CN108309139A - A kind of intelligence window wiping robot and its control method - Google Patents

A kind of intelligence window wiping robot and its control method Download PDF

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Publication number
CN108309139A
CN108309139A CN201810371726.4A CN201810371726A CN108309139A CN 108309139 A CN108309139 A CN 108309139A CN 201810371726 A CN201810371726 A CN 201810371726A CN 108309139 A CN108309139 A CN 108309139A
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CN
China
Prior art keywords
type cleaning
cleaning part
adsorption type
adsorption
telescopic
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CN201810371726.4A
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Chinese (zh)
Inventor
肖刚军
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Zhuhai Amicro Semiconductor Co Ltd
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Zhuhai Amicro Semiconductor Co Ltd
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Application filed by Zhuhai Amicro Semiconductor Co Ltd filed Critical Zhuhai Amicro Semiconductor Co Ltd
Priority to CN201810371726.4A priority Critical patent/CN108309139A/en
Publication of CN108309139A publication Critical patent/CN108309139A/en
Pending legal-status Critical Current

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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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

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  • Cleaning In General (AREA)

Abstract

The present invention relates to a kind of intelligent window wiping robot and its control methods, the intelligence window wiping robot can change the absorption type cleaning section of adsorption capacity size by setting and can change the telescopic oscillating portion of collapsing length, robot is allow to carry out flexible creep in window surface, motion control is fairly simple, it is suitable for popularization and application, robot is flexible to creep once, so that it may which, to be cleaned twice to the place got over, cleaning quality is more reliable, more efficient.In addition, by using control method of the present invention, when robot starts cleaning, first find the frame of a window, then since the frame, flexible the creeping that arc type track form is carried out towards opposite another frame cleans window with this with having carried out planning, cleaning more comprehensively, it is more efficient.

Description

Intelligent window cleaning robot and control method thereof
Technical Field
The invention relates to the field of robots, in particular to an intelligent window cleaning robot and a control method thereof.
Background
The window cleaning robot is one kind of intelligent household appliances. The window cleaner can be firmly adsorbed on the surface of a window by virtue of a vacuum pump or a fan device at the bottom of the window cleaner, and then automatically detects the corner distance of the window and plans a window cleaning path by virtue of certain artificial intelligence. The window cleaning robot generally utilizes the force of the window cleaning robot itself absorbed on the glass to drive the cleaning cloth at the bottom of the machine body to wipe off the dirt on the glass. A chinese patent document CN102920393A entitled "cleaning machine and path control method thereof" discloses a cleaning machine which can generate a torque force on a link arm connecting two cleaning elements by driving the cleaning elements to rotate, and the torque force can drive the cleaning elements to move, thereby realizing the swing type walking of the cleaning machine. Such a cleaning machine requires complicated calculation and high-precision motion control in consideration of parameters such as the amount of rotation of the cleaning element and the torsion of the link arm when traveling. The Chinese patent document with the publication number of CN106073618A and the patent name of intelligent climbing automatic cleaning robot discloses a cleaning robot, which comprises a main body and an adsorption device capable of enabling the main body to be adsorbed on an adsorbed surface, wherein a displacement driving device is arranged between the adsorption device and the main body, is movably connected with the main body and can drive the main body to swing up and down and circumferentially, so that the robot can climb. This robot is in order to realize the climbing function, need keep distance far away between two adsorption equipment, leads to the robot when carrying out cleaning, leaks easily to sweep the region between two adsorption equipment, and clean efficiency is lower.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent window cleaning robot and a control method thereof, which can simplify the control of the robot and improve the cleaning efficiency of the robot. The specific technical scheme of the invention is as follows:
an intelligent window cleaning robot, comprising: the adsorption type cleaning part comprises an adsorption main body, an adsorption motor, a centrifugal pump and a vent valve, wherein a negative pressure cavity and a gas flow channel are arranged in the adsorption main body, the gas flow channel is communicated with the negative pressure cavity and the external space of the adsorption main body, the gas flow channel from the negative pressure cavity to the external space of the adsorption main body is sequentially provided with the vent valve for controlling the gas flow in the gas flow channel and the centrifugal pump for pumping out the gas in the negative pressure cavity through the gas flow channel, the adsorption motor is connected with the centrifugal pump and is used for driving the centrifugal pump to operate, and one end, provided with the negative pressure cavity, of the adsorption main body is also provided with a cleaning piece; the telescopic swinging part comprises a swinging motor, a telescopic driving machine and a telescopic swing rod; the adsorption main body is also provided with a movable cavity, and the end part of the telescopic swing rod is arranged in the movable cavity and is connected with the output end of the swing motor; the upper wall surface and the lower wall surface of the movable cavity are used for limiting the up-and-down swing of the telescopic swing rod, and the side wall surface of the movable cavity is used for limiting the angle range of the circumferential swing of the telescopic swing rod; the telescopic driving machine is connected with the telescopic swing rod and is used for driving the telescopic swing rod to extend and retract; when the telescopic swing rod is in the shortest state, the edges of the cleaning pieces of the adsorption type cleaning part are tangent; and the control part is respectively connected with the adsorption motor, the vent valve, the swing motor and the telescopic driving machine and controls the working state of the swing motor.
Furthermore, the end of the telescopic swing rod is provided with an internal gear, the output end of the swing motor is provided with an external gear, and the internal gears at the two ends of the telescopic swing rod are respectively sleeved on the output ends of the two swing motors so as to realize the connection of the two adsorption type cleaning parts.
Further, the swing motor is arranged at the top of the adsorption main body and is positioned above the internal gear, and the external gear on the output end of the swing motor extends downwards into the internal gear from the top of the adsorption main body and is meshed with the internal gear.
Further, the top of adsorbing the main part is equipped with the protection casing, be equipped with the air vent on the protection casing.
Furthermore, the telescopic swing rod is of a primary telescopic structure, and the primary telescopic structure comprises an inner screw and a screw sleeve; the telescopic driver is a screw motor; one end of the screw motor is fixedly connected with one internal gear, and the other end of the screw motor is a driving end which is fixedly connected with the axial direction of the internal screw; the screw rod sleeve is axially sleeved outside the inner screw rod and can generate axial displacement with the inner screw rod along with the rotation of the inner screw rod; the end part of one end of the screw rod sleeve, which is far away from the inner screw rod, is fixedly connected with the other inner gear.
Furthermore, the telescopic swing rod is of a multi-stage telescopic structure, the multi-stage telescopic structure comprises a multi-stage telescopic sleeve, one end of the multi-stage telescopic sleeve is connected with one internal gear, and the other end of the multi-stage telescopic sleeve is connected with the other internal gear; the telescopic driving machine is a hydraulic machine or a pneumatic machine, and high-pressure liquid or high-pressure gas is introduced into the multistage telescopic sleeves by the hydraulic machine or the pneumatic machine, so that the multistage telescopic sleeves can extend out or retract step by step.
Furthermore, two side wall surfaces of the movable cavity are provided with travel switches, when the telescopic swing rod swings to the side wall surfaces, the travel switches can be triggered, and the travel switches are electrically connected with the control part.
A control method of an intelligent window cleaning robot comprises the following steps: step S1: receiving a signal to start the cleaning operation, starting the cleaning operation, and proceeding to step S2; step S2: controlling the first adsorption type cleaning part to swing towards a first direction through a swing motor in the second adsorption type cleaning part, and proceeding to step S3; step S3: determining whether the first adsorption type cleaning part detects an obstacle while swinging to the same position as the first direction, if so, proceeding to step S4, otherwise, stopping swinging when the first adsorption type cleaning part swings to the same position as the first direction, and proceeding to step S5; step S4: controlling the first adsorption type cleaning part to stop swinging, and controlling the second adsorption type cleaning part to swing in a first direction by a swing motor in the first adsorption type cleaning part until the second adsorption type cleaning part detects an obstacle in the swinging process, and proceeding to step S7; step S5: controlling the second suction type cleaning part to swing in a first direction by a swing motor in the first suction type cleaning part, determining whether an obstacle is detected while the second suction type cleaning part swings to the same position as the first direction, if so, proceeding to step S6, otherwise, stopping the swing when the second suction type cleaning part swings to the same position as the first direction, and proceeding to step S2; step S6: controlling the second adsorption type cleaning part to stop swinging, controlling the first adsorption type cleaning part to swing towards a first direction through a swinging motor in the second adsorption type cleaning part until the first adsorption type cleaning part detects an obstacle in the swinging process, and proceeding to step S7; step S7: controlling the second adsorption type cleaning part to extend in a direction away from the first adsorption type cleaning part through a telescopic driving device, judging whether the second adsorption type cleaning part detects an obstacle in the process of extending to the longest telescopic swing rod, if so, entering step S8, and if not, entering step S9; step S8: controlling the second adsorption type cleaning part to stop extending and retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S10; step S9: when the telescopic swing rod is in the longest state, controlling the second adsorption type cleaning part to stop extending, then controlling the first adsorption type cleaning part to retract towards the second adsorption type cleaning part, when the telescopic swing rod is in the shortest state, stopping retracting of the first adsorption type cleaning part, and entering step S7; step S10: controlling the first adsorption type cleaning part to extend in a direction away from the second adsorption type cleaning part through a telescopic driving machine, judging whether the first adsorption type cleaning part detects an obstacle in the process of extending to the longest state of the telescopic swing rod, if so, entering step S11, and if not, entering step S12; step S11: controlling the first adsorption type cleaning part to stop extending, controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S13; step S12: when the telescopic swing rod is in the longest state, controlling the first adsorption type cleaning part to stop extending, then controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, when the telescopic swing rod is in the shortest state, stopping retracting of the second adsorption type cleaning part, and entering step S10; step S13: controlling the second suction type cleaning part to swing in a second direction opposite to the first direction by a swing motor in the first suction type cleaning part, determining whether an obstacle is detected while the second suction type cleaning part swings to the same position as the second direction, if so, proceeding to step S14, otherwise, stopping the swing when the second suction type cleaning part swings to the same position as the second direction, and proceeding to step S15; step S14: controlling the second adsorption type cleaning part to stop swinging, controlling the first adsorption type cleaning part to swing towards a third direction which is perpendicular to the second direction and is far away from the obstacle through a swinging motor in the second adsorption type cleaning part until the first adsorption type cleaning part detects the obstacle in the swinging process, and entering the step S16; step S15: controlling the first adsorption type cleaning part to swing towards a third direction which is perpendicular to the second direction and is far away from the obstacle through a swing motor in the second adsorption type cleaning part, stopping swinging when the first adsorption type cleaning part swings to the position same as the third direction, and entering step S17; step S16: controlling the first adsorption type cleaning part to extend in a direction away from the second adsorption type cleaning part through a telescopic driving machine, judging whether the first adsorption type cleaning part detects an obstacle in the process of extending to the longest state of the telescopic swing rod, if so, entering step S18, and if not, entering step S19; step S17: controlling the first adsorption type cleaning part to extend in a direction away from the second adsorption type cleaning part through a telescopic driving machine, judging whether the first adsorption type cleaning part detects an obstacle in the process of extending to the longest state of the telescopic swing rod, if so, entering step S20, and if not, entering step S21; step S18: the first adsorption type cleaning part is controlled to stop extending, the second adsorption type cleaning part is controlled to retract towards the first adsorption type cleaning part, when the telescopic swing rod is in the shortest state, the second adsorption type cleaning part stops retracting, and the robot finishes one-time cleaning work; step S19: controlling the first adsorption type cleaning part to stop extending, controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S16; step S20: controlling the first adsorption type cleaning part to stop extending, controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S22; step S21: controlling the first adsorption type cleaning part to stop extending, controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S17; step S22: controlling the second suction type cleaning part to swing in a second direction by a swing motor in the first suction type cleaning part, determining whether an obstacle is detected while the second suction type cleaning part swings to the same position as the second direction, if so, proceeding to step S24, otherwise, stopping the swing when the second suction type cleaning part swings to the same position as the second direction, and proceeding to step S23; step S23: controlling the first adsorption type cleaning part to swing in a fourth direction opposite to the third direction through a swing motor in a second adsorption type cleaning part, stopping the swing when the first adsorption type cleaning part swings to the same position as the fourth direction, and proceeding to step S17; step S24: the second adsorption-type cleaning part is controlled to stop swinging, the first adsorption-type cleaning part is controlled to swing in a fourth direction opposite to the third direction by a swing motor in the second adsorption-type cleaning part until the first adsorption-type cleaning part detects an obstacle during swinging, and the process proceeds to step S16.
Further, after the robot finishes one cleaning operation in step S18, the method further includes the following steps: step S30: controlling the second adsorption type cleaning part to swing in a first direction by a swing motor in the first adsorption type cleaning part, stopping swinging when the second adsorption type cleaning part swings to the same position as the first direction, and proceeding to step S31; step S31: controlling the second adsorption type cleaning part to extend in a direction away from the first adsorption type cleaning part through a telescopic driving device, judging whether the second adsorption type cleaning part detects an obstacle in the process of extending to the longest state of the telescopic swing rod, if so, entering step S32, and if not, entering step S33; step S32: controlling the second adsorption type cleaning part to stop extending, controlling the first adsorption type cleaning part to retract towards the second adsorption type cleaning part, stopping retracting the first adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S34; step S33: controlling the second adsorption type cleaning part to stop extending, controlling the first adsorption type cleaning part to retract towards the second adsorption type cleaning part, stopping retracting the first adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S31; step S34: controlling the first adsorption type cleaning part to swing towards a fourth direction through a swing motor in a second adsorption type cleaning part, stopping swinging when the first adsorption type cleaning part swings to the same position as the fourth direction, and entering the step S35; step S35: controlling the first adsorption type cleaning part to extend in a direction away from the second adsorption type cleaning part through a telescopic driving machine, judging whether the first adsorption type cleaning part detects an obstacle in the process of extending to the longest state of the telescopic swing rod, if so, entering step S36, and if not, entering step S37; step S36: controlling the first adsorption type cleaning part to stop extending, controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S38; step S37: controlling the first adsorption type cleaning part to stop extending, controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S35; step S38: controlling the second adsorption type cleaning part to swing towards the second direction through a swing motor in the first adsorption type cleaning part, stopping swinging when the second adsorption type cleaning part swings to the position same as the second direction, and entering the step S39; step S39: controlling the second adsorption type cleaning part to extend in a direction away from the first adsorption type cleaning part through a telescopic driving device, judging whether the second adsorption type cleaning part detects an obstacle in the process of extending to the longest state of the telescopic swing rod, if so, entering step S40, and if not, entering step S41; step S40: controlling the second adsorption type cleaning part to stop extending, and controlling the first adsorption type cleaning part to retract towards the second adsorption type cleaning part, wherein when the telescopic swing rod is in the shortest state, the first adsorption type cleaning part stops retracting; step S41: and controlling the second adsorption type cleaning part to stop extending, controlling the first adsorption type cleaning part to retract towards the second adsorption type cleaning part, stopping retracting the first adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering the step S39.
Further, in the process that the swing motor controls the first adsorption type cleaning part or the second adsorption type cleaning part to swing, the method specifically comprises the following steps: when the robot receives a trigger signal of a travel switch in the process of swinging the first adsorption type cleaning part, judging whether the swinging angle of the first adsorption type cleaning part reaches a set value or not, if so, determining that the first adsorption type cleaning part swings to the position in the same direction as the set direction, if not, adjusting the adsorption force of the first adsorption type cleaning part and the second adsorption type cleaning part through an adsorption motor and a vent valve, then enabling the second adsorption type cleaning part to rotate through a swinging motor, enabling the triggered travel switch in the second adsorption type cleaning part to be far away from the telescopic swing rod, and then controlling the first adsorption type cleaning part to continuously swing until the set value is reached; or, when the robot receives a trigger signal of a travel switch in the process of swinging the second adsorption type cleaning part, judging whether the swinging angle of the second adsorption type cleaning part reaches a set value, if so, determining that the second adsorption type cleaning part swings to the position same with the set direction, if not, adjusting the adsorption force of the first adsorption type cleaning part and the second adsorption type cleaning part through an adsorption motor and a vent valve, then enabling the first adsorption type cleaning part to rotate through a swing motor, enabling the triggered travel switch in the first adsorption type cleaning part to be far away from the telescopic swing rod, and then controlling the second adsorption type cleaning part to continuously swing until the triggered travel switch reaches the set value.
According to the intelligent window cleaning robot, the adsorption type cleaning part capable of changing the adsorption force and the telescopic swinging part capable of changing the telescopic length are arranged, so that the robot can telescopically crawl on the surface of a window, the motion control is simple, the intelligent window cleaning robot is suitable for popularization and application, the robot can clean a crawled place twice after telescoping and crawling once, the cleaning quality is more reliable, and the efficiency is higher. In addition, by adopting the control method, when the robot starts cleaning, the robot firstly finds the frame of one window, and then starts to perform telescopic crawling towards the other frame in the form of the bow-shaped track from the frame, so that the window is cleaned in a planned way, and the window is cleaned more comprehensively and more efficiently.
Drawings
Fig. 1 is a schematic view of an external structure of the robot according to the present invention.
Fig. 2 is a schematic diagram illustrating an internal structure analysis of the robot according to the present invention.
Fig. 3 is a schematic structural analysis diagram of the telescopic swinging part of the robot according to the present invention.
Fig. 4 to 15 are schematic diagrams of a crawling track of the robot during cleaning operation according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.
As shown in fig. 1 to 3, the intelligent window cleaning robot mainly includes an adsorption cleaning part 20, a telescopic swinging part 30 and a control part 10.
Wherein the adsorption type cleaning part 20 includes an adsorption main body 205, an adsorption motor 201, a centrifugal pump 202, and a vent valve 203. As shown in fig. 2, the absorption body 205 is in a truncated cone shape, the bottom of the absorption body is provided with a negative pressure cavity 204, the volume of the negative pressure cavity 204 is relatively large, and the open end of the negative pressure cavity is formed on the bottom surface of the absorption body 205, so that the absorption body 205 has enough suction force to be absorbed on the surface of the window to be cleaned. It should be noted that the negative pressure chamber 204 does not indicate that the chamber is always in a negative pressure state, but indicates that a negative pressure is formed when air in the chamber is pumped away. A gas flow passage for communicating the negative pressure chamber 204 with the space outside the main body 205 is further provided at the upper part of the negative pressure chamber 204 in the main body 205. A ventilation valve 203 for controlling the gas flow rate in the gas flow passage and a centrifugal pump 202 for pumping out the gas in the negative pressure chamber 204 through the gas flow passage are sequentially arranged in the gas flow passage from the negative pressure chamber 204 to the space outside the adsorption body 205. The adsorption motor 201 is arranged on the top of the adsorption main body 205, the output driving shaft of the adsorption motor is connected with the centrifugal pump 202, the running speed of the centrifugal pump 202 can be controlled by controlling the rotating speed of the output driving shaft, and the vacuum degree in the negative pressure cavity 204 can be accurately controlled by controlling the opening size of the vent valve 203, namely the adsorption force of each adsorption type cleaning part 20 of the robot on the surface of a window can be accurately controlled. In addition, the end of the main body 205, at which the negative pressure chamber 204 is located, is also provided with a cleaning member, which may be made of air permeable cloth or leather material with a plurality of through holes. The cleaning member is provided at the bottom of the adsorption body 205, and when the adsorption body 205 moves on the surface of the window, the cleaning member wipes dust or dirt on the surface of the window. In addition, a hollow cleaning frame is further arranged in the negative pressure cavity 204, the shape of the cleaning frame is matched with the negative pressure cavity 204, and the circulation of air in the negative pressure cavity 204 cannot be influenced. Due to the supporting effect of the cleaning frame, the cleaning piece cannot be recessed into the negative pressure cavity 204 under the negative pressure effect of the negative pressure cavity 204 and can be kept flush with the bottom surface of the adsorption main body 205, so that sufficient friction force is provided between the cleaning piece and the surface of a window, the wiping effect of the cleaning piece is guaranteed, and the cleaning quality of the robot is improved.
The telescopic swing portion 30 includes a swing motor 102, a telescopic driver, and a telescopic swing lever 301. The adsorption main body 205 is further provided with a movable cavity 103, and the movable cavity 103 is arranged at the upper part of the negative pressure cavity 204. The end of the telescopic swing rod is arranged in the movable cavity 103 and connected with the output end of the swing motor 102, and the telescopic swing rod 301 can swing correspondingly along with the rotation of the output end of the swing motor 102. The movable cavity 103 is similar to a round cake shape with a fan-shaped notch, the upper wall surface and the lower wall surface of the movable cavity are used for limiting the up-and-down swing of the telescopic swing rod 301, and the side wall surfaces 104 of the movable cavity are used for limiting the angle range of the circumferential swing of the telescopic swing rod 301, so that the telescopic swing rod 301 can only circumferentially swing within the angle range limited by the two side wall surfaces 104 with the output end of the swing motor 102 as the center of a circle. The movable cavity 103 used for driving connection and limiting the movement of the telescopic swing rod 301 is arranged in the adsorption main body 205, so that the firmness and stability of the overall structure of the robot can be improved. The telescopic driving machine is connected with the telescopic swing rod 301 and is used for driving the telescopic swing rod 301 to extend and retract. The telescopic driving machine may be a gas compressor, a liquid compressor, or the like, which can output power to change the telescopic state of the telescopic swing link 301. The telescopic swing rod 301 can adopt a one-level telescopic structure or a multi-level telescopic structure, and can be selected correspondingly according to product design requirements. When the telescopic swing link 301 is in the shortest state (i.e. the telescopic swing link 301 is not extended), the edges of the cleaning members of the suction cleaning portion 20 are tangent, which means that the two cleaning members are infinitely close to each other and the mutual rotation between the two suction cleaning portions 20 is not influenced. So can avoid the clean clearance that appears between two absorption formula cleaning portions 20, guarantee that two absorption formula cleaning portions 20 can not appear leaking because of the existence in clean clearance when carrying out the cleaning action and sweep the vestige, improve the cleaning quality of robot.
The control unit 10 is connected to the suction motor 201, the ventilation valve 203, the swing motor 102, and the expansion/contraction driving machine, and the robot can control the operation states of these components by the control unit 10. The control unit 10 may include components such as a CPU, a motion control chip, a memory, and a buffer, and is selected according to different product design requirements.
In addition, the robot can also include parts such as gyroscope, pressure sensor, temperature sensor, voice broadcast module, power module and communication module, and these are the conventional parts that window cleaning robot possesses, and no longer describe here.
This embodiment intelligence window cleaning robot, can change the absorption formula cleaning portion 20 of adsorption affinity size and can change the flexible swing portion 30 of flexible length through the setting for the robot can be on the window surface flexible creep, motion control is fairly simple, is suitable for popularization and application, and the robot is flexible to creep once, just can carry out twice cleanness to the place of crawling, and clean quality is more reliable, efficiency is higher.
As one embodiment, as shown in fig. 3, the telescopic swing link 301 has a three-stage telescopic structure, and two ends of the telescopic swing link are fixedly connected with internal gears 302, and the distance between the two internal gears 302 changes with the extension and retraction of the telescopic swing link 301. The output end of the swing motor 102 is provided with an external gear 102, and the internal gears 302 at the two ends of the telescopic swing rod 301 are respectively sleeved on the output ends of the two swing motors 102 to realize the connection of the two adsorption type cleaning parts 20. The swing motor 102 is a stepping motor, so that the swing angle of the telescopic swing rod 301 can be accurately controlled. The connection structure between the swing motor 102 and the telescopic swing rod 301 through the inner gear 302 and the outer gear 102 can improve the assembly precision and the accuracy of the swing angle, and avoid the problem of large swing error caused by loose assembly.
As one embodiment, as shown in fig. 2, the swing motor 102 is disposed on the top of the adsorption body 205 and above the inner gear 302, and the outer gear 102 on the output end of the swing motor 102 extends downward from the top of the adsorption body 205 into the inner gear 302 and meshes with the inner gear 302. This kind of assembly structure guarantees the fastness of robot structure when improving the assembly simplicity, avoids the whole unstable structure that bring when the body top of assembling of current swing structure, yielding problem.
In one embodiment, a protective cover is disposed on the top of the main body 205, and the protective cover may be made of a material with high pressure resistance, such as a hard plastic shell or a metal shell. The protective cover covers the electronic devices such as the adsorption motor 201, the swing motor 102 and the electric control part on the top of the adsorption main body 205, so that the electronic devices are effectively protected. The protective hood is also provided with vent holes to facilitate the discharge of heat generated by the electrical components and the evacuation of air from the negative pressure chamber 204.
In one embodiment, the telescopic swing link 301 has a primary telescopic structure. The one-level telescopic structure comprises an inner screw rod and a screw rod sleeve, wherein the outer peripheral surface of the inner screw rod is provided with an external thread, the inner surface of the screw rod sleeve is provided with an internal thread, and when the screw rod sleeve is axially sleeved on the outer peripheral surface of the inner screw rod, the external thread and the internal thread can be in threaded connection. The telescopic driver is a screw motor, the screw motor is a stepping motor, one end of the stepping motor (namely, a shell of the screw motor) is fixedly connected with one internal gear 302, the other end of the stepping motor is a driving end fixedly connected with the axial direction of the internal screw, and when the driving end of the screw motor runs, the internal screw can also rotate around the axis along with the driving end. The end part of one end of the screw rod sleeve, which is far away from the inner screw rod, is fixedly connected with the other inner gear 302. The screw rod cover axial cover is located outside the interior screw rod, when interior screw rod is along with screw motor's drive end forward rotation (clockwise rotation promptly) together, pivoted power can produce thrust between external screw thread and the internal thread, the screw rod cover can be followed axial translation and keep away from interior screw rod gradually, when interior screw rod is along with screw motor's drive end when counter-rotation (anticlockwise rotation promptly) together, pivoted power can produce between external screw thread and the internal thread and retrieve the power, the screw rod cover can be followed axial translation and is close to interior screw rod gradually. In addition, the relative displacement between the inner screw and the screw sleeve can be converted by the number of turns of the driving shaft and the specific structural parameters of the screw thread, and the displacement between the two adsorption type cleaning parts 20 can be determined. The force between the threads generated by the forward rotation and the reverse rotation can be changed according to the direction and the position of the threads, namely, the recovery force can be generated when the driving shaft rotates in the forward direction and the thrust force can be generated when the driving shaft rotates in the reverse direction by adjusting the direction and the position of the threads. The structure of this embodiment, through motor and screw rod set's cooperation, can realize the telescopic of robot and creep, can also accurately detect simultaneously and control the displacement between two absorption formula cleaning portions 20, improve effectual reference data for the motion control of robot.
In one embodiment, the telescopic swing link 301 has a multi-stage telescopic structure. The multistage telescopic structure comprises multistage telescopic pipes, one end of each multistage telescopic pipe is connected with one internal gear 302, and the other end of each multistage telescopic pipe is connected with the other internal gear 302. The telescopic driving machine is a hydraulic machine or a pneumatic machine, and high-pressure liquid or high-pressure gas is introduced into the multistage telescopic sleeves by the hydraulic machine or the pneumatic machine, so that the multistage telescopic sleeves can extend out or retract step by step, and the multistage change of the distance between the two internal gears 302 is realized. The hydraulic machine or the pneumatic machine can be in a structure form separated from the body of the robot, and high-pressure liquid or high-pressure gas generated by the hydraulic machine or the pneumatic machine can be introduced into the multistage telescopic sleeve through a guide pipe. Of course, according to the design requirement of the product, for example, for some large cleaning robots, the hydraulic or pneumatic press may be directly arranged on the body of the robot. The structure of this embodiment, through adopting multistage extending structure, can improve the flexible efficiency of crawling of robot.
In one embodiment, both side wall surfaces 104 of the movable cavity 103 are provided with a travel switch, and when the telescopic swing link 301 swings to the side wall surfaces 104, the travel switch is triggered, and the travel switch is electrically connected with the control part 10. In the structure described in this embodiment, by setting the travel switch, it can be quickly and accurately determined whether the robot swings to the limit position, so as to control the telescopic swing link 301 to suspend swinging, thereby preventing the telescopic swing link 301 from frequently striking the side wall surface 104 to cause structural damage. Meanwhile, the control efficiency of the robot can be improved, that is, when the trigger signal of the travel switch is detected, the robot can immediately perform the state adjustment operation of the adsorption type cleaning part 20 without waiting for the control result output after the system performs complicated data calculation.
As shown in fig. 4 to 11, based on the control method of the intelligent window cleaning robot described in the above embodiments, a specific control method includes the following steps:
in step S1, the robot receives the power-on signal, operates the suction motor to make the robot suck on the surface of the window to be cleaned by negative pressure, starts cleaning after receiving the signal for starting cleaning sent by the user operating the remote controller, and proceeds to step S2.
In step S2, the robot determines, based on its own gyroscope, the up-down-left-right direction in which the robot is at the initial position on the vertical window surface (the region surrounded by the rectangular frame in fig. 4 represents the window surface), as shown in fig. 4. As shown in fig. 4, when the robot is located at the initial position, the first suction type cleaning portion R1 is located at the P10 position, the second suction type cleaning portion R2 is located at the P20 position, the vertical upward direction N in the figure is the upper side direction of the robot, the vertical downward direction S in the figure is the lower side direction of the robot, the vertical leftward direction W in the figure is the left side direction of the robot, the vertical rightward direction E in the figure is the right side direction of the robot, the lower side direction of the robot is set to be the first direction, the upper side direction of the robot is the second direction, the right side direction of the robot is the third direction, and the left side direction of the robot is the fourth direction. The first direction to the fourth direction may also be set according to specific situations, for example, in other embodiments, the upper direction of the robot may be set as the first direction, the lower direction of the robot may be set as the second direction, and so on, which are not described herein again. After the orientation is determined, the robot controls the first suction type cleaning part to swing in a first direction, that is, the R1 swings clockwise around the R2 center, by the swing motor in the second suction type cleaning part, and proceeds to step S3. It should be noted that the swinging in the first direction, the second direction, the third direction or the fourth direction in each step in this embodiment does not refer to the swinging process in the first direction, the second direction, the third direction or the fourth direction, but refers to the state gradually tending to the direction indicated by the first direction, the second direction, the third direction or the fourth direction in the swinging process.
In step S3, the robot determines whether or not the first suction type cleaning unit detects an obstacle while swinging to the same position as the first direction, that is, whether or not the robot detects an obstacle while swinging from the P10 position to the P11 position clockwise around R2 as a center of circle in R1. Wherein, in the swinging process of the robot, when the extending direction of the straight line pointing to the moving end by the fixed end is the same as the first direction, the moving end can be considered to swing to the position same as the first direction, it should be noted that the swinging of the moving end to the first direction can adopt the clockwise direction or the anticlockwise direction, at this time, the direction with the smallest swinging angle needs to be selected, for example, the moving end needs to swing 90 ° clockwise to the first direction and swing 270 ° anticlockwise to the first direction, the moving end preferentially selects the clockwise swinging direction, if the angle needing to swing is the same, the side without the travel switch or with larger angle from the travel switch is selected as the swinging direction, the swinging in other steps is to the position same as the second direction, the third direction or the fourth direction, and the meaning is the same, and will not be described in detail later. The obstacle detection mode may be detected by a sensor such as an infrared sensor, an ultrasonic sensor, or a laser sensor provided in the suction cleaning unit, may be determined by resistance or pressure applied to the suction cleaning unit when the suction cleaning unit moves, or may be determined by a change in the speed at which the suction cleaning unit moves. When an obstacle is detected, it indicates that the first suction type cleaning portion has hit the lower frame of the window, and the process proceeds to step S4 to perform the next operation. If no obstacle is detected, indicating that the first adsorption type cleaning part does not hit the lower frame of the window, the swing is stopped when the first adsorption type cleaning part swings to the same position as the first direction, and the process goes to step S5 to perform the next operation.
In step S4, the robot controls the first suction type cleaning unit to stop swinging so that the first suction type cleaning unit stops at the edge of the lower frame, and controls the second suction type cleaning unit to swing in the first direction by the swing motor in the first suction type cleaning unit until the second suction type cleaning unit detects an obstacle during swinging, at which time, the first suction type cleaning unit and the second suction type cleaning unit of the robot both stop at the edge of the lower frame of the window, the robot is parallel to the lower frame, the operation of the robot for finding the lower frame is finished, and the process proceeds to step S7, and planned cleaning is started.
In step S5, the robot controls the second suction type cleaning unit to swing in a clockwise direction in a first direction by the swing motor in the first suction type cleaning unit, determines whether an obstacle is detected while the second suction type cleaning unit is swinging to the same position as the first direction, and if so, indicates that the second suction type cleaning unit has collided with the lower frame of the window, and proceeds to step S6 to perform the next operation. If not, the first adsorption type cleaning part does not collide with the lower frame of the window, the swing is stopped when the second adsorption type cleaning part swings to the position same with the first direction, and the process goes to step S2, and the robot is circularly moved downwards in sequence until the robot reaches the lower frame of the window.
In step S6, as shown in fig. 4, the robot controls the second suction type cleaning part to stop swinging due to the lower frame of the window detected by the second suction type cleaning part at the P21 position, and controls the first suction type cleaning part to swing in the first direction by the swing motor in the second suction type cleaning part until the first suction type cleaning part detects the lower frame of the window at the P12 position, at which time, the first suction type cleaning part and the second suction type cleaning part of the robot both stop at the edge of the lower frame of the window, the robot is parallel to the lower frame of the window, the operation of the robot for finding the lower frame is finished, and the process proceeds to step S7 to start planning cleaning.
In step S7, as shown in fig. 4, the robot controls the second suction type cleaning part to extend in a direction away from the first suction type cleaning part (right direction in fig. 4) by the telescopic driver, performs edgewise cleaning, determines whether an obstacle is detected while the second suction type cleaning part extends until the telescopic swing link is in the longest state, and if so, indicates that the second suction type cleaning part hits the right frame of the window, and proceeds to step S8 to perform the next operation. If not, it indicates that there is an uncleaned area on the right side in the edge direction, and the process proceeds to step S9 to continue cleaning.
In step S8, since the second suction type cleaning part collides with the right frame of the window at the position P22, the robot controls the second suction type cleaning part to stop extending and retracting toward the first suction type cleaning part, and when the telescopic swing link is in the shortest state, the second suction type cleaning part returns to the position P21 and stops retracting, and at this time, the cleaning of the region from the position P21 to the position P22 is completed, and the second suction type cleaning part completes two times of cleaning of the region in the process of extending and retracting, thereby not only improving the cleaning efficiency, but also improving the cleaning quality. After the cleaning of the area is completed, the flow proceeds to step S10.
In step S9, since the second suction type cleaning part does not collide with the right frame of the window during the extending process, when the telescopic swing rod is in the longest state, the second suction type cleaning part is controlled to stop extending, then the first suction type cleaning part is controlled to retract towards the second suction type cleaning part, when the telescopic swing rod is in the shortest state, the first suction type cleaning part stops retracting, and the process goes to step S7, and so on, so that the robot gradually extends and retracts towards the right.
In step S10, after the robot finishes cleaning the right side, the robot controls the first suction type cleaning part to extend in a direction (left direction in the figure) away from the second suction type cleaning part by the telescopic driver, and then determines whether the first suction type cleaning part detects an obstacle while extending to the longest telescopic swing link, if so, the first suction type cleaning part hits the left frame of the window, and the process goes to step S11 to perform the next operation. If not, it indicates that there is an uncleaned area in the left edge direction, and the process proceeds to step S12 for the next operation.
In step S11, as shown in fig. 5, since the first suction type cleaning part collides with the left frame of the window at the position P13, the robot controls the first suction type cleaning part to stop extending, and controls the second suction type cleaning part to retract toward the first suction type cleaning part, and when the telescopic swing link is in the shortest state, the second suction type cleaning part is in the position P23 and stops retracting, at this time, the robot has finished the edge cleaning of the lower frame of the window, and it is necessary to proceed to the next operation in step S13.
In step S12, since the first suction type cleaning part does not collide with the left frame of the window during the extending process, when the telescopic swing rod is in the longest state, the first suction type cleaning part is controlled to stop extending, then the second suction type cleaning part is controlled to retract towards the first suction type cleaning part, when the telescopic swing rod is in the shortest state, the second suction type cleaning part stops retracting, and the process goes to step S10, and so on, so that the robot gradually extends and retracts leftwards to crawl.
In step S13, the swing motor in the first suction type cleaning part controls the second suction type cleaning part to swing in a second direction (i.e., a direction vertically upward in the drawing) opposite to the first direction, and determines whether the second suction type cleaning part detects an obstacle while swinging to the same position as the second direction, and if so, the second suction type cleaning part hits the upper frame of the window, and the process proceeds to step S14 to perform the next operation. If not, the swing is stopped when the second suction type cleaning part swings to the same position as the second direction (P24 position shown in fig. 7), and at this time, the robot is parallel to the left frame, and the next operation is required to proceed to step S15.
In step S14, the robot controls the second suction type cleaning part to stop swinging at the position P24, and controls the first suction type cleaning part to swing in a third direction (horizontal rightward direction) perpendicular to the second direction and away from the obstacle through a swing motor in the second suction type cleaning part until the first suction type cleaning part detects the obstacle during swinging, which indicates that both suction type cleaning parts of the robot are stopped at the upper frame of the window, and the next operation is required to proceed to step S16.
In step S15, the robot controls the first suction type cleaning part to swing in a third direction (rightward direction in fig. 7) perpendicular to the second direction and away from the obstacle by the swing motor in the second suction type cleaning part, and stops swinging when the first suction type cleaning part swings to the same position (P14 position) as the third direction, and at this time, the robot is parallel to the lower frame and is spaced by only one cleaned area, and the next operation is required to proceed to step S17.
In step S16, the robot controls the first suction type cleaning unit to extend away from the second suction type cleaning unit by the telescopic driving machine, determines whether the first suction type cleaning unit detects an obstacle while extending to the longest telescopic swing link, and if so, indicates that the first suction type cleaning unit has reached the right frame of the window, and proceeds to step S18 to perform the next operation. If not, the first adsorption type cleaning part does not reach the right frame of the window, and an uncleaned area is left on the right side, and the next operation is required to be performed in step S19.
In step S17, the robot controls the first suction type cleaning unit to extend away from the second suction type cleaning unit by the telescopic driving machine, determines whether the first suction type cleaning unit detects an obstacle while extending to the longest position of the telescopic swing link, and if so, indicates that the first suction type cleaning unit hits the right frame of the window, and proceeds to step S20 to perform the next operation. If not, the first adsorption type cleaning part does not reach the right frame of the window, and an uncleaned area is left on the right side, and the next operation is required to be performed in step S21.
In step S18, the robot controls the first suction type cleaning part to stop extending, controls the second suction type cleaning part to retract toward the first suction type cleaning part, and stops retracting when the telescopic swing link is in the shortest state. At this moment, the robot climbs and covers the whole window surface line by line from the bottom to the top of the window in sequence, and one-time cleaning work is completed.
In step S19, the robot controls the first suction type cleaning part to stop extending, controls the second suction type cleaning part to retract toward the first suction type cleaning part, and when the telescopic swing rod is in the shortest state, the second suction type cleaning part stops retracting, and the robot proceeds to step S16 to control the first suction type cleaning part to extend again, and repeats the telescopic crawling until the first suction type cleaning part reaches the right frame of the window.
In step S20, the robot controls the first suction type cleaning part to stop extending, controls the second suction type cleaning part to retract toward the first suction type cleaning part, and stops retracting when the telescopic swing link is in the shortest state, at which time the robot climbs to the right frame of the window, and then the process goes to step S22 to perform a steering operation.
In step S21, as shown in fig. 8, when the telescopic swing link is in the longest state, the robot controls the first suction type cleaning unit to stop extending at the P15 position, controls the second suction type cleaning unit to retract toward the first suction type cleaning unit, and when the telescopic swing link is in the shortest state, controls the second suction type cleaning unit to stop retracting at the P25 position in fig. 9, and then proceeds to step S17, controls the first suction type cleaning unit to extend again, and repeats the telescopic crawling until the first suction type cleaning unit reaches the right frame of the window, as shown in fig. 10, R1 detects the right frame at the P16 position.
In step S22, as shown in fig. 11, the suction type cleaning unit of the robot reaches the right frame of the window while telescoping and crawling between the P16 position and the P26 position, and the robot completes cleaning of one line of areas from the left side to the right side of the window. This area is seamlessly connected to the area that the robot cleans along the lower border, i.e. the robot cleans the area below the horizontal line of the current position. Next, the robot needs to turn to continue cleaning the next line of area. The robot controls the second adsorption type cleaning part to swing towards the second direction through the swing motor in the first adsorption type cleaning part, whether an obstacle is detected in the process that the second adsorption type cleaning part swings to the position same with the second direction is judged, if yes, the robot detects an upper frame, and then the operation goes to step S24 to carry out the next operation. If not, the swing is stopped when the second suction type cleaning portion swings to the same position as the second direction (i.e., the position P27 in fig. 11), and the process proceeds to step S23, where the steering is continued.
In step S23, the robot controls the first suction type cleaning unit to swing in a fourth direction (left direction in fig. 11) opposite to the third direction by a swing motor in the second suction type cleaning unit, stops swinging when the first suction type cleaning unit swings to the same position as the fourth direction (i.e., P17 position in fig. 11), and proceeds to step S17, where the robot is controlled to perform telescopic crawling from right to left.
In step S24, the robot controls the second suction type cleaning part to stop swinging, and controls the first suction type cleaning part to swing in a fourth direction opposite to the third direction by a swinging motor in the second suction type cleaning part until the first suction type cleaning part detects an obstacle during swinging, and at this time, both suction type cleaning parts of the robot reach the upper frame, and the process needs to go to step S16 to perform edge cleaning of the upper frame.
According to the control method of the embodiment, when the robot starts cleaning, the robot firstly finds the frame of one window, and then starts from the frame to perform telescopic crawling towards the other frame in the form of the bow-shaped track, so that the window is cleaned in a planned way, the cleaning is more comprehensive, the efficiency is higher, and the motion control is simpler.
As one of the embodiments, after the robot described in step S18 completes one cleaning operation, at this time, the robot cleans up from the lower frame of the window to the upper frame of the window in a zigzag trajectory and stops at the upper right corner of the window, as shown in fig. 12, and the P18 position and the P28 position are positions where the first suction type cleaning part and the second suction type cleaning part stop, respectively. Because the robot turns to when operation at left frame or right frame, can omit the area of part turn and do not clean, in order to improve the clear quality and the effect of robot, the robot still needs to carry out the clean operation of edgewise once to left frame and right frame next, will leave over the place and clean. The specific operation comprises the following steps:
in step S30, the robot controls the second suction type cleaning part to swing in the first direction by the swing motor in the first suction type cleaning part and stops swinging when the second suction type cleaning part swings to the same position as the first direction, and at this time, as shown in fig. 12, the second suction type cleaning part swings from the P28 position to the P29 position, and both suction type cleaning parts of the robot reach the right frame and are flush with the right frame. The flow then proceeds to step S31 to proceed to the next operation.
In step S31, the robot controls the second suction type cleaning part to extend away from the first suction type cleaning part through the telescopic driver, determines whether the second suction type cleaning part detects an obstacle in the process of extending to the longest telescopic swing rod, and if so, indicates that the robot detects a lower frame, the robot proceeds to step S32 to perform the next operation. If not, the robot does not reach the lower frame, and the process needs to go to step S33 to continue the downward telescopic crawling.
In step S32, since the second suction type cleaning unit detects an obstacle, the robot controls the second suction type cleaning unit to stop extending, and controls the first suction type cleaning unit to retract toward the second suction type cleaning unit, and when the telescopic swing link is in the shortest state, the first suction type cleaning unit stops retracting, and at this time, the robot is located at the lower right corner of the window, and it is necessary to proceed to step S34 to perform a steering operation.
In step S33, since the second suction type cleaning unit does not detect an obstacle, when the telescopic swing lever is in the longest state (i.e., the second suction type cleaning unit is in the P30 position in fig. 12), the robot controls the second suction type cleaning unit to stop extending, and controls the first suction type cleaning unit to retract toward the second suction type cleaning unit, until the telescopic swing lever is in the shortest state, the first suction type cleaning unit stops retracting, and then the robot returns to step S31 to continue downward telescopic crawling.
In step S34, at this time, as shown in fig. 13, the first suction type cleaning part and the second suction type cleaning part are at the P19 position and the P31 position, respectively, and the robot controls the first suction type cleaning part to swing in the fourth direction by the swing motor in the second suction type cleaning part, and stops the swing when the first suction type cleaning part swings to the same position as the fourth direction (i.e., the first suction type cleaning part swings from the P19 position to the P40 position). Both the suction cleaning portions of the robot have reached the lower frame and are flush with the lower frame, and the process proceeds to step S35 to walk edgewise to the left frame.
In step S35, the robot controls the first suction type cleaning unit to extend away from the second suction type cleaning unit by the telescopic driving machine, determines whether an obstacle is detected while the first suction type cleaning unit extends to the longest telescopic swing link, and if so, the robot proceeds to step S36 to perform the next operation. If not, the robot does not reach the left frame, and the process needs to go to step S37 to continue the telescopic crawling.
In step S36, the robot controls the first suction type cleaning part to stop extending, controls the second suction type cleaning part to retract toward the first suction type cleaning part, and stops retracting when the telescopic swing link is in the shortest state, at this time, the robot is located at the lower left corner of the window, and the process goes to step S38 to perform a steering operation.
In step S37, since the first suction type cleaning unit does not detect an obstacle, when the telescopic swing lever is in the longest state (i.e., the first suction type cleaning unit is in the P41 position in fig. 13), the robot controls the first suction type cleaning unit to stop extending, and controls the second suction type cleaning unit to retract toward the first suction type cleaning unit, when the telescopic swing lever is in the shortest state, the second suction type cleaning unit stops retracting, and the process proceeds to step S35 to continue the telescopic crawling.
In step S38, at this time, as shown in fig. 14, the first suction type cleaning unit and the second suction type cleaning unit are at the P42 position and the P32 position, respectively, the robot controls the second suction type cleaning unit to swing in the second direction by the swing motor in the first suction type cleaning unit, stops the swing when the second suction type cleaning unit swings to the same position as the second direction (i.e., the P33 position), and proceeds to step S39 to perform edge cleaning of the left frame.
In step S39, the robot controls the second suction type cleaning part to extend away from the first suction type cleaning part through the telescopic driver, determines whether the second suction type cleaning part detects an obstacle in the process of extending to the longest telescopic swing rod, and if so, indicates that the robot detects an upper frame, the robot proceeds to step S40 to perform the next operation. If not, it indicates that the robot does not detect the upper frame, the process proceeds to step S41 to continue the upward telescopic crawling.
In step S40, the robot controls the second suction type cleaning part to stop extending, controls the first suction type cleaning part to retract toward the second suction type cleaning part, and stops retracting the first suction type cleaning part when the telescopic swing link is in the shortest state, as shown in fig. 15, the first suction type cleaning part is located at position P43, and the second suction type cleaning part is located at position P35. At the moment, the robot finishes cleaning the left frame, stops continuing to crawl, and prompts the user by voice to finish cleaning work to wait for the next instruction of the user.
In step S41, since the second suction type cleaning unit does not detect an obstacle, when the telescopic swing lever is in the longest state (i.e., the second suction type cleaning unit is in the P34 position in fig. 14), the robot controls the second suction type cleaning unit to stop extending, controls the first suction type cleaning unit to retract toward the second suction type cleaning unit, and when the telescopic swing lever is in the shortest state, the first suction type cleaning unit stops retracting, and the process proceeds to step S39 to continue the upward telescopic crawling.
According to the method of the embodiment, the robot is controlled to clean the left side frame and the right side frame along the edge, so that the part which is not scanned in the previous embodiment is subjected to supplementary scanning, and the cleaning quality and the cleaning effect of the robot are improved.
As one embodiment, in the process that the swing motor controls the first adsorption type cleaning part or the second adsorption type cleaning part to swing, the method specifically includes the following steps: when the robot receives a trigger signal of a travel switch in the process of swinging the first adsorption type cleaning part, judging whether the swinging angle of the first adsorption type cleaning part reaches a set value or not, if so, determining that the first adsorption type cleaning part swings to the position same with the set direction, if not, adjusting the adsorption force of the first adsorption type cleaning part and the second adsorption type cleaning part through an adsorption motor and a vent valve, and firstly enhancing the adsorption force of the first adsorption type cleaning part to be tightly attached to the surface of a window. And then the adsorption force of the second adsorption type cleaning part is reduced, so that the second adsorption type cleaning part can move or rotate on the surface of a window, and then the second adsorption type cleaning part rotates through the reaction force of the driving force of the swing motor, so that the stroke switch triggered in the second adsorption type cleaning part rotates towards the direction far away from the telescopic swing rod, and thus, a rotating space can be vacated between the telescopic swing rod and the stroke switch. Then, the adsorption force of the second adsorption type cleaning part is enhanced to be tightly attached to the surface of the window, and the adsorption force of the first adsorption type cleaning part is reduced to be capable of moving or rotating on the surface of the window. And finally, controlling a swing motor of the second adsorption type cleaning part to drive the first adsorption type cleaning part to swing continuously until the set value is reached. The set value is an angle value when the robot controls the first adsorption type cleaning part to swing from the current position to the first direction, the second direction, the third direction or the fourth direction. The set direction is the first direction, the second direction, the third direction or the fourth direction according to the above-described embodiments.
As one embodiment, in the process that the swing motor controls the second adsorption type cleaning part to swing, the method specifically includes the following steps: when the robot receives a trigger signal of a travel switch in the process of swinging the second adsorption type cleaning part, judging whether the swinging angle of the second adsorption type cleaning part reaches a set value or not, if so, determining that the second adsorption type cleaning part swings to the position same with the set direction, if not, adjusting the adsorption force of the first adsorption type cleaning part and the second adsorption type cleaning part through an adsorption motor and a vent valve, firstly enhancing the adsorption force of the second adsorption type cleaning part to be tightly attached to the surface of a window, then reducing the adsorption force of the first adsorption type cleaning part to be capable of moving or rotating on the surface of the window, and then enabling the first adsorption type cleaning part to rotate through the reaction force of the driving force of the swinging motor so as to enable the travel switch triggered in the first adsorption type cleaning part to rotate in the direction far away from the telescopic swing rod, therefore, a rotating space can be left between the telescopic swing rod and the travel switch. Then, the adsorption force of the first adsorption type cleaning part is enhanced to be tightly attached to the surface of the window, and the adsorption force of the second adsorption type cleaning part is reduced to be capable of moving or rotating on the surface of the window. And finally, controlling a swing motor of the first adsorption type cleaning part to drive the second adsorption type cleaning part to swing continuously until the set value is reached. The set value is an angle value when the robot controls the second adsorption type cleaning part to swing from the current position to the first direction, the second direction, the third direction or the fourth direction. The set direction is the first direction, the second direction, the third direction or the fourth direction according to the above-described embodiments.
With reference to fig. 4 to 15, an exemplary description of a full cleaning operation performed on the robot is as follows, and for convenience of description, R1 directly represents the first suction type cleaning portion, and R2 directly represents the second suction type cleaning portion.
As shown in fig. 4, the robot starts the cleaning work at positions P10 and P20. Firstly, the robot searches a lower frame downwards; swinging R1 to a P11 position by taking R2 as a center; then taking R1 as a circle center, swinging R2 to a P21 position; then, with the R2 as the center, swinging the R1 to the position P12; at this point, both cleaning portions of the robot have reached the lower rim. Next, the lower frame is cleaned along the edge, the R2 is controlled to extend to the right, the right frame is detected when the R2 extends to the P22 position, and the R2 is controlled to retract to the P21 position; then controlling the R1 to extend to the left, detecting the left frame when the R1 extends to the position P13, and stopping the R1 at the position P13 (shown in FIG. 5); the R2 is then controlled to retract to the left to the P23 position (as shown in fig. 6), at which point the robot has completed edgewise cleaning of the lower rim. The robot then progressively cleans up, so the robot needs to turn to clean the previous section from right to left. As shown in fig. 7, the robot swings R2 to a P24 position with R1 as a center; and then, taking R2 as a circle center, swinging R1 to a position P14, wherein at the moment, the robot is flush with a cleaned area beside the lower frame, and the robot can continue cleaning only by stretching and crawling from left to right. As shown in fig. 8, the robot controller R1 extends to the P15 position, and the telescopic swing link is in the longest state, so the robot controller R1 stops at the P15 position, and controls the R2 to retract to the P25 position (as shown in fig. 9). Next, as shown in fig. 10, the robot continues to control the R1 to extend to the P16 position, at which time the right frame is detected, the R1 stops at the P16 position, and the R2 retracts to the P26 position. The robot needs to turn at the position where the right frame is detected, and as shown in fig. 11, with the center of R1, R2 swings to the P27 position, and with the center of R2, R1 swings to the P17 position. Then, the robot stretches and retracts from the right to the left to crawl, turns to the left after reaching the left frame, stretches and retracts to crawl from the left to the right, and the like, and after the robot reaches the upper frame and completes edge cleaning of the upper frame, the first adsorption type cleaning part and the second adsorption type cleaning part respectively reach the position P18 and the position P28. At this time, the robot has already completed a general planning cleaning work, and then, the robot performs a supplementary cleaning work for the left and right frames. As shown in fig. 12, the robot swings R2 to a position P29 with R1 as a center, and after the robot is flush with the right frame, controls R2 to extend to a position P30, and in the same telescopic crawling manner, R1 reaches the position P19, and R2 reaches the position P31, as shown in fig. 13, the supplementary scanning of the right frame is completed. And then, the left frame needs to be subjected to supplementary scanning, the robot controls the R1 to swing to the P40 position and then extend to the P41 position by taking the R2 as a center, and the R1 reaches the P42 position and the R2 reaches the P32 position in the same telescopic crawling manner, as shown in FIG. 14. After the robot reaches the left frame, the robot is adjusted to be flush with the left frame, and swings the R2 to the P33 position and then extends to the P34 position (as shown in fig. 14) with the R1 as the center. In the same telescopic crawling manner, the R1 reaches the P43 position, and the R2 reaches the P35 position (as shown in fig. 15), so far, the robot completes the supplementary scanning of the left frame. It should be noted that, on the premise that the robot does not collide with an obstacle, the robot swings at an angle of 180 degrees when initially searching for a frame (the frame can be found as soon as possible by swinging at a large angle), and turns at 90 degrees in a cleaning stage (seamless butt joint cleaning is realized), so that the robot does not need particularly accurate angle calculation and complex angle adjustment in the whole cleaning process, the motion control is simple, and the cleaning efficiency is high.
Obviously, the above-mentioned embodiments are only a part of embodiments of the present invention, not all embodiments, and the technical solutions of the embodiments may be combined with each other. Furthermore, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear in the embodiments, their indicated orientations or positional relationships are based on those shown in the drawings only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation or be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. If the terms "first", "second", "third", etc. appear in the embodiments, they are for convenience of distinguishing between related features, and they are not to be construed as indicating or implying any relative importance, order or number of features.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. These programs may be stored in a computer-readable storage medium (such as a ROM, a RAM, a magnetic or optical disk, or various other media that can store program codes). Which when executed performs steps comprising the method embodiments described above.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. An intelligent window cleaning robot, comprising:
the adsorption type cleaning part comprises an adsorption main body, an adsorption motor, a centrifugal pump and a vent valve, wherein a negative pressure cavity and a gas flow channel are arranged in the adsorption main body, the gas flow channel is communicated with the negative pressure cavity and the external space of the adsorption main body, the gas flow channel from the negative pressure cavity to the external space of the adsorption main body is sequentially provided with the vent valve for controlling the gas flow in the gas flow channel and the centrifugal pump for pumping out the gas in the negative pressure cavity through the gas flow channel, the adsorption motor is connected with the centrifugal pump and is used for driving the centrifugal pump to operate, and one end, provided with the negative pressure cavity, of the adsorption main body is also provided with a cleaning piece;
the telescopic swinging part comprises a swinging motor, a telescopic driving machine and a telescopic swing rod; the adsorption main body is also provided with a movable cavity, and the end part of the telescopic swing rod is arranged in the movable cavity and is connected with the output end of the swing motor; the upper wall surface and the lower wall surface of the movable cavity are used for limiting the up-and-down swing of the telescopic swing rod, and the side wall surface of the movable cavity is used for limiting the angle range of the circumferential swing of the telescopic swing rod; the telescopic driving machine is connected with the telescopic swing rod and is used for driving the telescopic swing rod to extend and retract; when the telescopic swing rod is in the shortest state, the edges of the cleaning pieces of the adsorption type cleaning part are tangent;
and the control part is respectively connected with the adsorption motor, the vent valve, the swing motor and the telescopic driving machine and controls the working state of the swing motor.
2. The intelligent window-cleaning robot of claim 1, wherein: the end of the telescopic swing rod is provided with an internal gear, the output end of the swing motor is provided with an external gear, the internal gears at the two ends of the telescopic swing rod are respectively sleeved on the output ends of the swing motors, so that the connection of the adsorption type cleaning parts is realized.
3. The intelligent window-cleaning robot of claim 2, wherein: the swing motor is arranged at the top of the adsorption body and is positioned above the internal gear, and the external gear on the output end of the swing motor extends downwards into the internal gear from the top of the adsorption body and is meshed with the internal gear.
4. The intelligent window-cleaning robot of claim 3, wherein: the top of adsorbing the main part is equipped with the protection casing, be equipped with the air vent on the protection casing.
5. The intelligent window-cleaning robot of claim 3, wherein: the telescopic swing rod is of a primary telescopic structure, and the primary telescopic structure comprises an inner screw and a screw sleeve; the telescopic driver is a screw motor; one end of the screw motor is fixedly connected with one internal gear, and the other end of the screw motor is a driving end which is fixedly connected with the axial direction of the internal screw; the screw rod sleeve is axially sleeved outside the inner screw rod and can generate axial displacement with the inner screw rod along with the rotation of the inner screw rod; the end part of one end of the screw rod sleeve, which is far away from the inner screw rod, is fixedly connected with the other inner gear.
6. The intelligent window-cleaning robot of claim 3, wherein: the telescopic swing rod is of a multi-stage telescopic structure, the multi-stage telescopic structure comprises a multi-stage telescopic sleeve, one end of the multi-stage telescopic sleeve is connected with one internal gear, and the other end of the multi-stage telescopic sleeve is connected with the other internal gear; the telescopic driving machine is a hydraulic machine or a pneumatic machine, and high-pressure liquid or high-pressure gas is introduced into the multistage telescopic sleeves by the hydraulic machine or the pneumatic machine, so that the multistage telescopic sleeves can extend out or retract step by step.
7. The intelligent window-cleaning robot of claim 1, wherein: travel switches are arranged on two side wall surfaces of the movable cavity, the telescopic swing rod can trigger the travel switches when swinging to the side wall surfaces, and the travel switches are electrically connected with the control part.
8. A control method of an intelligent window cleaning robot is characterized by comprising the following steps:
step S1: receiving a signal to start the cleaning operation, starting the cleaning operation, and proceeding to step S2;
step S2: controlling the first adsorption type cleaning part to swing towards a first direction through a swing motor in the second adsorption type cleaning part, and proceeding to step S3;
step S3: determining whether the first adsorption type cleaning part detects an obstacle while swinging to the same position as the first direction, if so, proceeding to step S4, otherwise, stopping swinging when the first adsorption type cleaning part swings to the same position as the first direction, and proceeding to step S5;
step S4: controlling the first adsorption type cleaning part to stop swinging, and controlling the second adsorption type cleaning part to swing in a first direction by a swing motor in the first adsorption type cleaning part until the second adsorption type cleaning part detects an obstacle in the swinging process, and proceeding to step S7;
step S5: controlling the second suction type cleaning part to swing in a first direction by a swing motor in the first suction type cleaning part, determining whether an obstacle is detected while the second suction type cleaning part swings to the same position as the first direction, if so, proceeding to step S6, otherwise, stopping the swing when the second suction type cleaning part swings to the same position as the first direction, and proceeding to step S2;
step S6: controlling the second adsorption type cleaning part to stop swinging, controlling the first adsorption type cleaning part to swing towards a first direction through a swinging motor in the second adsorption type cleaning part until the first adsorption type cleaning part detects an obstacle in the swinging process, and proceeding to step S7;
step S7: controlling the second adsorption type cleaning part to extend in a direction away from the first adsorption type cleaning part through a telescopic driving device, judging whether the second adsorption type cleaning part detects an obstacle in the process of extending to the longest telescopic swing rod, if so, entering step S8, and if not, entering step S9;
step S8: controlling the second adsorption type cleaning part to stop extending and retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S10;
step S9: when the telescopic swing rod is in the longest state, controlling the second adsorption type cleaning part to stop extending, then controlling the first adsorption type cleaning part to retract towards the second adsorption type cleaning part, when the telescopic swing rod is in the shortest state, stopping retracting of the first adsorption type cleaning part, and entering step S7;
step S10: controlling the first adsorption type cleaning part to extend in a direction away from the second adsorption type cleaning part through a telescopic driving machine, judging whether the first adsorption type cleaning part detects an obstacle in the process of extending to the longest state of the telescopic swing rod, if so, entering step S11, and if not, entering step S12;
step S11: controlling the first adsorption type cleaning part to stop extending, controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S13;
step S12: when the telescopic swing rod is in the longest state, controlling the first adsorption type cleaning part to stop extending, then controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, when the telescopic swing rod is in the shortest state, stopping retracting of the second adsorption type cleaning part, and entering step S10;
step S13: controlling the second suction type cleaning part to swing in a second direction opposite to the first direction by a swing motor in the first suction type cleaning part, determining whether an obstacle is detected while the second suction type cleaning part swings to the same position as the second direction, if so, proceeding to step S14, otherwise, stopping the swing when the second suction type cleaning part swings to the same position as the second direction, and proceeding to step S15;
step S14: controlling the second adsorption type cleaning part to stop swinging, controlling the first adsorption type cleaning part to swing towards a third direction which is perpendicular to the second direction and is far away from the obstacle through a swinging motor in the second adsorption type cleaning part until the first adsorption type cleaning part detects the obstacle in the swinging process, and entering the step S16;
step S15: controlling the first adsorption type cleaning part to swing towards a third direction which is perpendicular to the second direction and is far away from the obstacle through a swing motor in the second adsorption type cleaning part, stopping swinging when the first adsorption type cleaning part swings to the position same as the third direction, and entering step S17;
step S16: controlling the first adsorption type cleaning part to extend in a direction away from the second adsorption type cleaning part through a telescopic driving machine, judging whether the first adsorption type cleaning part detects an obstacle in the process of extending to the longest state of the telescopic swing rod, if so, entering step S18, and if not, entering step S19;
step S17: controlling the first adsorption type cleaning part to extend in a direction away from the second adsorption type cleaning part through a telescopic driving machine, judging whether the first adsorption type cleaning part detects an obstacle in the process of extending to the longest state of the telescopic swing rod, if so, entering step S20, and if not, entering step S21;
step S18: the first adsorption type cleaning part is controlled to stop extending, the second adsorption type cleaning part is controlled to retract towards the first adsorption type cleaning part, when the telescopic swing rod is in the shortest state, the second adsorption type cleaning part stops retracting, and the robot finishes one-time cleaning work;
step S19: controlling the first adsorption type cleaning part to stop extending, controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S16;
step S20: controlling the first adsorption type cleaning part to stop extending, controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S22;
step S21: controlling the first adsorption type cleaning part to stop extending, controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S17;
step S22: controlling the second suction type cleaning part to swing in a second direction by a swing motor in the first suction type cleaning part, determining whether an obstacle is detected while the second suction type cleaning part swings to the same position as the second direction, if so, proceeding to step S24, otherwise, stopping the swing when the second suction type cleaning part swings to the same position as the second direction, and proceeding to step S23;
step S23: controlling the first adsorption type cleaning part to swing in a fourth direction opposite to the third direction through a swing motor in a second adsorption type cleaning part, stopping the swing when the first adsorption type cleaning part swings to the same position as the fourth direction, and proceeding to step S17;
step S24: the second adsorption-type cleaning part is controlled to stop swinging, the first adsorption-type cleaning part is controlled to swing in a fourth direction opposite to the third direction by a swing motor in the second adsorption-type cleaning part until the first adsorption-type cleaning part detects an obstacle during swinging, and the process proceeds to step S16.
9. The control method according to claim 8, further comprising the steps of, after the robot completes one cleaning operation in step S18:
step S30: controlling the second adsorption type cleaning part to swing in a first direction by a swing motor in the first adsorption type cleaning part, stopping swinging when the second adsorption type cleaning part swings to the same position as the first direction, and proceeding to step S31;
step S31: controlling the second adsorption type cleaning part to extend in a direction away from the first adsorption type cleaning part through a telescopic driving device, judging whether the second adsorption type cleaning part detects an obstacle in the process of extending to the longest state of the telescopic swing rod, if so, entering step S32, and if not, entering step S33;
step S32: controlling the second adsorption type cleaning part to stop extending, controlling the first adsorption type cleaning part to retract towards the second adsorption type cleaning part, stopping retracting the first adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S34;
step S33: controlling the second adsorption type cleaning part to stop extending, controlling the first adsorption type cleaning part to retract towards the second adsorption type cleaning part, stopping retracting the first adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S31;
step S34: controlling the first adsorption type cleaning part to swing towards a fourth direction through a swing motor in a second adsorption type cleaning part, stopping swinging when the first adsorption type cleaning part swings to the same position as the fourth direction, and entering the step S35;
step S35: controlling the first adsorption type cleaning part to extend in a direction away from the second adsorption type cleaning part through a telescopic driving machine, judging whether the first adsorption type cleaning part detects an obstacle in the process of extending to the longest state of the telescopic swing rod, if so, entering step S36, and if not, entering step S37;
step S36: controlling the first adsorption type cleaning part to stop extending, controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S38;
step S37: controlling the first adsorption type cleaning part to stop extending, controlling the second adsorption type cleaning part to retract towards the first adsorption type cleaning part, stopping retracting the second adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering step S35;
step S38: controlling the second adsorption type cleaning part to swing towards the second direction through a swing motor in the first adsorption type cleaning part, stopping swinging when the second adsorption type cleaning part swings to the position same as the second direction, and entering the step S39;
step S39: controlling the second adsorption type cleaning part to extend in a direction away from the first adsorption type cleaning part through a telescopic driving device, judging whether the second adsorption type cleaning part detects an obstacle in the process of extending to the longest state of the telescopic swing rod, if so, entering step S40, and if not, entering step S41;
step S40: controlling the second adsorption type cleaning part to stop extending, and controlling the first adsorption type cleaning part to retract towards the second adsorption type cleaning part, wherein when the telescopic swing rod is in the shortest state, the first adsorption type cleaning part stops retracting;
step S41: and controlling the second adsorption type cleaning part to stop extending, controlling the first adsorption type cleaning part to retract towards the second adsorption type cleaning part, stopping retracting the first adsorption type cleaning part when the telescopic swing rod is in the shortest state, and entering the step S39.
10. The control method according to claim 8 or 9, wherein in the process of controlling the first adsorption type cleaning part or the second adsorption type cleaning part to swing by the swing motor, the method specifically comprises the following steps:
when the robot receives a trigger signal of a travel switch in the process of swinging the first adsorption type cleaning part, judging whether the swinging angle of the first adsorption type cleaning part reaches a set value or not, if so, determining that the first adsorption type cleaning part swings to the position in the same direction as the set direction, if not, adjusting the adsorption force of the first adsorption type cleaning part and the second adsorption type cleaning part through an adsorption motor and a vent valve, then enabling the second adsorption type cleaning part to rotate through a swinging motor, enabling the triggered travel switch in the second adsorption type cleaning part to be far away from the telescopic swing rod, and then controlling the first adsorption type cleaning part to continuously swing until the set value is reached; or,
when the robot receives a trigger signal of a travel switch in the process of swinging the second adsorption type cleaning part, judging whether the swinging angle of the second adsorption type cleaning part reaches a set value, if so, determining that the second adsorption type cleaning part swings to the position in the same direction as the set direction, if not, adjusting the adsorption force of the first adsorption type cleaning part and the second adsorption type cleaning part through an adsorption motor and a vent valve, then enabling the first adsorption type cleaning part to rotate through a swinging motor, enabling the triggered travel switch in the first adsorption type cleaning part to be far away from the telescopic swing rod, and then controlling the second adsorption type cleaning part to continuously swing until the set value is reached.
CN201810371726.4A 2018-04-24 2018-04-24 A kind of intelligence window wiping robot and its control method Pending CN108309139A (en)

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