CN108720707A - The startup control method of cleaning glass machine people - Google Patents
The startup control method of cleaning glass machine people Download PDFInfo
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- CN108720707A CN108720707A CN201810401180.2A CN201810401180A CN108720707A CN 108720707 A CN108720707 A CN 108720707A CN 201810401180 A CN201810401180 A CN 201810401180A CN 108720707 A CN108720707 A CN 108720707A
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- 239000011521 glass Substances 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000004140 cleaning Methods 0.000 title claims abstract description 36
- 238000010521 absorption reaction Methods 0.000 claims abstract description 104
- 239000003463 adsorbent Substances 0.000 claims description 16
- 230000000977 initiatory effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 description 4
- 239000004744 fabric Substances 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 238000013101 initial test Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
Abstract
The present invention relates to a kind of startup control methods of cleaning glass machine people, this method by judge robot for detecting whether the data detected by the sensor of the absorption surface of robot with the position relationship of other objects meet preset condition, whether start vacuum pump controlling robot and work.User only needs a hand to hold robot, robot is stretched out outside window, and it is covered in glass surface outside window, robot can start vacuum pump automatically and work, it does not need user and reuses an other hand and start to control the switch key of robot, to improve the safety that robot uses.Will not be since user to be during stretching out robot, the problem of robot the user's operation inconvenience caused by operation and usage experience difference always improves properties of product and usage experience.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of startup control method of cleaning glass machine people.
Background technology
Cleaning glass machine people is one kind of controlling intelligent household appliances.It can rely on the vacuum pump or wind turbine dress of themselves bottom
It sets, is firmly adsorbed in window surface, then by certain artificial intelligence, the automatic corner distance for detecting window, planning
Wipe window path.Cleaning glass machine people can generally be adsorbed on the dynamics on glass to drive the rag of fuselage bottom to wipe using itself
Fall the dirt on glass.Publication No. is CN103356123A, and patent name is that " glass cleaning device and its walking start controlling party
One Chinese patent application of method " discloses a kind of glass cleaning device, and it is in this way that walking, which starts control method detailed process,
's:After glass cleaning device is put on glass surface, need with it is hand steered live main body, turn on the power switch, vacuum pump starts
Work, generates certain vacuum degree, deformation piece generates deformation under the action of negative pressure, with vacuum in the inner space of sucker
Degree increases, and foil gauge experiences deformation, sends deformation data to control unit.A predetermined value is set in control unit, once sentence
Vacuum degree corresponding to disconnected deformation data reaches threshold value, that is, thinks to be bonded, judge that machine can walk, then sending out instruction makes dress
Walking is set, can be loosed one's grip.This control method is mainly used for judging whether adsorption capacity of the robot on glass reaches walking
Requirement.But needed with hand steered a robot for user of the existing technology, another hand is by switch key
Start robot, caused problem inconvenient for operation, again without relatively good solution.Especially grasped outside window
When making robot, user needs half of body to stretch out outside window, operates extremely dangerous.If user first opens machine indoors
Device people after so that robot is run, then stretches out and is directly covered in glass surface outside window, although can solve to open robot outside window
Dangerous problem, still, due to robot be opened into stretch out glass outside window during, running always, vibration and noise
Bigger, user's operation is inconvenient, and usage experience is poor.Meanwhile suction caused by robot is easy that the hair of user is sucked
Or the objects such as clothing, can also there be some potential safety problems.
Invention content
To solve the above problems, the present invention provides a kind of startup control method of cleaning glass machine people, may be implemented
The self-starting of robot improves the safety that robot product uses.The specific technical solution of the present invention is as follows：
A kind of startup control method of cleaning glass machine people, includes the following steps：Detect power throughing signal；Judge machine
Whether the data detected by sensor of the absorption surface with the position relationship of other objects for detecting robot of people accord with
Preset condition is closed, if it is, directly initiate vacuum pump, the robot is enable to be adsorbed on glass surface and start to work,
If it is not, then vacuum pump is kept to be in halted state.
Further, the position relationship of the absorption surface and other objects for detecting robot for judging robot
Sensor detected by data whether meet preset condition, include the following steps：Set by absorption surface based on robot
The pressure sensor set, judges whether the pressure value detected by the pressure sensor is more than preset pressure value, if it is,
It determines detected by the sensor for detecting the absorption surface of robot and the position relationship of other objects of the robot
Data fit preset condition, if it is not, then determining the absorption surface for detecting robot of the robot and other objects
Data detected by the sensor of the position relationship of body do not meet preset condition.
Further, the position relationship of the absorption surface and other objects for detecting robot for judging robot
Sensor detected by data whether meet preset condition, include the following steps：It is arranged on body based on robot
Range sensor for detecting the absorption surface of robot and the distance relation of other objects judges the range sensor institute
Whether the distance value detected is less than pre-determined distance value, if it is, determining the suction for detecting robot of the robot
Data fit preset condition detected by sensor of the subordinate list face with the position relationship of other objects, if it is not, then determining institute
State the data detected by the sensor for detecting the absorption surface of robot and the position relationship of other objects of robot
Preset condition is not met.
Further, the position relationship of the absorption surface and other objects for detecting robot for judging robot
Sensor detected by data whether meet preset condition, include the following steps：It is arranged in adsorbent chamber based on robot
For detect in adsorbent chamber light intensity variation photosensitive sensor, judge that the light that the photosensitive sensor detects is strong
Whether within a preset range spend changing value, if it is not, then determine the robot for detect the absorption surface of robot with
Data fit preset condition detected by the sensor of the position relationship of other objects, if it is, determining the robot
For detect the data detected by the sensor of the absorption surface of robot with the position relationship of other objects do not meet it is pre-
If condition.
Further, further include following steps after described the step of directly initiating vacuum pump：Continue to be based on the biography
The data that sensor detects, judge whether detected data meet preset condition, if it is, keeping vacuum pump after reforwarding
Row, if it is not, then control vacuum pump is out of service.
A kind of startup control method of cleaning glass machine people, includes the following steps：It detects into self-starting pattern
Signal；Judge detected by the sensor for detecting the absorption surface of robot and the position relationship of other objects of robot
Data whether meet preset condition, if it is, start vacuum pump, so that the robot is adsorbed on glass surface and open
Beginning work, if it is not, then vacuum pump is kept to be in halted state.
Further, the position relationship of the absorption surface and other objects for detecting robot for judging robot
Sensor detected by data whether meet preset condition, include the following steps：Set by absorption surface based on robot
The pressure sensor set, judges whether the pressure value detected by the pressure sensor is more than preset pressure value, if it is,
It determines detected by the sensor for detecting the absorption surface of robot and the position relationship of other objects of the robot
Data fit preset condition, if it is not, then determining the absorption surface for detecting robot of the robot and other objects
Data detected by the sensor of the position relationship of body do not meet preset condition.
Further, the position relationship of the absorption surface and other objects for detecting robot for judging robot
Sensor detected by data whether meet preset condition, include the following steps：It is arranged on body based on robot
Range sensor for detecting the absorption surface of robot and the distance relation of other objects judges the range sensor institute
Whether the distance value detected is less than pre-determined distance value, if it is, determining the suction for detecting robot of the robot
Data fit preset condition detected by sensor of the subordinate list face with the position relationship of other objects, if it is not, then determining institute
State the data detected by the sensor for detecting the absorption surface of robot and the position relationship of other objects of robot
Preset condition is not met.
Further, the position relationship of the absorption surface and other objects for detecting robot for judging robot
Sensor detected by data whether meet preset condition, include the following steps：It is arranged in adsorbent chamber based on robot
For detect in adsorbent chamber light intensity variation photosensitive sensor, judge that the light that the photosensitive sensor detects is strong
Whether within a preset range spend changing value, if it is not, then determine the robot for detect the absorption surface of robot with
Data fit preset condition detected by the sensor of the position relationship of other objects, if it is, determining the robot
For detect the data detected by the sensor of the absorption surface of robot with the position relationship of other objects do not meet it is pre-
If condition.
Further, in the position relationship for the absorption surface and other objects for detecting robot for determining robot
After data fit preset condition detected by sensor, also, further include following steps before starting vacuum pump：Sentence
Whether the external power supply of disconnected robot is connected, if it is, control vacuum pump startup, if it is not, then control internal electric source is connected,
And control vacuum pump startup.
The startup control method of cleaning glass machine people of the present invention, by judge robot for detecting machine
Whether the data detected by sensor of the absorption surface of people with the position relationship of other objects meet preset condition, to control
Whether robot, which starts vacuum pump, works.User only needs a hand to hold robot, and robot is stretched out outside window, and pastes
Glass surface outside window is overlayed on, robot can start vacuum pump automatically and work, not need user and reuse in addition
One hand is started to control the switch key of robot, to improve the safety that robot uses.It will not be due to
User during stretching out robot, robot always the user's operation inconvenience caused by operation and usage experience difference
Problem improves properties of product and usage experience.
Description of the drawings
Fig. 1 is the flow diagram of an embodiment of the startup control method of the cleaning glass machine people.
Fig. 2 is the flow diagram of another embodiment of the startup control method of the cleaning glass machine people.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail
It states.It should be appreciated that specific embodiment disclosed below is only used for explaining the present invention, it is not intended to limit the present invention.
As shown in Figure 1, a kind of startup control method of cleaning glass machine people, includes the following steps：Robot detects
After the signal that power supply is connected, i.e. user press the power switch of robot, robot first judges its absorption surface and other objects
The mode of the position relationship of body, judgement is by the absorption surface that can detect robot set in robot and other objects
Whether the data detected by the sensor of the position relationship of body, which meet preset condition, is judged.Although robot can not judge
Close object whether be glass surface, but power supply has turned on, so that it may with show user i.e. will starter motor device people into
Row cleaning glass, so, hereafter, the absorption surface of robot object close at first, robot can be considered glass table
Face.When the data fit preset condition for the sensor that robot detects, show the absorption surface and glass surface of robot
Distance it is close, robot can directly initiate vacuum pump, so that the robot is adsorbed on glass surface and start work
Make.If the data for the sensor that robot detects do not meet preset condition, show the absorption surface and glass of robot
The distance on surface is not close enough to, it is not necessary that start vacuum pump, so, robot keeps vacuum pump to be in halted state, Zhi Daoji
Device people is close to glass surface.Wherein, the preset condition is the corresponding judgement being arranged according to the type of used sensor
Condition.Pressure sensor, range sensor and photosensitive sensor etc. may be used in the sensor.The absorption surface refers to machine
That end face on the glass surface can be adsorbed in device people.Method described in the present embodiment, by judging being used for for robot
Detect whether the data detected by the sensor of the absorption surface of robot and the position relationship of other objects meet default item
Whether part starts vacuum pump controlling robot and works.User only needs a hand to hold robot, and robot is stretched out
Outside window, and it is covered in glass surface outside window, robot can start vacuum pump automatically and work, and not need user again
Started to control the switch key of robot using an other hand, to improve the safety that robot uses.?
Will not be since user be during stretching out robot, the user's operation caused by operation is inconvenient always and uses for robot
The problem for experiencing difference, improves properties of product and usage experience.
As one of which embodiment, the absorption surface for being used to detect robot for judging robot and other objects
Whether the data detected by the sensor of the position relationship of body meet preset condition, include the following steps：Based on robot
Pressure sensor set by absorption surface, judges whether the pressure value detected by the pressure sensor is more than preset pressure
Value.Mechanical pressure sensors may be used in the pressure sensor, are arranged on the end face of the port of adsorbent chamber, adsorbent chamber
Port on be also arranged with cleaning cloth, pressure sensor is covered in by cleaning cloth.When user pastes the absorption surface of robot
In glass surface, pressure sensor is depressed and deforms upon, and robot detects that pressure caused by pressure sensor is believed
Number, show the absorption surface of robot already close to glass surface, so robot determines that detected data fit is pre-
If condition, and vacuum pump startup is controlled, carry out cleaning.If robot does not detect pressure signal, show robot
Absorption surface do not contacted with glass surface, so robot determines that detected data do not meet preset condition, keep
Vacuum pump is in halted state.Method described in the present embodiment is detected by the pressure sensor on robot absorption surface
Whether robot has touched glass surface, and the startup of vacuum pump is controlled with this, and control is simple, practicability is high.
As one of which embodiment, the absorption surface for being used to detect robot for judging robot and other objects
Whether the data detected by the sensor of the position relationship of body meet preset condition, include the following steps：Based on robot
The range sensor for detecting the absorption surface of robot and the distance relation of other objects being arranged on body, described in judgement
Whether the distance value detected by range sensor is less than pre-determined distance value.Infrared sensing may be used in the range sensor
Device, ultrasonic sensor or laser sensor etc., the sensor can be arranged in absorption surface, can also be arranged in robot
Other positions, for example be arranged on cleaning body, or be arranged in the connecting rod for connecting two cleaning bodies, sensor
Signal emits and receives direction both facing to the direction where the absorption surface.If sensor is not arranged in absorption surface,
Then it should be noted that when system is arranged, the distance that sensor detects is subtracted the distance between sensor and absorption surface,
Accurate absorption surface can be obtained at a distance from glass surface.When detecting absorption surface and glass surface by range sensor
The distance between be less than 1 centimetre when, show the absorption surface of robot already close to glass surface, so robot determines institute
The data fit preset condition detected, and vacuum pump startup is controlled, carry out cleaning.If detecting absorption surface and glass
The distance between glass surface then shows that the absorption surface of robot is not close to glass surface, so machine without being less than 1 centimetre
People determines that detected data do not meet preset condition, and vacuum pump is kept to be in halted state.Wherein, described 1 centimetre can be with
According to specific design requirement, it is set as other numerical value, such as 0.5 centimetre or 0.1 centimetre etc..Side described in the present embodiment
Method detects whether robot has approached glass surface by range sensor, and the startup of vacuum pump, control essence are controlled with this
Degree and control efficiency are high.
As one of which embodiment, the absorption surface for being used to detect robot for judging robot and other objects
Whether the data detected by the sensor of the position relationship of body meet preset condition, include the following steps：Based on robot
The photosensitive sensor for detecting the variation of the light intensity in adsorbent chamber being arranged in adsorbent chamber judges the photosensitive sensor inspection
Within a preset range whether the light intensity changing value measured.Photo resistance, photosensitive three pole may be used in the photosensitive sensor
Pipe or photoelectric tube etc. can detect the device of light Strength Changes.When the absorption surface of robot is not covered in glass surface
When upper, photosensitive sensor directly acquires ambient, detects that light intensity variation is little.What if photosensitive sensor detected
Light intensity changing value shows that the absorption surface of robot is not close to glass surface in preset range, so robot determines
Detected data do not meet preset condition, and vacuum pump is kept to be in halted state.When the absorption surface of robot is covered in
When on glass surface, the light of photosensitive sensor acquisition is come in through glass delivery, since glass has portion to ambient
Divide the effect of blocking, so, the light intensity that photosensitive sensor detects can there are one the trend obviously to become smaller.If photosensitive biography
The light intensity changing value that sensor detects in preset range, does not show the absorption surface of robot already close to glass table
Face so robot determines detected data fit preset condition, and controls vacuum pump startup, carries out cleaning.Its
In, the preset range can be accordingly arranged according to specific design requirement, be not limited thereto.Described in the present embodiment
Method detects whether robot has approached glass surface by photosensitive sensor, and the startup of vacuum pump is controlled with this, control
Easy, practicability height.
Further include following steps after described the step of directly initiating vacuum pump as one of which embodiment：After
The continuous data detected based on the sensor, judge whether detected data meet preset condition.The sensor is just
It is the devices such as pressure sensor, range sensor or photosensitive sensor described in above-described embodiment.If pressure sensor
It can't detect pressure signal, the light that the distance that range sensor detects is more than 1 centimetre or photosensitive sensor detects is strong
It spends changing value and is more than preset range, then show that robot has had been detached from glass surface, leads to such case, it may be possible to machine
People inadvertently falls off, it is also possible to which user detaches robot from glass surface, at this point, robot has been not necessarily to continue to be adsorbed on glass
Glass surface, so, robot judges that detected data do not meet preset condition, and it is out of service to automatically control vacuum pump.It is no
Then, show that robot is still adsorbed on glass surface, judge detected data fit preset condition, need to keep vacuum pump
It continues to run with.If robot is detached by user from glass surface, it may be possible to which user needs robot changing to another fan
Window is cleaned, so, after control vacuum pump is out of service, as described in above-mentioned first embodiment, when sensor is examined
The data measured meet preset condition again when, and vacuum pump operation is automatically turned on, so can frequently switch on machine to avoid user
Cumbersome problem caused by people's power supply improves intelligence and the practicability of robot manipulation.
As shown in Fig. 2, a kind of startup control method of cleaning glass machine people, includes the following steps：It detects into certainly
The signal of start-up mode；Judge the sensing for detecting the absorption surface of robot and the position relationship of other objects of robot
Whether the data detected by device meet preset condition, if it is, starting vacuum pump, the robot are enable to be adsorbed on glass
Glass surface is simultaneously started to work, if it is not, then vacuum pump is kept to be in halted state.Method described in the present embodiment and first reality
Apply the method described in example the difference is that：Initial testing conditions are different.The present embodiment to be detected is to enter to open certainly
The signal of dynamic model formula, and the mode for detecting the signal can be by the self-starting button that is arranged in robot, as long as the button
It is pressed, robot has been detected by the signal into self-starting pattern.It can also be received by the communication module of robot
Remote controler or the control signal into self-starting pattern that is issued of intelligent terminal.When robot is detected into self-starting
The signal of pattern can judge the sensor for detecting the absorption surface of robot and the position relationship of other objects of robot
Whether detected data meet preset condition, and specific judgment mode is same as the previously described embodiments, and details are not described herein.Such as
Fruit judging result is to need to start vacuum pump, and robot can first detect whether external power supply is connected, if it is, utilizing external electrical
Source directly controls vacuum pump startup, if external power supply is not switched on, vacuum is directly controlled using the internal electric source of robot
Pump startup.Method described in the present embodiment allows user to select whether robot carries out self-starting according to actual demand, with full
The individual demand of sufficient different user improves the functional diversity and practicability of product.
As one of which embodiment, the absorption surface for being used to detect robot for judging robot and other objects
Whether the data detected by the sensor of the position relationship of body meet preset condition, include the following steps：Based on robot
Pressure sensor set by absorption surface, judges whether the pressure value detected by the pressure sensor is more than preset pressure
Value.Mechanical pressure sensors may be used in the pressure sensor, are arranged on the end face of the port of adsorbent chamber, adsorbent chamber
Port on be also arranged with cleaning cloth, pressure sensor is covered in by cleaning cloth.When user pastes the absorption surface of robot
In glass surface, pressure sensor is depressed and deforms upon, and robot detects that pressure caused by pressure sensor is believed
Number, show the absorption surface of robot already close to glass surface, so robot determines that detected data fit is pre-
If condition, and vacuum pump startup is controlled, carry out cleaning.If robot does not detect pressure signal, show robot
Absorption surface do not contacted with glass surface, so robot determines that detected data do not meet preset condition, keep
Vacuum pump is in halted state.Method described in the present embodiment is detected by the pressure sensor on robot absorption surface
Whether robot has touched glass surface, and the startup of vacuum pump is controlled with this, and control is simple, practicability is high.
As one of which embodiment, the absorption surface for being used to detect robot for judging robot and other objects
Whether the data detected by the sensor of the position relationship of body meet preset condition, include the following steps：Based on robot
The range sensor for detecting the absorption surface of robot and the distance relation of other objects being arranged on body, described in judgement
Whether the distance value detected by range sensor is less than pre-determined distance value.Infrared sensing may be used in the range sensor
Device, ultrasonic sensor or laser sensor etc., the sensor can be arranged in absorption surface, can also be arranged in robot
Other positions, for example be arranged on cleaning body, or be arranged in the connecting rod for connecting two cleaning bodies, sensor
Signal emits and receives direction both facing to the direction where the absorption surface.If sensor is not arranged in absorption surface,
Then it should be noted that when system is arranged, the distance that sensor detects is subtracted the distance between sensor and absorption surface,
Accurate absorption surface can be obtained at a distance from glass surface.When detecting absorption surface and glass surface by range sensor
The distance between be less than 1 centimetre when, show the absorption surface of robot already close to glass surface, so robot determines institute
The data fit preset condition detected, and vacuum pump startup is controlled, carry out cleaning.If detecting absorption surface and glass
The distance between glass surface then shows that the absorption surface of robot is not close to glass surface, so machine without being less than 1 centimetre
People determines that detected data do not meet preset condition, and vacuum pump is kept to be in halted state.Wherein, described 1 centimetre can be with
According to specific design requirement, it is set as other numerical value, such as 0.5 centimetre or 0.1 centimetre etc..Side described in the present embodiment
Method detects whether robot has approached glass surface by range sensor, and the startup of vacuum pump, control essence are controlled with this
Degree and control efficiency are high.
As one of which embodiment, the absorption surface for being used to detect robot for judging robot and other objects
Whether the data detected by the sensor of the position relationship of body meet preset condition, include the following steps：Based on robot
The photosensitive sensor for detecting the variation of the light intensity in adsorbent chamber being arranged in adsorbent chamber judges the photosensitive sensor inspection
Within a preset range whether the light intensity changing value measured.Photo resistance, photosensitive three pole may be used in the photosensitive sensor
Pipe or photoelectric tube etc. can detect the device of light Strength Changes.When the absorption surface of robot is not covered in glass surface
When upper, photosensitive sensor directly acquires ambient, detects that light intensity variation is little.What if photosensitive sensor detected
Light intensity changing value shows that the absorption surface of robot is not close to glass surface in preset range, so robot determines
Detected data do not meet preset condition, and vacuum pump is kept to be in halted state.When the absorption surface of robot is covered in
When on glass surface, the light of photosensitive sensor acquisition is come in through glass delivery, since glass has portion to ambient
Divide the effect of blocking, so, the light intensity that photosensitive sensor detects can there are one the trend obviously to become smaller.If photosensitive biography
The light intensity changing value that sensor detects in preset range, does not show the absorption surface of robot already close to glass table
Face so robot determines detected data fit preset condition, and controls vacuum pump startup, carries out cleaning.Its
In, the preset range can be accordingly arranged according to specific design requirement, be not limited thereto.Described in the present embodiment
Method detects whether robot has approached glass surface by photosensitive sensor, and the startup of vacuum pump is controlled with this, control
Easy, practicability height.
As one of which embodiment, in the absorption surface for being used to detect robot and other objects for determining robot
Position relationship sensor detected by data fit preset condition after, also, before starting vacuum pump, further include
Following steps：Judge whether the external power supply of robot is connected, if it is, control vacuum pump startup, if it is not, then in control
Portion's power supply is connected, and controls vacuum pump startup.The external power supply refers to alternating current, and the external power source circuit of robot passes through power supply
The cities Xian Yu are electrically connected, and robot power supply is supplied electricity to by city.The internal electric source is provided in the accumulator or big of robot interior
The energy storage devices such as capacitance.In the cleaning of robot, robot preferentially selects external power supply to power, if without external electrical
When source connects, can just internal electric source be selected to power.For example, when cleaning the window of some area very littles, internal electric source is sufficient
The operation of enough robots, user do not connect external power supply.At this point, robot is also in self-starting pattern, so, robot meeting
In the case where detection external power supply is not switched on, directly internal electric source is utilized to carry out self-starting.Whole process does not need user
Operation bidirectional, substantially increase intelligence and the practicability of robot.
Obviously, the above embodiments are only a part of the embodiment of the present invention, instead of all the embodiments, each implementation
Technical solution between example can be combined with each other.In addition, if occur in embodiment "center", "upper", "lower", "left", "right",
The orientation or positional relationship of the terms such as "vertical", "horizontal", "inner", "outside", instruction is orientation based on ... shown in the drawings or position
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, device is not indicated or implied the indicated or element is necessary
With specific orientation or with specific azimuth configuration and operation, therefore it is not considered as limiting the invention.If implemented
Occur " first ", " second ", the terms such as " third " in example, be the differentiation for the ease of correlated characteristic, should not be understood as instruction or
Imply its relative importance, the quantity of the priority of order or technical characteristic.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.These programs can be stored in computer read/write memory medium（Such as ROM,
The various media that can store program code such as RAM, magnetic disc or CD）In.When being executed, execution includes above-mentioned each to the program
The step of embodiment of the method.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
It so can be with technical scheme described in the above embodiments is modified, either to which part or all technical features
Carry out equivalent replacement；And these modifications or replacements, various embodiments of the present invention skill that it does not separate the essence of the corresponding technical solution
The range of art scheme.
Claims (10)
1. a kind of startup control method of cleaning glass machine people, which is characterized in that include the following steps：
Detect power throughing signal；
Judge detected by the sensor for detecting the absorption surface of robot and the position relationship of other objects of robot
Data whether meet preset condition, if it is, directly initiating vacuum pump, the robot is enable to be adsorbed on glass surface
And start to work, if it is not, then vacuum pump is kept to be in halted state.
2. according to the method described in claim 1, it is characterized in that, the absorption for detecting robot for judging robot
Whether the data detected by sensor of the surface with the position relationship of other objects meet preset condition, include the following steps：
Pressure sensor set by absorption surface based on robot judges the pressure value detected by the pressure sensor
Whether preset pressure value is more than, if it is, determining the absorption surface for being used to detect robot of the robot and other objects
Data fit preset condition detected by the sensor of the position relationship of body, if it is not, then determining being used for for the robot
It detects the data detected by the sensor of the absorption surface of robot and the position relationship of other objects and does not meet preset condition.
3. according to the method described in claim 1, it is characterized in that, the absorption for detecting robot for judging robot
Whether the data detected by sensor of the surface with the position relationship of other objects meet preset condition, include the following steps：
Be arranged on body based on robot for detect the absorption surface of robot and the distance relation of other objects away from
From sensor, judge whether the distance value detected by the range sensor is less than pre-determined distance value, if it is, determining institute
State the data detected by the sensor for detecting the absorption surface of robot and the position relationship of other objects of robot
Meet preset condition, if it is not, then determining the position of the absorption surface and other objects for detecting robot of the robot
It sets the data detected by the sensor of relationship and does not meet preset condition.
4. according to the method described in claim 1, it is characterized in that, the absorption for detecting robot for judging robot
Whether the data detected by sensor of the surface with the position relationship of other objects meet preset condition, include the following steps：
The photosensitive sensor for detecting the variation of the light intensity in adsorbent chamber being arranged in adsorbent chamber based on robot, judges
The light intensity changing value that the photosensitive sensor detects whether within a preset range, if it is not, then determining the robot
It is default for detecting data fit detected by the sensor of the absorption surface of robot with the position relationship of other objects
Condition, if it is, determine the position relationship of the absorption surface and other objects for detecting robot of the robot
Data detected by sensor do not meet preset condition.
5. method according to claim 1 to 4, which is characterized in that in the step for directly initiating vacuum pump
Further include following steps after rapid：
Continue the data detected based on the sensor, judges whether detected data meet preset condition, if so,
Then vacuum pump is kept to continue to run with, if it is not, then control vacuum pump is out of service.
6. a kind of startup control method of cleaning glass machine people, which is characterized in that include the following steps：
Detect the signal into self-starting pattern；
Judge detected by the sensor for detecting the absorption surface of robot and the position relationship of other objects of robot
Data whether meet preset condition, if it is, start vacuum pump, so that the robot is adsorbed on glass surface and open
Beginning work, if it is not, then vacuum pump is kept to be in halted state.
7. according to the method described in claim 6, it is characterized in that, the absorption for detecting robot for judging robot
Whether the data detected by sensor of the surface with the position relationship of other objects meet preset condition, include the following steps：
Pressure sensor set by absorption surface based on robot judges the pressure value detected by the pressure sensor
Whether preset pressure value is more than, if it is, determining the absorption surface for being used to detect robot of the robot and other objects
Data fit preset condition detected by the sensor of the position relationship of body, if it is not, then determining being used for for the robot
It detects the data detected by the sensor of the absorption surface of robot and the position relationship of other objects and does not meet preset condition.
8. according to the method described in claim 6, it is characterized in that, the absorption for detecting robot for judging robot
Whether the data detected by sensor of the surface with the position relationship of other objects meet preset condition, include the following steps：
Be arranged on body based on robot for detect the absorption surface of robot and the distance relation of other objects away from
From sensor, judge whether the distance value detected by the range sensor is less than pre-determined distance value, if it is, determining institute
State the data detected by the sensor for detecting the absorption surface of robot and the position relationship of other objects of robot
Meet preset condition, if it is not, then determining the position of the absorption surface and other objects for detecting robot of the robot
It sets the data detected by the sensor of relationship and does not meet preset condition.
9. according to the method described in claim 6, it is characterized in that, the absorption for detecting robot for judging robot
Whether the data detected by sensor of the surface with the position relationship of other objects meet preset condition, include the following steps：
The photosensitive sensor for detecting the variation of the light intensity in adsorbent chamber being arranged in adsorbent chamber based on robot, judges
The light intensity changing value that the photosensitive sensor detects whether within a preset range, if it is not, then determining the robot
It is default for detecting data fit detected by the sensor of the absorption surface of robot with the position relationship of other objects
Condition, if it is, determine the position relationship of the absorption surface and other objects for detecting robot of the robot
Data detected by sensor do not meet preset condition.
10. the method according to any one of claim 6 to 9, which is characterized in that determine robot be used for detection machine
After data fit preset condition detected by sensor of the absorption surface of device people with the position relationship of other objects, and
And further include following steps before starting vacuum pump：
Judge whether the external power supply of robot is connected, if it is, control vacuum pump startup, if it is not, then the internal electricity of control
Source is connected, and controls vacuum pump startup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810401180.2A CN108720707A (en) | 2018-04-28 | 2018-04-28 | The startup control method of cleaning glass machine people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810401180.2A CN108720707A (en) | 2018-04-28 | 2018-04-28 | The startup control method of cleaning glass machine people |
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| CN108720707A true CN108720707A (en) | 2018-11-02 |
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| CN201810401180.2A Pending CN108720707A (en) | 2018-04-28 | 2018-04-28 | The startup control method of cleaning glass machine people |
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