CN109464060A - A kind of novel high building glass window cleaning robot - Google Patents
A kind of novel high building glass window cleaning robot Download PDFInfo
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- CN109464060A CN109464060A CN201811415001.7A CN201811415001A CN109464060A CN 109464060 A CN109464060 A CN 109464060A CN 201811415001 A CN201811415001 A CN 201811415001A CN 109464060 A CN109464060 A CN 109464060A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 127
- 239000011521 glass Substances 0.000 title claims abstract description 64
- 230000009194 climbing Effects 0.000 claims abstract description 61
- 238000004891 communication Methods 0.000 claims abstract description 32
- 238000001179 sorption measurement Methods 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 230000009471 action Effects 0.000 claims description 34
- 230000033001 locomotion Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 10
- 239000002184 metal Substances 0.000 claims description 7
- 230000035945 sensitivity Effects 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 2
- 229910045601 alloy Inorganic materials 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 8
- 230000000875 corresponding effect Effects 0.000 description 7
- 230000001939 inductive effect Effects 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 238000005086 pumping Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000003599 detergent Substances 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
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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
Abstract
The invention discloses a kind of novel high building glass window cleaning robots, including remote controller module and the climbing robot host module connecting with remote controller module signal；First MCU built in remote controller module；First MCU is connect with alarm, remote controller displays module, input controller button and first communication module respectively；2nd MCU built in climbing robot host module；2nd MCU is connect with cleaning system, low-voltage detection circuit, adsorption wall climbing system and second communication module respectively；Second communication module is connected with first communication module signal.The small in size, light weight of the present invention, adsorption wall climbing and cleaning effect are good, practicability and generalization with higher, and can efficiently solve existing robot cleaning high-building glass has certain limitation and the bad problem of cleaning effect.
Description
Technical field
The invention belongs to the technical fields of intelligent robot, and in particular to a kind of novel high building glass window cleaning robot.
Background technique
In recent years, earth-shaking variation has occurred in China's appearance of city, and skyscraper is rised sheer from level ground, and has not only saved soil
Ground resource, also makes appearance of city take on an entirely new look, and becomes the one of the important signs that of Level of Urban Modernization, but also brings such as high-altitude
The problems such as cleaning glass, high altitude firefighting first aid, high-altitude construction.With the cleaning and high-rise resident of high-rise building external wall to family
For the cleaning of middle window, the manual work mode for mostly using hanging basket to suspend in midair or gone up and down with hydraulic elevator platform at present, but it is worked
The problems such as intensity is big, low efficiency, security risk are more.
Developing intellectual resource robot cleaning system can liberate the labour for engaging in this dangerous work, can accomplish to height
The automatic cleaning of big building walls, deeper is the technical level and productivity that building maintenance industry can be improved.Machine
Device people's cleaning system can be used for different buildings, can thus save the expense that cleaning system is built for a other building
With.As background, researcher's design proposes a variety of schemes for solving wall surface cleaning robot, but there are still certain
Limitation.If magnetic suction disc climbing robot is only used on magnetic conductive metal wall surface, and simple glass wall can not be applicable in；Perhaps
Much type hanging type cleanings robot requires have roof suspension mechanism；Caterpillar type robot cornering difficulties etc. are brought tired for application
It is difficult.
Summary of the invention
It is an object of the invention to be directed to above-mentioned deficiency in the prior art, a kind of novel high building glass window cleaning robot is provided
People, to solve the problems, such as that existing robot cleaning high-building glass has certain limitation and cleaning effect bad.
In order to achieve the above objectives, the technical solution adopted by the present invention is that:
A kind of novel high building glass window cleaning robot comprising remote controller module and climbed with what remote controller module signal was connect
Wall robot host module；
First MCU built in remote controller module；First MCU respectively with alarm, remote controller displays module, input control
Device button is connected with first communication module；2nd MCU built in climbing robot host module；2nd MCU respectively with cleaning system,
Low-voltage detection circuit, adsorption wall climbing system are connected with second communication module；The second communication module and first communication module
Signal connection.
Preferably, the first MCU and the 2nd MCU is that MSP430F149 does main control chip；First communication module and second leads to
Believe that module is NRF905 monolithic wireless communication module.
Preferably, the operation frequency range of NRF905 monolithic wireless communication module is 433/868/915MHZ.
Preferably, adsorption wall climbing system includes the transverse slat for being located at mainboard both lateral sides, is located at mainboard vertical two
The riser of side；It is connected by metallic rod between two transverse slats and between two risers；Multirow extension is arranged in parallel in mainboard bottom
Ring；Transverse metal bar passes through link and connects two transverse slats；Mainboard is connect by support tube with the first steering engine, the first steering engine and transverse direction
Horizontal Saw blade engagement in metallic rod is connected；Transverse slat connect by support tube with the second steering engine, the second steering engine and set on mainboard
On horizontal rack engage connection；Mainboard is connect by support tube with third steering engine, third steering engine and the level being set on riser
Rack gear engagement connection；The 4th steering engine that connection is engaged with vertical metallic rod is equipped in mainboard；Riser passes through support tube and the 5th
Steering engine engages connection with the vertical Saw blade on mainboard.
Preferably, vacuum sensor is MS5611-01BA high sensitivity vacuum sensor, is assisted by SPI communication
View is communicated to connect with the 2nd MCU.
Preferably, cleaning system includes the lightweight round brush being sheathed in cross alloy framework.
It preferably, further include the power circuit powered for the climbing robot host module；Power circuit includes a piece of
Output voltage, which is 6V, is the LM7806 of steering engine power supply and a piece of output voltage is 5V, is the 2nd MCU and other module for power supply
LM7805。
A kind of control method of novel high building glass window cleaning robot climbing robot host module, which is characterized in that packet
It includes:
Hardware initialization；
Receive the action command that remote controller module is sent；
Judge the cleaning model of current action instruction；
If judging current cleaning model for automatic cleaning model, control adsorption wall climbing system according to it is right-under-it is left-under-it is right
Circulation pattern cleaned；
When robot motion is to dead zone, it is detached from automatic cleaning model, into manual wash mode；
If judging current cleaning model for manual wash mode, the action command that remote controler is sent based on the received is controlled
System climbs wall system movement.
A kind of control method of novel high building glass window cleaning robot remote controller module, comprising:
Hardware initialization；
It is interrupted according to operator by lower button, triggering；
Judge operator by the action command of lower button institute assignment according to interrupt signal；
The action command of assignment is sent to climbing robot host module.
A kind of control method of novel high building glass window cleaning robot, comprising:
Hardware initialization；
Remote controller module is interrupted according to operator by lower button, triggering；
Judge operator by the action command of lower button institute assignment according to interrupt signal；
The action command of assignment is sent to climbing robot host module；
Climbing robot host module receives the action command that remote controller module is sent；
Judge the cleaning model of current action instruction；
If judging current cleaning model for automatic cleaning model, control adsorption wall climbing system according to it is right-under-it is left-under-it is right
Circulation pattern cleaned；
When robot motion is to dead zone, it is detached from automatic cleaning model, into manual wash mode；
If judging current cleaning model for manual wash mode, the action command that remote controler is sent based on the received is controlled
System climbs wall system movement.
Novel high building glass window cleaning robot provided by the invention, has the advantages that
Eight suckers are arranged in the present invention, and cooperation vacuum sensor, solenoid valve, vacuum pump realize robot on glass wall
Walking and cleaning；And automatic cleaning and manual wash mode are provided according to practical, have the function of human-computer interaction.Body of the present invention
Long-pending small, light weight, adsorption wall climbing and cleaning effect are good, practicability and generalization with higher, can efficiently solve existing
The problem for having robot cleaning high-building glass bad with certain limitation and cleaning effect.
Detailed description of the invention
Fig. 1 is the functional block diagram of novel high building glass window cleaning robot.
Fig. 2 is novel high building glass window cleaning robot structure chart.
Fig. 3 is novel high building glass window cleaning robot main control chip MSP430f149 circuit diagram.
Fig. 4 is novel high building glass window cleaning robot adsorption wall climbing system construction drawing.
Fig. 5 is novel high building glass window cleaning robot vacuum sensor circuit diagram.
Fig. 6 is novel high building glass window cleaning robot solenoid valve and vacuum pump driving circuit figure.
Fig. 7 is the circuit diagram of novel high building glass window cleaning robot power module.
Fig. 8 is novel high building glass window cleaning robot radio communication circuit.
Fig. 9 is novel high building glass window cleaning robot impact microphone circuit diagram.
Figure 10 is novel high building glass window cleaning robot host module program flow diagram.
Figure 11 is novel high building glass window cleaning robot remote controller module program flow diagram.
Figure 12 is novel high building glass window cleaning robot state transition graph.
Figure 13 is novel high building glass window cleaning robot PID loop control theory figure.
Figure 14 is novel high building glass window cleaning robot PD program flow diagram.
Wherein, 1, riser；2, mainboard；3, transverse slat；4, crank connecting link；5, support tube；6, metallic rod；7, link；8, first
Steering engine；9, the second steering engine；10, third steering engine；11, the 4th steering engine；12, the 5th steering engine；13, Saw blade.
Specific embodiment
A specific embodiment of the invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
According to one embodiment of the application, with reference to Fig. 1, the novel high building glass window cleaning robot of this programme, including it is distant
Control device module and the climbing robot host module being connect with remote controller module signal.
Remote controller module and climbing robot host module are described in detail individually below:
Remote controller module is for according to actual needs, carrying out the selection of cleaning model, and the result of selection is referred to act
The form of order is sent to climbing robot host module.
First MCU built in remote controller module；First MCU is pressed with alarm, remote controller displays module, input controller respectively
Button is connected with first communication module.
Climbing robot host module be used for receive remote controller module transmission action command, and according to the action command into
The control of row corresponding actions instruction.
2nd MCU built in climbing robot host module, the 2nd MCU respectively with cleaning system, low-voltage detection circuit, suction
Attached wall system of climbing is connected with second communication module, and second communication module is connected with first communication module signal.
With reference to Fig. 3, the first MCU and the 2nd MCU are that MSP430F149 does main control chip；The chip have super low-power consumption,
Arithmetic speed is fast, processing capacity is strong, in piece the features such as resourceful, convenience and high-efficiency exploitation environment.Two panels in system
MSP430F149 single-chip microcontroller is separately mounted in remote controller module and climbing robot host module.Climbing robot host module
MCU realizes the entirety control to climbing robot in terms of following three:
One, MCU controls the switch of solenoid valve, the atmospheric pressure value of vacuum pump, rudder in the adsorption wall climbing system of climbing robot
The revolving speed of machine is walked so that robot be enable firmly to be adsorbed on glass wall.
Two, when low voltage detecting module detects low-voltage signal, MCU sends remote control by transmitter for low-voltage signal
On the liquid crystal display of device, while so that the alarm on remote controler is issued alarm signal and user is reminded to replace battery or to robot
Battery charging.
Three, when operator is remotely controlled climbing robot host using remote controler, remote signal can pass through remote controler
Upper wireless communication transmitting terminal is sent to the receiving terminal of robot body part, and MCU controls machine according to the data-signal received
People makes corresponding actions and completes corresponding cleaning.
First communication module and second communication module are NRF905 monolithic wireless communication module.
With reference to Fig. 8, NRF905 monolithic wireless communication module works in the ISM band of 433/868/915MHZ, by what is integrated
Frequency modulator, the receiver with demodulator, power amplifier, crystal oscillator and adjuster composition.The chip exists
Feature under Shockburst operating mode is: automatically generating lead code and CRC, can be easy to be compiled by SPI interface
Journey configuration.Entire robot system uses two panels NRF905 chip, is separately mounted to climbing robot main body module and remote controler
Module, they can make transmitter but also make receiver.
When operator passes through the operation of remote control control climbing robot, the NRF905 chip being mounted in remote controler is sent out
Emitter is sent signal is controlled, and the NRF905 chip being mounted in climbing robot main part makees receiver and receives letter
Number；When climbing robot is in operation, the NRF905 chip for being mounted on robot body part makees transmitter for climbing robot
Working state signal be sent to receiving end, and the NRF905 chip for being mounted on remote controler makees receiver and receives from robot master
The working state signal of body.
Adsorption wall climbing system
Since building wall surface is mostly non-magnet material, such as glass, ceramic tile and coating, therefore suction type preferably uses
Vacuum suction.Although the single sucking disc structure is simple and easy to control, reliability is difficult to ensure, therefore the present invention is by the way of multi-sucker combination
It is adsorbed.
With reference to Fig. 2, the adsorption wall climbing system includes the transverse slat 3 for being located at 2 both lateral sides of mainboard, is located at mainboard
The riser 1 of 2 vertical two sides；It is connected by metallic rod 6 between two transverse slats 3 and between two risers 1；2 bottom of mainboard
Multirow link 7 is arranged in parallel in portion；Transverse metal bar 6 passes through link 7 and connects two transverse slats 3；The mainboard 2 by support tube 5 with
The connection of first steering engine 8, the first steering engine 8 is engaged with the horizontal Saw blade on transverse metal bar 6 to be connected；Transverse slat 3 by support tube 5 with
The connection of second steering engine 9, the second steering engine 9 engage connection with the horizontal rack being set on mainboard 2；Mainboard 2 passes through 5 third rudder of support tube
Machine 10 connects, and third steering engine 10 engages connection with the horizontal rack being set on riser 1；It is equipped with and vertical metallic rod 6 in mainboard 2
Engage the 4th steering engine 11 of connection；Riser 1 engages company with the vertical Saw blade on mainboard 2 by support tube 5 and the 5th steering engine 12
It connects.
Saw blade 13 includes that horizontal Saw blade is nibbled and vertical Saw blade.
Be respectively mounted sucker in each mainboard 2, riser 1 and 3 bottom surface of transverse slat, be inside support tube 5 it is hollow, in be used for steering engine
Electrical connection between mainboard 2, riser 1 and transverse slat 3.
With reference to Fig. 4, the working principle of sucker is that pumping the gas in sucker using vacuum pump makes sucker suction in glass wall
On face, ipsilateral sucker is aggregated into the solenoid valve of the side by pipeline and is connected to vacuum pump, forms vacuum-pumping system.Pass through pumping
Gas makes the absorption or release of solenoid valve control sucker, and then enables robot riser while transverse slat is fixed in glass wall
It is enough realize left and right, it is upper and lower move freely, and transverse slat need only move left and right when riser is fixed.
With reference to Fig. 6, the working condition of solenoid valve and vacuum pump is realized by controlling the on-off of power supply, in circuit use after
Electric appliance array realizes control to solenoid valve and vacuum pump to control the on-off of power supply, and robot is made take action oneself on glass wall
Such as.Such as MCU control relay array conducting control solenoid closure, the gas in corresponding sucker is extracted in vacuum pump operation out, should
Sucker can be adsorbed on glass wall.
Vacuum pump uses minipump, avoids vacuum pump power consumption excessive, it is ensured that robot can on glass curtain wall
Cleaning is carried out for a long time, increases cruising ability and safety.
With reference to Fig. 5, vacuum sensor is MS5611-01BA high sensitivity vacuum sensor, is assisted by SPI communication
View is communicated to connect with MCU.Vacuum sensor circuit, for acquiring the vacuum values in its current place sucker, by the vacuum values
It is sent in MCU, MCU is acted according to vacuum duty control solenoid valve and vacuum pump.
Cleaning system is the lightweight round brush being sheathed in 6 end transverse slat 3 of transverse metal bar, and lightweight round brush is with metallic rod 6
It moves and rolls, and complete the cleaning to glass wall during scrolling, for giant can be used first before cleaning convenient for cleaning
To curtain wall surface sprinkling detergent to dissolve spot, the movement for then controlling metallic rod 6 drives the swiped through glass of round brush transverse reciprocating
Complete cleaning in surface.
With reference to Fig. 7, power circuit includes that a piece of output voltage is 6V, is the LM7806 and a piece of output electricity of steering engine power supply
Pressure is 5V, is the LM7805 of the 2nd MCU and other module for power supply.
With reference to Fig. 9, impact microphone is embedded at the outer of climbing robot transverse slat 3, riser 1, and is controlled by MCU.Work as machine
When device people goes to window edge generation small shock, microswitch can be closed, and VOUT output level is set low at once, MCU response pair
It should interrupt and make appropriate reaction.
The control of vacuum pump atmospheric pressure value:
With reference to Figure 13, the accurate control to vacuum pump atmospheric pressure value is realized using PID controller, it is ensured that vacuum pump air pressure and outer
The draught head of boundary's atmospheric pressure can be such that climbing robot adsorbed close does not fall on glass wall, and PID controller is by proportional unit
(P), integral unit (I) and differentiation element (D) composition, the differential equation such as formula of output U (t) about input E (t):
Wherein: kp is proportionality coefficient；Ti is calculus time constant；Td is derivative time constant.
The output relationship proportional to input error signal of ratio control, when only proportional control, the output of system exists
Error；The output of integration control and the integral of input error signal are directly proportional, and introducing integral element in the controller can eliminate
Steady-state error；The output of differential control and the differential of input error signal are proportional.In order to improve cleaning speed, cleaning
The middle time for requiring the fixed Mr. Yu position of sucker is shorter, and vacuum degree adjusts arrival stable state by I and is just not necessarily to, and need only be more than
Threshold value reaches reliable absorption, therefore the control of vacuum pump uses PD control, i.e. " ratio+differential " control, such as following formula:
Wherein: kp is proportionality coefficient；Kd is differential coefficient, and ki is integral coefficient and enables ki=0.Practice have shown that the control
Device can control well system.
With reference to Figure 14, the algorithm flow of PD control algorithm, when program enters PD control adjustment function, main control chip is read
Current time vacuum pump atmospheric pressure value P0 calculates draught head Δ P by Δ P=P-P0 (P is atmospheric pressure), and judging whether it exceeds makes
Robot is reliably adsorbed on the threshold value on glass, carries out PD regulation according to setting gain parameter if going beyond the scope, otherwise carries out
Next moment air pressure sampling.
The single step of robot, which is displaced, to be calculated:
Metallic rod 6 connects robot body's module (various circuits and MCU are embedded in it) and upper and lower, left and right four direction
Sucker, metallic rod 6 is mobilizable with intermediate host 2.
Saw blade is housed in metallic rod 6, the gear on steering engine output shaft drives the Saw blade movement in metallic rod 6, into
And metallic rod 6 is driven to move.
Moving distance and gear radius, steering engine angle are closely related, according to bearing rotary principle, robot moving distance etc.
In the arc length L of gear rotation.
Wherein, arc length C corresponding to 360 ° of central angles are as follows:
C=2 π r
Arc length l corresponding to 1 degree of central angle are as follows:
L=C/360 °
The corresponding arc length L of n ° of central angle are as follows:
L=n ° of π r/180 °
Therefore moving distance S is
S=L=n ° of π r/180 °
The gear radius known to M=F × L (M is torque of the power F to rotation axis O) cannot be excessive, the excessive then steering engine of radius
The arm of force increases to increase torque, it is possible to cause steering engine to crash, therefore the present invention selects the radius of gear to be less than steering engine maximum
Torque.Use radius for the gear of 3cm by test of many times comparison, when steering engine rotates 90 °, single step moving distance, which is calculated, is
4.71cm。
The working principle of adsorption wall climbing:
When riser 1, mainboard 2 are in adsorbed state, the sucker of transverse slat 3 is unclamped, is driven by the first steering engine 8 on mainboard 2
Leveling saw rack drives transverse slat 3 on cross bar moves left and right, and is driven in lateral 6 end transverse slat 3 of metallic rod using frictional force
Lateral cleaning, and the closing when moving to suitable position on the right side of its scope of activities for the last time is repeated to glass wall in round brush
First steering engine 8 stops transverse slat 3 and moves, then re-uses sucker suction transverse slat 3.
The sucker on riser 1 is unclamped, third steering engine 10 drives vertical bar to move right to suitable position, and then absorption is perpendicular again
Plate 1；2 sucker of mainboard is unclamped again, is moved right by the second steering engine 9 driving mainboard 2 to suitable position, then adsorbs mainboard 2 again.
So far, laterally transverse slat 3, riser 1, mainboard 2 have moved right identical distance from origin respectively after cleaning, have been performed integrally primary
Translation, the sucker that the movement for first laterally cleaning integral translation again unclamps bar device with second will be again turned on circulation, directly
To the lateral cleaning for completing a line.
Then when transverse slat 3, mainboard 2 are in adsorbed state, 1 sucker of riser is unclamped, is driven by the 4th steering engine 11 on mainboard 2
Vertical Saw blade on dynamic vertical bar drives vertical bar to move down, and equipped with the mobilizable crank connecting link in center, 4 one are connected to riser 1, separately
One is connected to mainboard 2, can buffer moving down to avoid gear slipping for riser 1, and it is bigger to move down more buffer strength, causes
It is slower to move down speed, the 4th steering engine 11 moves down terminal in suitable position so as to accurately control, and riser 1 adsorbs fixation immediately.
The 5th steering engine 12 is drawn on riser 1, the 5th steering engine 12 can drive the vertical Saw blade on mainboard 2 to drive under mainboard 2
It moves.After the sucker for unclamping transverse slat 3, since transverse slat 3 is by 7 support of multiple links at 2 back side of mainboard, therefore transverse slat 3 changes and is held by mainboard 2
Weight, unclamps again the sucker of mainboard 2, then mainboard 2 moves down together with transverse slat 3, but by the mobilizable crank connecting link 4 in above-mentioned center
Buffering, move down that speed is gradually slow, the 5th steering engine 12 moves down terminal also in suitable position so as to accurate control mainboard 2, from
And complete mainboard 2 after primary first riser 1, the entirety of transverse slat 3 moves down, be ready for the lateral cleaning of the second row, i.e. such circulation.
With reference to Figure 10, according to one embodiment of the application, a kind of novel high building glass window cleaning robot climbing robot
The control method of host module comprising:
Hardware initialization；
Receive the action command that remote controller module is sent；
Judge the cleaning model of current action instruction；
If judging current cleaning model for automatic cleaning model, control adsorption wall climbing system according to it is right-under-it is left-under-it is right
Circulation pattern cleaned；
When robot motion is to dead zone, it is detached from automatic cleaning model, into manual wash mode；
If judging current cleaning model for manual wash mode, the action command that remote controler is sent based on the received is controlled
System climbs wall system movement.
With reference to Figure 11, a kind of control method of novel high building glass window cleaning robot remote controller module comprising:
Hardware initialization；
It is interrupted according to operator by lower button, triggering；
Judge operator by the action command of lower button institute assignment according to interrupt signal；
The action command of assignment is sent to climbing robot host module.
A kind of control method of novel high building glass window cleaning robot comprising:
Hardware initialization；
Remote controller module is interrupted according to operator by lower button, triggering；
Judge operator by the action command of lower button institute assignment according to interrupt signal；
The action command of assignment is sent to climbing robot host module；
Climbing robot host module receives the action command that remote controller module is sent；
Judge the cleaning model of current action instruction；
If judging current cleaning model for automatic cleaning model, control adsorption wall climbing system according to it is right-under-it is left-under-it is right
Circulation pattern cleaned；
When robot motion is to dead zone, it is detached from automatic cleaning model, into manual wash mode；
If judging current cleaning model for manual wash mode, the action command that remote controler is sent based on the received is controlled
System climbs wall system movement.
For climbing robot host module when executing cleaning task, nRF905 chip receives signal, MSP430F149 chip
Judge robot and should make walking to the left, and walk to the right, and walking upwards, walk the relevant action of either automatic mode operation state downwards,
Judge whether power module is in low-pressure state further according to the signal of low voltage detecting module acquisition, the machine if in low-pressure state
Device people main control chip sends under-voltage signal to remote controller module, otherwise sends normal signal.
When manipulator selects automatic mode operation, robot is then cleaned on glass wall automatically, and program will lead to
Cross automatic cleaning function of the control mode realization to robot of state machine.Dead zone is encountered when climbing robot carries out automatic cleaning
When, robot can be detached from automatic cleaning model and call manual remote control, and need operator taken over machine people to carry out remote manual control at this time,
Remote manual control cleaning key has four, upper and lower, left and right key, and manipulator completes cleaning task by operational and controlled key button.
The control chip of remote controller module equally uses MSP430F149 single-chip microcontroller, and program starts hardware initialization first,
When operator, which manipulates remote controler triggering, interrupts, program can jump to interrupt function program automatically, judge that manipulator presses according to signal
Lower which key (such as upper and lower, left and right, automatic mode key), its assignment is sent in buffer and return interrupt spot after
The continuous program for executing principal function.
The operating status of climbing robot host module are as follows:
The control mode of automatic cleaning model adoption status machine can succinctly efficiently control robot and complete its scavenger
Make task.It is improved efficiency to reduce power consumption, climbing robot carries out first crawling into the glass wall a to be cleaned left side when cleaning
Upper angle, and direction is carried out since the upper left corner are as follows: right-under-left-under-right scan-type actuation cycle mode completes cleaning function.
Table 1
With reference to shown in Figure 12 and table 1, state machine shares 5 kinds of states and is respectively as follows: the laterally cleaning of initial state S0, from left to right
S1, it moves down the left laterally cleaning S3 of S2, dextrad, terminate state S4.Initial state S0 is that robot is in the glass wall upper left corner
When state, sensor e1, e3 can sense signal simultaneously at this time, and the robot progress that will move right automatically is laterally clear to the right
Wash-be in S1 state.When robot be moved on the right of glass wall along when, sensor e2 generates inductive signal, and robot is then downward
It is mobile, it moves down distance and is set as 4.71cm, as S2 state.Then, it is S3 state that robot, which carries out laterally cleaning to the left,.
When robot reaches glass wall left margin, sensor e1 generates inductive signal, and robot moves down again, and moving distance is same
Sample is set as 4.71cm, and then robot, which moves right, carries out dextrad cleaning.Iterative cycles are until robot moves down into glass in this way
Sensor e4 generates inductive signal starting interrupt routine stopping and moves down and start last time laterally cleaning when glass wall lower end, when this
Row cleaning is completed, then the inductive signal of e14 or e24 drives robot to jump out automatic cleaning model automatically into state S4 is terminated.
The small in size, light weight of the present invention, adsorption wall climbing and cleaning effect are good, practicability and generalization with higher,
The problem that existing robot cleaning high-building glass has certain limitation and cleaning effect bad can be efficiently solved.
Although being described in detail in conjunction with specific embodiment of the attached drawing to invention, should not be construed as to this patent
Protection scope restriction.In range described by claims, those skilled in the art are without creative work
The various modifications and deformation made still belong to the protection scope of this patent.
Claims (10)
1. a kind of novel high building glass window cleaning robot, it is characterised in that: including remote controller module and with remote controller module signal
The climbing robot host module of connection；
First MCU built in the remote controller module；First MCU respectively with alarm, remote controller displays module, input control
Device button is connected with first communication module；2nd MCU built in the climbing robot host module；2nd MCU respectively with
Cleaning system, low-voltage detection circuit, adsorption wall climbing system are connected with second communication module；The second communication module and first
The connection of communication module signal.
2. novel high building glass window cleaning robot according to claim 1, it is characterised in that: the first MCU and second
MCU is that MSP430F149 does main control chip；The first communication module and second communication module are that NRF905 monolithic is wireless
Communication module.
3. novel high building glass window cleaning robot according to claim 2, it is characterised in that: the NRF905 monolithic is wireless
The operation frequency range of communication module is 433/868/915MHZ.
4. novel high building glass window cleaning robot according to claim 1, it is characterised in that: the adsorption wall climbing system packet
The transverse slat for being located at mainboard both lateral sides is included, the riser of the vertical two sides of mainboard is located at；Between two transverse slats and two
It is connected by metallic rod between riser；Multirow link is arranged in parallel in the mainboard bottom；Transverse metal bar is connected across link
Two transverse slats；The mainboard is connect by support tube with the first steering engine, the horizontal Saw blade on the first steering engine and transverse metal bar
Engagement is connected；The transverse slat is connect by support tube with the second steering engine, and the second steering engine is engaged with the horizontal rack being set on mainboard
Connection；The mainboard is connect by support tube with third steering engine, and third steering engine engages connection with the horizontal rack being set on riser；
The 4th steering engine that connection is engaged with vertical metallic rod is equipped in the mainboard；The riser by support tube and the 5th steering engine with
Vertical Saw blade on mainboard engages connection.
5. novel high building glass window cleaning robot according to claim 1, it is characterised in that: the vacuum sensor is
MS5611-01BA high sensitivity vacuum sensor is communicated to connect by SPI communication agreement and the 2nd MCU.
6. novel high building glass window cleaning robot according to claim 1, it is characterised in that: the cleaning system includes set
Lightweight round brush in cross alloy framework.
7. novel high building glass window cleaning robot according to claim 1, it is characterised in that: further include climbing wall machine to be described
The power circuit of device people's host module power supply；The power circuit includes that a piece of output voltage is 6V, is steering engine and powers
LM7806 and a piece of output voltage are 5V, are the LM7805 of the 2nd MCU and other module for power supply.
8. the controlling party of novel high building glass window cleaning robot climbing robot host module described in -7 according to claim 1
Method characterized by comprising
Hardware initialization；
Receive the action command that remote controller module is sent；
Judge the cleaning model of current action instruction；
If judging current cleaning model for automatic cleaning model, control adsorption wall climbing system according to it is right-under-it is left-under-right follow
Ring mode is cleaned；
When robot motion is to dead zone, it is detached from automatic cleaning model, into manual wash mode；
If judging current cleaning model for manual wash mode, the action command that remote controler is sent based on the received, control is climbed
Wall system movement.
9. the control method of novel high building glass window cleaning robot remote controller module described in -7 according to claim 1, feature
It is, comprising:
Hardware initialization；
It is interrupted according to operator by lower button, triggering；
Judge operator by the action command of lower button institute assignment according to interrupt signal；
The action command of assignment is sent to climbing robot host module.
10. the control method of novel high building glass window cleaning robot described in -7 according to claim 1 characterized by comprising
Hardware initialization；
Remote controller module is interrupted according to operator by lower button, triggering；
Judge operator by the action command of lower button institute assignment according to interrupt signal；
The action command of assignment is sent to climbing robot host module；
Climbing robot host module receives the action command that remote controller module is sent；
Judge the cleaning model of current action instruction；
If judging current cleaning model for automatic cleaning model, control adsorption wall climbing system according to it is right-under-it is left-under-right follow
Ring mode is cleaned；
When robot motion is to dead zone, it is detached from automatic cleaning model, into manual wash mode；
If judging current cleaning model for manual wash mode, the action command that remote controler is sent based on the received, control is climbed
Wall system movement.
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