CN109008763A - A kind of outdoor window wiping robot and its obstacle-detouring method for crossing limbic disorder - Google Patents
A kind of outdoor window wiping robot and its obstacle-detouring method for crossing limbic disorder Download PDFInfo
- Publication number
- CN109008763A CN109008763A CN201810764483.0A CN201810764483A CN109008763A CN 109008763 A CN109008763 A CN 109008763A CN 201810764483 A CN201810764483 A CN 201810764483A CN 109008763 A CN109008763 A CN 109008763A
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- China
- Prior art keywords
- mobile mechanism
- limbic disorder
- limbic
- disorder
- outdoor window
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Manipulator (AREA)
Abstract
The invention proposes the outdoor window wiping robots that one kind can cross limbic disorder, including a machine body, machine body is made of the mobile mechanism and centrally located Wiping mechanism for being distributed in vertex, is connected respectively by respectively setting elevating mechanism between mobile mechanism and Wiping mechanism；Mobile mechanism includes adsorbing mechanism, two movable pulleys and laser range sensor；Adsorbing mechanism is located at the center of mobile mechanism, and adsorbing mechanism is constituted in the pumping cells that the bottom of mobile mechanism suction air forms adsorption capacity, and movable pulley is located at the bottom of mobile mechanism, and movable pulley is mounted on the two sides of adsorbing mechanism；Laser range sensor is mounted on the upper surface of mobile mechanism, positioned at the apex of machine body；The protruding shaft that elevating mechanism includes the elevation driving unit being set in Wiping mechanism, is connect with elevation driving unit, and riser guide in mobile mechanism is connect and is arranged in protruding shaft, limbic disorder is crossed by going up and down and moving machine body.
Description
Technical field
The present invention relates to robot technology, more particularly to one kind can cross the outdoor window wiping robot of limbic disorder and its get over
Barrier method.
Background technique
It is concentrated as urban population is more next, residential building or office building are all built higher and higher, these high buildings are urban developments
Mark and city prosperity symbol.The number of plies in those buildings is all more than twenty or thirty layer, and periphery is enclosed with windowpane
Around these mansions are apparently very tall and big and have class, but the health of its outside glass window is a problem, are now solution
Certainly many people of this problem are designing corresponding machine, and window wiping robot has become a kind of trend, and window wiping robot is not only
Glass can be wiped, and be avoided that cleaner in high-altitude dangerous operation, the manpower of saving and improves safety.
But window wiping robot intelligently wipes one block of glass, can not cross steel bar between multiple pieces of glass, therefore its
Cleaning efficiency underground, it is difficult to meet the outside Wall Cleaning operation of more barrier large area.
Summary of the invention
It is an object of the invention to propose it is a kind of can crossing obstacle automatically robot to meet the scavenger of current glass outer wall
Make, which can not only efficiently clean glass outer wall, and can realize the function such as crossing obstacle automatically between exterior wall, planning cleaning
Energy.
The present invention proposes that a kind of outdoor window wiping robot that can cross limbic disorder, outdoor window wiping robot include one three
Angular machine body, the machine body by be distributed in three vertex mobile mechanism and centrally located Wiping mechanism group
At respectively by the way that elevating mechanism connection is respectively arranged between the mobile mechanism and the Wiping mechanism；Wherein, the moving machine
Structure includes adsorbing mechanism, two movable pulleys and laser range sensor；The adsorbing mechanism is located at the center of the mobile mechanism,
The adsorbing mechanism is constituted in the pumping cells that the bottom of mobile mechanism suction air forms adsorption capacity, and the movable pulley, which is located at, to be moved
The bottom of motivation structure, the movable pulley are mounted on the two sides of the adsorbing mechanism；The laser range sensor is mounted on described
The upper surface of mobile mechanism, positioned at the apex of machine body；The elevating mechanism includes the lifting being set in Wiping mechanism
Driving unit, the protruding shaft being connect with the elevation driving unit, and connect and be arranged in the mobile mechanism with the protruding shaft
Riser guide；When the laser range sensor detects limbic disorder, edge is crossed by going up and down and moving machine body
Obstacle.
It can be crossed in the outdoor window wiping robot of limbic disorder described in proposed by the present invention, the mobile mechanism includes setting
In the window cleaning cloth of mobile mechanism's bottom margin.
It can be crossed in the outdoor window wiping robot of limbic disorder described in proposed by the present invention, the Wiping mechanism includes: position
Rotation wiper unit in the machine body center, and at least one vibration wiping around the rotation wiper unit
Unit；The rotation wiper unit is made of the first wiper of annular and rotary drive unit；The vibration wiper unit is by
Two wipers and vibratory drive unit are constituted.
It can be crossed in the outdoor window wiping robot of limbic disorder described in proposed by the present invention, second wiper is arranged in institute
It states on the line between adsorbing mechanism.
It can be crossed in the outdoor window wiping robot of limbic disorder described in proposed by the present invention, the movable pulley is Mecanum
Wheel.
It can be crossed in the outdoor window wiping robot of limbic disorder described in proposed by the present invention, in the mobile mechanism further
3-axis acceleration sensor and gyro sensor are set, for detecting shift position and the movement shape of outdoor window wiping robot
State.
It can be crossed in the outdoor window wiping robot of limbic disorder described in proposed by the present invention, the bottom sides of the mobile mechanism
Steep cliff sensor is further arranged in edge.
It can be crossed in the outdoor window wiping robot of limbic disorder described in proposed by the present invention, into one inside the mobile mechanism
Step setting path planning unit, the path planning unit are connected with the laser range sensor.
The invention also provides a kind of crossing obstacle automatically methods based on above-mentioned outdoor window wiping robot, comprising:
Step 1: outdoor window wiping robot when being moved at limbic disorder on bare glass, far from limbic disorder two
A elevation driving unit drives the Wiping mechanism and the synchronous rise of mobile mechanism close to limbic disorder；
Step 2: the movable pulley synchronizing moving of the Liang Ge mobile mechanism far from limbic disorder will be close to the shifting of limbic disorder
Motivation structure is moved to the other end of limbic disorder；
Step 3: after limbic disorder is crossed by mobile mechanism, coupled elevating mechanism drives the mobile mechanism to decline
To the new glass surface of the other side, it is bonded and adsorbs with new glass surface by the adsorbing mechanism being arranged thereon；
Step 4: the elevating mechanism of one of bare glass Shang Liangge mobile mechanism is risen, which is risen；
Step 5: the mobile mechanism that rotation is bonded with glass surface makes the mobile mechanism risen cross limbic disorder；
Step 6: mobile mechanism's decline after crossing limbic disorder passes through the adsorbing mechanism and new glass table being arranged thereon
Face paste merges absorption；
Step 7: promoting the mobile mechanism with bare glass absorption, and rotation another two mobile mechanism makes the moving machine of the promotion
Structure surmounts obstacles；
Step 8: make the synchronous decline of Wiping mechanism and mobile mechanism, complete obstacle detouring step.
Compared with prior art, beneficial effects of the present invention: the present invention is clear by the spin-cleaning of Wiping mechanism and vibration
The combination of clean mode, being capable of efficiently cleaning glass window exterior wall；The present invention using laser range sensor can with sniffing robot in
The distance of limbic disorder and perfect wiping window path planning；By the present invention in that being designed with segmented obstacle detouring, guarantee outside high-altitude
It works on wall glass and stability when obstacle detouring.
Detailed description of the invention
Fig. 1 is the bottom view of the outdoor window wiping robot of the present invention.
Fig. 2 is the top view of the outdoor window wiping robot of the present invention.
Fig. 3 is the schematic diagram of step 1 during obstacle detouring.
Fig. 4 is the schematic diagram of step 2 during obstacle detouring.
Fig. 5 is the schematic diagram of step 3 during obstacle detouring.
Fig. 6 is the schematic diagram of step 5 during obstacle detouring.
Fig. 7 is the schematic diagram of step 8 during obstacle detouring.
Fig. 8 is the schematic diagram of elevating mechanism.
In figure, 1- machine body, 2- mobile mechanism, 21- adsorbing mechanism, 22- movable pulley, 23- laser range sensor,
24- window cleaning cloth, 31- rotation wiper unit, 32- vibration wiper unit, 41- elevation driving unit, 42- protruding shaft, 43- lifting are led
Rail.
Specific embodiment
Below in conjunction with schematic diagram to the outdoor window wiping robot and its obstacle detouring proposed by the present invention for crossing limbic disorder
Method is described in more detail, and which show the preferred embodiment of the present invention, it should be appreciated that those skilled in the art can be with
Invention described herein is modified, and still realizes advantageous effects of the invention.Therefore, following description should be understood as
Those skilled in the art's is widely known, and is not intended as limitation of the present invention.
As shown in fig. 1, fig. 2 and fig. 8, the present invention proposes a kind of outdoor window wiping robot that can cross limbic disorder, outdoor
Window wiping robot includes the machine body 1 of a triangle, and the machine body 1 is by being distributed in the mobile mechanism 2 on three vertex
It is formed with centrally located Wiping mechanism, passes through respectively setting lifting between the mobile mechanism 2 and the Wiping mechanism respectively
Mechanism connection；Wherein, the mobile mechanism 2 includes 21, two movable pulleys 22 of adsorbing mechanism and laser range sensor 23；It is described
Adsorbing mechanism 21 is located at the center of the mobile mechanism 2, and the adsorbing mechanism 21 is formed in the bottom of mobile mechanism 2 suction air
The pumping cells of adsorption capacity are constituted, and the movable pulley 22 is located at the bottom of mobile mechanism 2, and the movable pulley 22 is mounted on the suction
The two sides of random structure 21；The laser range sensor 23 is mounted on the upper surface of the mobile mechanism 2, is located at machine body 1
Apex；Referring specifically to Fig. 8, the elevating mechanism include the elevation driving unit 41 being set in Wiping mechanism, with it is described
The protruding shaft 42 that elevation driving unit 41 connects, and connect with the protruding shaft 42 and riser guide in the mobile mechanism 2 is set
43；When the laser range sensor 23 detects limbic disorder, edge barrier is crossed by going up and down and moving machine body 1
Hinder.
It can be crossed in the outdoor window wiping robot of limbic disorder described in proposed by the present invention, the mobile mechanism 2 includes setting
Set the window cleaning cloth 24 in 2 bottom margin of mobile mechanism.
It can be crossed in the outdoor window wiping robot of limbic disorder described in proposed by the present invention, the Wiping mechanism includes: position
Rotation wiper unit 31 in 1 center of machine body, and at least one vibration around the rotation wiper unit 31
Dynamic wiper unit 32；The rotation wiper unit 31 is made of the first wiper of annular and rotary drive unit；The vibration is wiped
Unit 32 is wiped to be made of the second wiper and vibratory drive unit.
It can be crossed in the outdoor window wiping robot of limbic disorder described in proposed by the present invention, second wiper is arranged in institute
It states on the line between adsorbing mechanism 21.
It can be crossed in the outdoor window wiping robot of limbic disorder described in proposed by the present invention, the movable pulley 22 is received for Mike
Nurse wheel, Mecanum wheel can not only realize the straight line walking of machine body 1, moreover it is possible to carry out rotation process.
It can be crossed in the outdoor window wiping robot of limbic disorder described in proposed by the present invention, into one in the mobile mechanism 2
Step setting 3-axis acceleration sensor and gyro sensor, for detecting shift position and the movement shape of outdoor window wiping robot
State.Steep cliff sensor is further arranged in the bottom margin of the mobile mechanism 2, prevents window cleaning equipment device from removing glass edge and falls
It falls.Preferably, by the way that path planning unit, the path planning unit and institute is further arranged in 2 inside of mobile mechanism
The connection of laser range sensor 23 is stated, obtains the glass shape and area that limbic disorder surrounds using laser range sensor 23,
It efficient cooks up and wipes window path.
As shown in Fig. 3 to Fig. 7, the invention also provides a kind of crossing obstacle automatically sides based on above-mentioned outdoor window wiping robot
Method, comprising:
Referring to Fig. 3, outdoor window wiping robot when being moved at limbic disorder on bare glass, far from limbic disorder two
A elevation driving unit 41 drives the Wiping mechanism and the synchronous rise of mobile mechanism 2 close to limbic disorder；
Referring to fig. 4,22 synchronizing moving of movable pulley of the Liang Ge mobile mechanism 2 far from limbic disorder, will be close to limbic disorder
Mobile mechanism 2 be moved to the other end of limbic disorder；
Referring to Fig. 5, after limbic disorder is crossed by mobile mechanism 2, coupled elevating mechanism is driven under the mobile mechanism 2
It is down to the new glass surface of the other side, is bonded and adsorbs with new glass surface by the adsorbing mechanism 21 being arranged thereon；
The elevating mechanism for rising one of bare glass Shang Liangge mobile mechanism 2, which is risen；
Referring to Fig. 6, the mobile mechanism 2 being bonded with glass surface is rotated, the mobile mechanism 2 risen is made to cross limbic disorder；
Mobile mechanism 2 after crossing limbic disorder declines, and is bonded by the adsorbing mechanism being arranged thereon with new glass surface
And it adsorbs；
The mobile mechanism 2 with bare glass absorption is promoted, rotation another two mobile mechanism 2 gets over the mobile mechanism 2 of the promotion
Cross obstacle；
Referring to Fig. 7, makes the synchronous decline of Wiping mechanism and mobile mechanism 2, complete obstacle detouring step.
Compared with prior art, beneficial effects of the present invention: the present invention is clear by the spin-cleaning of Wiping mechanism and vibration
The combination of clean mode, being capable of efficiently cleaning glass window exterior wall；The present invention can be with sniffing robot using laser range sensor 23
Distance and perfect wiping window path planning in limbic disorder；By the present invention in that being designed with segmented obstacle detouring, guarantee in high-altitude
It works on exterior wall glass and stability when obstacle detouring.
The above is only a preferred embodiment of the present invention, does not play the role of any restrictions to the present invention.Belonging to any
Those skilled in the art, in the range of not departing from technical solution of the present invention, to the invention discloses technical solution and
Technology contents make the variation such as any type of equivalent replacement or modification, belong to the content without departing from technical solution of the present invention, still
Within belonging to the scope of protection of the present invention.
Claims (9)
1. the outdoor window wiping robot that one kind can cross limbic disorder, which is characterized in that outdoor window wiping robot includes one three
Angular machine body, the machine body by be distributed in three vertex mobile mechanism and centrally located Wiping mechanism group
At respectively by the way that elevating mechanism connection is respectively arranged between the mobile mechanism and the Wiping mechanism；Wherein, the moving machine
Structure includes adsorbing mechanism, two movable pulleys and laser range sensor；The adsorbing mechanism is located at the center of the mobile mechanism,
The adsorbing mechanism is constituted in the pumping cells that the bottom of mobile mechanism suction air forms adsorption capacity, and the movable pulley, which is located at, to be moved
The bottom of motivation structure, the movable pulley are mounted on the two sides of the adsorbing mechanism；The laser range sensor is mounted on described
The upper surface of mobile mechanism, positioned at the apex of machine body；The elevating mechanism includes the lifting being set in Wiping mechanism
Driving unit, the protruding shaft being connect with the elevation driving unit, and connect and be arranged in the mobile mechanism with the protruding shaft
Riser guide；When the laser range sensor detects limbic disorder, edge is crossed by going up and down and moving machine body
Obstacle.
2. the outdoor window wiping robot according to claim 1 for crossing limbic disorder, which is characterized in that the moving machine
Structure includes the window cleaning cloth that mobile mechanism's bottom margin is arranged in.
3. the outdoor window wiping robot according to claim 1 for crossing limbic disorder, which is characterized in that the cleaning machine
Structure includes: the rotation wiper unit positioned at the machine body center, and at least one around the rotation wiper unit
A vibration wiper unit；The rotation wiper unit is made of the first wiper of annular and rotary drive unit；The vibration is wiped
Unit is wiped to be made of the second wiper and vibratory drive unit.
4. the outdoor window wiping robot according to claim 3 for crossing limbic disorder, which is characterized in that described second wipes
Cloth is arranged on the line between the adsorbing mechanism.
5. the outdoor window wiping robot according to claim 1 for crossing limbic disorder, which is characterized in that the movable pulley
For Mecanum wheel.
6. the outdoor window wiping robot according to claim 1 for crossing limbic disorder, which is characterized in that the moving machine
3-axis acceleration sensor and gyro sensor are further set in structure, for detecting the shift position of outdoor window wiping robot
And motion state.
7. the outdoor window wiping robot according to claim 1 for crossing limbic disorder, which is characterized in that the moving machine
Steep cliff sensor is further arranged in the bottom margin of structure.
8. the outdoor window wiping robot according to claim 1 for crossing limbic disorder, which is characterized in that the moving machine
Further setting path planning unit, the path planning unit are connected with the laser range sensor inside structure.
9. a kind of crossing obstacle automatically method of described in any item outdoor window wiping robots based on such as claim 1-8, feature
It is, comprising:
Step 1: when being moved at limbic disorder on bare glass, two far from limbic disorder rise outdoor window wiping robot
Drop driving unit drives the Wiping mechanism and the synchronous rise of mobile mechanism close to limbic disorder；
Step 2: the movable pulley synchronizing moving of the Liang Ge mobile mechanism far from limbic disorder will be close to the moving machine of limbic disorder
Structure is moved to the other end of limbic disorder；
Step 3: after limbic disorder is crossed by mobile mechanism, coupled elevating mechanism drives the mobile mechanism to drop to separately
The new glass surface of side is bonded and is adsorbed with new glass surface by the adsorbing mechanism being arranged thereon；
Step 4: the elevating mechanism of one of bare glass Shang Liangge mobile mechanism is risen, which is risen；
Step 5: the mobile mechanism that rotation is bonded with glass surface makes the mobile mechanism risen cross limbic disorder；
Step 6: mobile mechanism's decline after crossing limbic disorder is pasted by the adsorbing mechanism being arranged thereon and new glass surface
Merge absorption；
Step 7: promoting the mobile mechanism with bare glass absorption, and rotation another two mobile mechanism gets over the mobile mechanism of the promotion
Cross obstacle；
Step 8: make the synchronous decline of Wiping mechanism and mobile mechanism, complete obstacle detouring step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810764483.0A CN109008763A (en) | 2018-07-12 | 2018-07-12 | A kind of outdoor window wiping robot and its obstacle-detouring method for crossing limbic disorder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810764483.0A CN109008763A (en) | 2018-07-12 | 2018-07-12 | A kind of outdoor window wiping robot and its obstacle-detouring method for crossing limbic disorder |
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| Publication Number | Publication Date |
|---|---|
| CN109008763A true CN109008763A (en) | 2018-12-18 |
Family
ID=64642346
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810764483.0A Pending CN109008763A (en) | 2018-07-12 | 2018-07-12 | A kind of outdoor window wiping robot and its obstacle-detouring method for crossing limbic disorder |
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| CN (1) | CN109008763A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110151046A (en) * | 2019-05-21 | 2019-08-23 | 广州晒帝智能科技有限公司 | A kind of window wiping robot |
| CN110151047A (en) * | 2019-05-21 | 2019-08-23 | 广州晒帝智能科技有限公司 | The driving device of automatic window wiping robot and its leaping over obstacles |
| CN113974502A (en) * | 2021-10-22 | 2022-01-28 | 追觅创新科技(苏州)有限公司 | Remove obstacle-surmounting mechanism and cleaning piece and cleaning device |
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Address after: Room F2054, 2nd floor, 41 block, 398 Heqing Road, Minhang District, Shanghai, 200240 Applicant after: SHANGHAI YIXIUGE NETWORK TECHNOLOGY Co.,Ltd. Applicant after: YIXIUGE INTELLIGENT TECHNOLOGY (HANGZHOU) Co.,Ltd. Address before: Room 701, 1080 Lane 1588, Mingzhong Road, Songjiang District, Shanghai, 201612 Applicant before: SHANGHAI YIXIUGE NETWORK TECHNOLOGY Co.,Ltd. Applicant before: YIXIUGE INTELLIGENT TECHNOLOGY (HANGZHOU) Co.,Ltd. |
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Address after: Room 501, building 5, No. 518, shenzhuan Road, Songjiang District, Shanghai, 201612 Applicant after: SHANGHAI YIXIUGE NETWORK TECHNOLOGY Co.,Ltd. Applicant after: YIXIUGE INTELLIGENT TECHNOLOGY (HANGZHOU) Co.,Ltd. Address before: Room F2054, 2nd floor, 41 block, 398 Heqing Road, Minhang District, Shanghai, 200240 Applicant before: SHANGHAI YIXIUGE NETWORK TECHNOLOGY Co.,Ltd. Applicant before: YIXIUGE INTELLIGENT TECHNOLOGY (HANGZHOU) Co.,Ltd. |
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Application publication date: 20181218 |