CN108612331A - Working at height robot and its control method - Google Patents
Working at height robot and its control method Download PDFInfo
- Publication number
- CN108612331A CN108612331A CN201810443796.6A CN201810443796A CN108612331A CN 108612331 A CN108612331 A CN 108612331A CN 201810443796 A CN201810443796 A CN 201810443796A CN 108612331 A CN108612331 A CN 108612331A
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- China
- Prior art keywords
- robot
- unit
- working
- ranging unit
- height
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
This application discloses a kind of working at height robot and its control method, the working at height robot includes robot body, is provided on the robot body：Obstacle detouring unit and the control unit being connect with the obstacle detouring element circuit；The robot body is additionally provided with the ultrasonic ranging unit being connect with described control unit circuit and laser ranging unit.The barrier structure of the high-rise building exterior wall surface of automatic, high precision identification in real time is capable of in this working at height robot of the application, to ensure that various barriers are crossed over by robot, work blind area when being not in operation, at the same when it is detected barrier do not interfere with the office worker in building.
Description
Technical field
This application involves the control methods of a kind of working at height robot and this working at height robot.
Background technology
In the field of operating mode danger, robot replacement is manually an irreversible trend, especially in working at height
Field, the installation of high buildings and large mansions exterior wall, cleaning, finishing such as safeguard at the working at height scene, by it is more and more using robot come into
Row operation, the spider-man that working at height is substituted with robot is irreversible trend.When working at height robot is built in high building
When building exterior wall motion work, it has to be possible to detection external wall plane in real time, and the structure of intelligent recognition wall face, such ability
The completion working at height of steady ordered works, and especially in high building exterior wall cleaning, robot needs to contact and is close to metope
Washing and cleaning operation is carried out, the automatic detection of robot is particularly important with identification.
Existing part aerial lift device does not have external wall Plane Detecting Technique, only judges and adjusts by worker.
Some working at height robots are detected by ultrasonic sensor, and also some working at height robots then lead to
Laser sensor is crossed to be detected.
There is no the aerial lift device of external wall Plane Detecting Technique, the disadvantage is that：During working at height, encounter
When the various scenes of metope, equipment can not automatic decision and adjustment, it is necessary to and artificial judgment metope situation is simultaneously adjusted manually,
It is very inconvenient and very uncontrollable and unreliable, occur judging by accident or the probability of mistake is very big, makees so as to cause high-altitude
Industry device efficiency is low, using complexity, high, applicable scene is few, and safety is low.
Using the working at height robot of ultrasonic sensor, the disadvantage is that the ultrasonic wave angle of divergence is big, measurement accuracy is not high,
There are large error values, and working at height robot can be caused to occur larger blind area in washing and cleaning operation, obstacle detouring failure, do not wash clean
The problems such as.
Using the working at height robot of laser sensor, the disadvantage is that working at height robot is real to the detection of metope
Shi Jinhang's, laser sensor needs, which are continued for opening, could complete to detect in real time, but understand since laser intensity is too big
It penetrating the glass curtain wall of high building and is irradiated to the office worker in building, personnel work normally in strong influence building, this
Scheme practicability is poor.
Invention content
The purpose of the application is：In view of the above-mentioned problems, the application proposes a kind of working at height robot, it can be automatic in real time
High-precision identifies the barrier structure of high-rise building exterior wall surface, is not in make to ensure that various barriers are crossed over by robot
Work blind area when industry, at the same when it is detected barrier do not interfere with the office worker in building.
The technical solution of the application is：
A kind of working at height robot, including robot body are provided on the robot body：
Obstacle detouring unit, and
The control unit being connect with the obstacle detouring element circuit；
The robot body is additionally provided with the ultrasonic ranging unit being connect with described control unit circuit and Laser Measuring
Away from unit.
This working at height robot of the application further includes following preferred embodiment based on the above technical solution：
The robot body fears barrier component towards being provided at glass.
It is described to fear the operation unit and/or walking unit that barrier component includes the working at height robot.
It is described to fear barrier component and include：
Hairbrush, or/and
Scraping article, or/and
Handhold, or/and
Sucker, or/and
Hairbrush catch, or/and
Nozzle, or/and
The shell of robot body, or/and
Electric pushrod, or/and
Position-limited wheel.
On the direction of travel of the working at height robot, the ultrasonic ranging unit and laser ranging unit arrangement
In the front for fearing barrier component.
On the direction of travel of the working at height robot, the ultrasonic ranging unit is arranged in the laser ranging
The front of unit.
The ultrasonic ranging unit and the laser ranging unit are respectively provided at least two, described in one of them
Ultrasonic ranging unit and one of them described laser ranging unit are arranged in the front side for fearing barrier component, another described wave
Distance measuring unit and another described laser ranging unit are arranged in the rear side for fearing barrier component.
There are two the ultrasonic ranging unit and the laser ranging unit are respectively arranged.
There are four the ultrasonic ranging unit and the laser ranging unit are respectively arranged, the third ultrasonic wave
Distance measuring unit and the third laser ranging unit are arranged in the left side for fearing barrier component, the 4th ultrasonic ranging
Unit and the 4th laser ranging unit are arranged in the right side for fearing barrier component.
The control method of above-mentioned working at height robot, which is characterized in that including：
The ultrasonic ranging unit is in open state under original state, and the laser ranging unit, which is in, closes shape
State, during the working at height robot carries out operation walking in work surface, if the ultrasonic ranging unit
Detect that front has barrier, the ultrasonic ranging unit that the obstacle signal is transferred to described control unit, the control
Unit processed controls the laser ranging unit and opens and make high-precision to work surface structure and detect, and obtains the size in forward operation face
Information；
Described control unit controls the obstacle detouring unit according to the dimension information of acquisition and acts, and makes the working at height
The barrier is crossed over by robot；
After the barrier is crossed over by the working at height robot or after laser module detected obstacle information, institute
It states control unit and controls the laser ranging unit closing.
The application has the advantages that：
1, ultrasonic ranging unit is combined with laser ranging unit, both ensure that and has been continued to building exterior wall surface detection
Property, in turn ensure that the precision detected to building exterior wall surface, precision of laser ranging can accomplish a millimeter rank, so ensure machine
People can do corresponding actions according to detection data and cross over various barriers so that when working at height robot is not in operation
Work blind area.
2, it is first detected by ultrasonic ranging unit, just enables laser ranging when detecting barrier structure, in this way may be used
It avoids laser ranging from persistently opening and influences the office worker in building, scheme practicability is very high.
3, it is capable of the structure on the real-time detection skin surface of stability and high efficiency using this scheme, significant increase high-altitude is made
Industry machine task efficiency and operating accuracy realize full-automatic, the intelligent no dead angle operation of working at height robot.
Description of the drawings
The application is described further in the following with reference to the drawings and specific embodiments：
Fig. 1 is the structural schematic diagram of the embodiment of the present application high and medium Work robot.
Wherein：1- robot bodies, 2- fear barrier component, 3- control units, 4- ultrasonic ranging units, 5- laser ranging lists
Member.
Specific implementation mode
Fig. 1 shows that a specific embodiment of this working at height robot of the application, the working at height robot are
The high-altitude cleaning Work robot of washing and cleaning operation is carried out to high-altitude curtain wall, it can also be high-altitude spray robot or high-altitude certainly
Detect robot etc..Identical with traditional working at height robot to be, which also includes robot body 1,
It is provided on the robot body 1 for making the obstacle detouring unit of robot leaping over obstacles and connecting with obstacle detouring element circuit
Control unit 3.Control unit is for controlling the action of obstacle detouring unit, to allow the robot to smoothly clear the jumps.Obviously, originally
It is also configured with operation unit and walking unit on robot body 1.Wherein, operation unit directly acts on flooring and makees to flooring
Washing and cleaning operation generally includes the components such as round brush, hydraulic spray nozzle；And walking unit is used for band mobile robot and walks on flooring,
It generally includes the components such as idler wheel, sucker.
The key improvements of the present embodiment, above-mentioned robot body 1 be additionally provided with connect with 3 circuit of above-mentioned control unit it is super
Sound ranging unit 4 and laser ranging unit 5.Ultrasonic ranging unit 4 and laser are configured with i.e. on the robot body 1 simultaneously
Distance measuring unit 5, rather than only one of configuration ultrasonic ranging unit 4 or laser ranging unit 5.
Configuring ultrasonic ranging unit 4 and laser ranging unit 5 simultaneously is advantageous in that：It can either ensure that robot is automatic
Leaping over obstacles, and can avoid it and emit laser in the operation time time and influence staff in building.Specific control method is as follows：
Ultrasonic ranging unit 4 is in open state under original state, and laser ranging unit 5 is closed, at this
Working at height robot in work surface (being usually flooring) during walking and carry out operation, if ultrasonic ranging unit 4
Detect that there are barrier (such as glass frame, moulding, lamp decoration, billboard, display screen and windowsill), ultrasonic ranging in front
The obstacle signal is transferred to control unit 2 by unit 4, control unit 2 control laser ranging unit 5 open and to work surface knot
Structure is made high-precision and is detected, and then the accurate dimension information for obtaining forward operation face；Control unit 2 is believed according to the size of above-mentioned acquisition
Breath control obstacle detouring unit does obstacle detouring action, to make working at height robot across obstacle；When working at height robot across
After barrier, control unit 2 controls laser ranging unit 5 and restores to initial closed state, no longer emits laser, avoids to week
Enclose the interference of personnel.
It is known that in most instances, robot why can not across obstacle, be not because robot towards
The spacing of building (glass curtain wall) is not high enough, but because it is towards being configured with what some were difficult to clear the jumps at building
Component, for the convenience of description, this class component is known as fearing barrier component 2 by we.If robot moves towards barrier with conventional posture,
These, which fear barrier component 2, to touch interference with barrier wiping, and can not walk.It is aforementioned to fear barrier component 2 and generally include working at height machine
The operation unit and walking unit of people, it is specific as hairbrush, scraping article, handhold, sucker, hairbrush catch, nozzle, robot body it is outer
The components such as shell, electric pushrod, position-limited wheel.
When walking in view of robot, the barrier in front of it need to be only crossed over, does not need to consider its non-walking
The barrier of direction side, and to detect the barrier situation in front of it well, then must assure that ultrasonic ranging unit 4
The laser that the ultrasonic wave and laser ranging unit 5 sent out is sent out can smoothly forward projects go out.So the present embodiment will be ultrasonic
Wave distance measuring unit 4 and laser ranging unit 5 are arranged in above-mentioned before fearing barrier component 2 on the direction of travel of working at height robot
Side shelters from ultrasonic wave or laser to prevent from fearing barrier component 2, influences ultrasonic ranging unit 4 and laser ranging unit 5 to obstacle
The detection of object.
Further, on the direction of travel of working at height robot, ultrasonic ranging unit 4 is arranged in laser ranging list
The front of member 5 or the two flush arrangement.
It refers again to shown in Fig. 1, it is contemplated that most of working at height robot can move ahead again instead in practical application
Direction retreats, so the present embodiment is provided with altogether two ultrasonic ranging units 4 and two laser ranging units 5, wherein one
A ultrasonic ranging unit 4 and one of laser ranging unit 5 are arranged in the front side for fearing barrier component 2, another ultrasound
The rear side for fearing barrier component 2 is then arranged in away from unit 4 and another laser ranging unit 5.When robot walks forward, barrier group is feared
The ultrasonic ranging unit 4 and laser ranging unit 5 of 2 front side of part detect barrier；When robot, which retreats, walks, barrier component is feared
The ultrasonic ranging unit 4 and laser ranging unit 5 of 2 rear sides detect barrier.
Certainly, some working at height robots can not only it is front and back, retreat, additionally it is possible to lateral walking to the left or to the right, this
When, we a ultrasonic ranging unit 4 and a Laser Measuring can also be respectively set again in the left and right sides for fearing barrier component 2
Away from unit 5, four ultrasonic ranging units 4 and four laser ranging units 5 are configured altogether.
" front, rear, left and right " described in the application are parallel to using Fig. 1 as reference before paper is upwards, be parallel to paper to
Under be after, be parallel to paper to the left be a left side, be parallel to paper to the right be the right side.
Certainly, above-described embodiment is only the technical concepts and features for illustrating the application, and its object is to make people much of that
Solution present context is simultaneously implemented according to this, and the protection domain of the application can not be limited with this.It is all according to the application major technique
The equivalent transformation or modification that the Spirit Essence of scheme is done, should all cover within the protection domain of the application.
Claims (10)
1. a kind of working at height robot, including robot body (1), it is provided on the robot body (1)：
Obstacle detouring unit, and
The control unit (3) being connect with the obstacle detouring element circuit；
It is characterized in that, the robot body (1) is additionally provided with the ultrasonic ranging being connect with described control unit (3) circuit
Unit (4) and laser ranging unit (5).
2. working at height robot as described in claim 1, which is characterized in that the robot body (1) towards building
It is provided at object and fears barrier component (2).
3. working at height robot as claimed in claim 2, which is characterized in that described to fear barrier component (2) include the high-altitude
The operation unit and/or walking unit of Work robot.
4. working at height robot as claimed in claim 3, which is characterized in that described to fear barrier component (2) and include：
Hairbrush, or/and
Scraping article, or/and
Handhold, or/and
Sucker, or/and
Hairbrush catch, or/and
Nozzle, or/and
The shell of robot body, or/and
Electric pushrod, or/and
Position-limited wheel.
5. working at height robot as claimed in claim 2, which is characterized in that in the walking side of the working at height robot
Upwards, the ultrasonic ranging unit (4) and laser ranging unit (5) are arranged in the front for fearing barrier component (2).
6. working at height robot as claimed in claim 5, which is characterized in that in the walking side of the working at height robot
Upwards, the ultrasonic ranging unit (4) is arranged in the front of the laser ranging unit (5).
7. working at height robot as claimed in claim 5, which is characterized in that the ultrasonic ranging unit (4) and described
Laser ranging unit (5) is respectively provided at least two, one of them ultrasonic ranging unit (4) and one of institute
It states laser ranging unit (5) and is arranged in the front side for fearing barrier component (2), another described ultrasonic ranging unit (4) and separately
One laser ranging unit (5) is arranged in the rear side for fearing barrier component (2).
8. working at height robot as claimed in claim 7, which is characterized in that the ultrasonic ranging unit (4) and described
There are two laser ranging unit (5) is respectively arranged.
9. working at height robot as claimed in claim 7, which is characterized in that the ultrasonic ranging unit (4) and described
There are four laser ranging unit (5) is respectively arranged, the third ultrasonic ranging unit (4) and the third Laser Measuring
It is arranged in the left side for fearing barrier component (2) away from unit (5), described in the 4th ultrasonic ranging unit (4) and the 4th
Laser ranging unit (5) is arranged in the right side for fearing barrier component (2).
10. a kind of control method of the working at height robot as described in any in claim 1 to 9, which is characterized in that including：
The ultrasonic ranging unit (4) is in open state under original state, and the laser ranging unit (5), which is in, closes shape
State, during the working at height robot carries out operation walking in work surface, if the ultrasonic ranging unit
(4) detect that front has barrier, the ultrasonic ranging unit (4) that the obstacle signal is transferred to described control unit
(2), described control unit (2) controls the laser ranging unit (5) and opens and make high-precision to work surface structure and detect, and obtains
The dimension information in forward operation face；
Described control unit (2) controls the obstacle detouring unit according to the dimension information of acquisition and acts, and makes the working at height
The barrier is crossed over by robot；
After the barrier is crossed over by the working at height robot or after laser module detected obstacle information, the control
Unit (2) processed controls the laser ranging unit (5) and closes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810443796.6A CN108612331A (en) | 2018-05-10 | 2018-05-10 | Working at height robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810443796.6A CN108612331A (en) | 2018-05-10 | 2018-05-10 | Working at height robot and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108612331A true CN108612331A (en) | 2018-10-02 |
Family
ID=63662957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810443796.6A Pending CN108612331A (en) | 2018-05-10 | 2018-05-10 | Working at height robot and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108612331A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114046018A (en) * | 2021-11-21 | 2022-02-15 | 深圳市瑞河科技有限公司 | Robot wall obstacle crossing operation method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0401120A1 (en) * | 1989-06-02 | 1990-12-05 | Bouygues | Remote-controlled mobile robot for working surfaces, particularly for cleaning glass-walls |
| CN203263307U (en) * | 2013-05-21 | 2013-11-06 | 洛阳理工学院 | Upper air cleaning robot |
| CN106388725A (en) * | 2016-11-25 | 2017-02-15 | 厦门华蔚物联网科技有限公司 | Wall robot capable of surmounting and tramping obstacles |
| CN106976490A (en) * | 2017-04-05 | 2017-07-25 | 南京瑞麒凰电子科技有限公司 | A kind of absorption type surface job platform and its equipment of loading |
| CN208294117U (en) * | 2018-05-10 | 2018-12-28 | 上海霄卓机器人有限公司 | High altitude operation robot |
-
2018
- 2018-05-10 CN CN201810443796.6A patent/CN108612331A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0401120A1 (en) * | 1989-06-02 | 1990-12-05 | Bouygues | Remote-controlled mobile robot for working surfaces, particularly for cleaning glass-walls |
| CN203263307U (en) * | 2013-05-21 | 2013-11-06 | 洛阳理工学院 | Upper air cleaning robot |
| CN106388725A (en) * | 2016-11-25 | 2017-02-15 | 厦门华蔚物联网科技有限公司 | Wall robot capable of surmounting and tramping obstacles |
| CN106976490A (en) * | 2017-04-05 | 2017-07-25 | 南京瑞麒凰电子科技有限公司 | A kind of absorption type surface job platform and its equipment of loading |
| CN208294117U (en) * | 2018-05-10 | 2018-12-28 | 上海霄卓机器人有限公司 | High altitude operation robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114046018A (en) * | 2021-11-21 | 2022-02-15 | 深圳市瑞河科技有限公司 | Robot wall obstacle crossing operation method |
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