopic motor and telescopic machanism, the treater is according to the distance information of receiving, through telescopic motor control telescopic machanism extension or shorten, with increase or reduce the organism 1 and wait to wipe the distance between the glass face, thereby be convenient for implement the operation of crossing obstacles.
The telescopic mechanism can be realized by adopting a multi-stage telescopic sleeve and converting the rotation of a telescopic motor into the linear motion of the multi-stage telescopic sleeve by means of gear transmission.
The sensing unit 8 comprises a plurality of distance sensors which are arranged on the side surface of the steering unit 3 at equal intervals and have the same distance with the glass surface to be wiped. An arc-shaped stop lever can be arranged on the side of the steering unit 3, the distance sensors are arranged on the arc-shaped stop lever, and the arc-shaped stop lever extends to the outer side of the edge of the sucker, so that the distance between the steering unit and the glass surface to be wiped can be measured.
The first cleaning unit 2 and the second cleaning unit 5 comprise one or more cleaning plates, the cleaning plates are arranged at equal intervals, the cleaning plates can be arranged to be square, made of foam and the like, or made into a whole and arranged on the machine body 1 and the steering unit 3.
The invention also provides a control method of the intelligent glass wiping device based on the intelligent glass wiping device, which comprises the following steps:
step one, controlling an adsorption unit by a processor to adsorb a machine body on a glass surface to be wiped;
step two, the processor controls the turning unit corresponding to the other adsorption unit to rotate so that the second cleaning unit on the top surface of the turning unit is positioned on the same plane with the first cleaning unit on the machine body;
step three, the processor controls the rotation unit corresponding to the adsorption unit to rotate, drives the first cleaning unit and the second cleaning unit in the step two to rotate, and conducts glass wiping operation, and meanwhile, the induction unit on the side face of the steering unit in the step two starts to work;
judging the distance information detected by the sensing unit by the processor, and determining whether to start the telescopic unit for obstacle crossing;
the method comprises the following specific steps:
if the distances detected by the plurality of distance sensors in the sensing unit are different, namely, an obstacle such as a glass frame and the like exists on the glass surface to be wiped, and the difference value is within a set range, the telescopic unit extends for a specified length to increase the distance between the machine body and the glass surface to be wiped, the rotating unit corresponding to the adsorption unit continues rotating, so that the machine body 1 can be driven to cross the obstacle until the distances detected by the plurality of distance sensors in the sensing unit are the same, and the telescopic unit shortens the specified length to enable the machine body to contact the glass surface to be wiped to continue wiping the glass, so that the whole obstacle crossing action is completed.
Rotating the rotating unit corresponding to the adsorption unit to a specified angle, controlling the other adsorption unit to be adsorbed on the glass surface to be wiped by the processor, and enabling the adsorption unit to leave the glass surface to be wiped;
and step six, repeating the step two to the step five, completing the glass wiping operation of one period, turning to the step one, and starting the glass wiping operation of the next period.
The specified length is set to 5 cm to 15 cm, and the set range is set to 2 cm to 10 cm.
The specified angle may be set to 180 degrees, 90 degrees, or 270 degrees to 360 degrees, but does not include 360 degrees, and when set to 180 degrees, the rotation directions of the two rotation units may be the same or opposite, whereas when set to 90 degrees or 270 degrees, the rotation directions of the two rotation units should be opposite, and preferably set to 270 degrees to 360 degrees, but does not include 360 degrees.
The invention carries out glass wiping operation by matching the steering unit and the rotating unit, and simultaneously opens the telescopic unit by combining the distance data detected by the sensing unit, thereby realizing obstacle crossing operation on obstacles, particularly glass frames and the like, improving the intelligence of glass wiping loading.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these are merely examples and that many variations or modifications may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is therefore defined by the appended claims.
Claims (7)
1. The utility model provides an intelligent glass device that wipes which characterized in that: comprises a machine body, a processor is arranged in the machine body, a first cleaning unit is arranged on the bottom surface, two steering units are respectively arranged at two ends of the machine body, an adsorption unit is arranged on the bottom surface of each steering unit, a second cleaning unit is arranged on the top surface of each steering unit, a rotating unit is arranged between each steering unit and the corresponding adsorption unit,
the processor controls the steering mechanism to rotate through the steering motor, so that the second cleaning unit and the first cleaning unit are positioned on the same plane;
the processor controls the rotation mechanism to rotate through the rotating motor, drives the first cleaning unit of the machine body and the second cleaning unit of one of the steering units to synchronously rotate, and performs glass cleaning operation;
the adsorption unit is connected with the processor and used for adsorbing the machine body on the surface of the glass to be wiped, and the processor is also connected with the power supply unit;
the side of the steering unit is provided with an induction unit, the induction unit is connected with the processor and used for detecting distance information between the steering unit and the glass surface to be cleaned, a telescopic unit is further arranged between the steering unit and the adsorption unit and comprises a telescopic motor and a telescopic mechanism, and the processor controls the telescopic mechanism to extend or shorten according to the received distance information so as to increase or reduce the distance between the machine body and the glass surface to be cleaned.
2. The intelligent glass wiping device of claim 1, wherein: the sensing unit comprises a plurality of distance sensors which are arranged on the side surface of the steering unit at equal intervals, and the distances between the distance sensors and the surface of the glass to be wiped are the same.
3. The intelligent glass wiping device of claim 1, wherein: the first cleaning unit and the second cleaning unit respectively comprise one or more cleaning plates, and the cleaning plates are arranged at equal intervals.
4. The intelligent glass wiping device control method based on the claim 1 is characterized by comprising the following steps:
step one, controlling an adsorption unit by a processor to adsorb a machine body on a glass surface to be wiped;
step two, the processor controls the turning unit corresponding to the other adsorption unit to rotate so that the second cleaning unit on the top surface of the turning unit is positioned on the same plane with the first cleaning unit on the machine body;
step three, the processor controls the rotation unit corresponding to the adsorption unit to rotate, the first cleaning unit and the second cleaning unit in the step two are driven to rotate, the glass cleaning operation is carried out, and meanwhile the induction unit on the side face of the steering unit in the step two starts to work;
step four, the processor judges the distance information detected by the induction unit and determines whether to open the telescopic unit for obstacle crossing;
fifthly, the rotating unit corresponding to the adsorption unit rotates to a specified angle, the processor controls the other adsorption unit to be adsorbed on the glass surface to be wiped, and one adsorption unit leaves the glass surface to be wiped;
and step six, repeating the step two to the step five, completing the glass wiping operation of one period, turning to the step one, and starting the glass wiping operation of the next period.
5. The method as claimed in claim 4, wherein the step four of obstacle detouring comprises: if the distances detected by the plurality of distance sensors in the sensing unit are different and the difference value is within the set range, the telescopic unit extends for a specified length to increase the distance between the machine body and the glass surface to be wiped, the rotating unit corresponding to the adsorption unit continues to rotate until the distances detected by the plurality of distance sensors in the sensing unit are the same, and the telescopic unit shortens the specified length to enable the machine body to contact the glass surface to be wiped to continue to wipe the glass.
6. The method for controlling an intelligent glass wiping device according to claim 5, wherein: the specified length is set to be five centimeters to fifteen centimeters, and the set range is set to be two centimeters to ten centimeters.
7. The method for controlling an intelligent glass wiping device according to claim 4, wherein: the specified angle is set to 90 degrees, 180 degrees, or 270 degrees.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711327756.7A CN108078478B (en) | 2017-12-13 | 2017-12-13 | Intelligent glass wiping device and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711327756.7A CN108078478B (en) | 2017-12-13 | 2017-12-13 | Intelligent glass wiping device and control method |
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| CN108078478A CN108078478A (en) | 2018-05-29 |
| CN108078478B true CN108078478B (en) | 2020-07-17 |
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| CN201711327756.7A Active CN108078478B (en) | 2017-12-13 | 2017-12-13 | Intelligent glass wiping device and control method |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111374584B (en) * | 2018-12-28 | 2022-03-04 | 珠海一微半导体股份有限公司 | Visual window cleaning robot and control method thereof |
| CN109700371B (en) * | 2019-03-19 | 2021-12-07 | 台州玖屹科技有限公司 | Automatic cleaning device for high-altitude glass |
| CN110326995A (en) * | 2019-07-22 | 2019-10-15 | 河海大学常州校区 | A kind of crawler belt sucker type glass cleaning robot |
| CN114393591A (en) * | 2022-01-17 | 2022-04-26 | 湘潭大学 | Bionic leech cleaning robot based on spiral transmission and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106175564A (en) * | 2015-04-30 | 2016-12-07 | 李春鹏 | Reciprocal telescopic formula glass-cleaning robot |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104414573B (en) * | 2013-08-23 | 2017-12-22 | 科沃斯机器人股份有限公司 | Window cleaning device |
| CN203524574U (en) * | 2013-11-10 | 2014-04-09 | 黄雪梅 | Double-faced glass wiper with spanning device |
| CN204500522U (en) * | 2015-03-19 | 2015-07-29 | 湖南格兰博智能科技有限责任公司 | Glass cleaning device |
| CN204636198U (en) * | 2015-04-30 | 2015-09-16 | 李春鹏 | Reciprocal telescopic formula glass-cleaning robot |
| CN205433586U (en) * | 2015-12-31 | 2016-08-10 | 天津禹汀科技有限公司 | Robot for cleaning glass |
| CN105962856A (en) * | 2016-05-22 | 2016-09-28 | 武汉市享昱科技有限公司 | Double-suction-cup connecting rod type wall face cleaning robot |
| CN106073618A (en) * | 2016-06-16 | 2016-11-09 | 中山国鳌智能科技有限公司 | Intelligence climbing automated cleaning machine people |
| CN106725081B (en) * | 2017-02-06 | 2019-03-01 | 赵东来 | A kind of control method of the obstacle detouring mode of glass-cleaning robot on full frame glass |
| CN106741274B (en) * | 2017-02-16 | 2023-05-05 | 耿逸芃 | Sucking disc type wall climbing robot capable of adjusting stride and moving method thereof |
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| CN106175564A (en) * | 2015-04-30 | 2016-12-07 | 李春鹏 | Reciprocal telescopic formula glass-cleaning robot |
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