CN110226894A - Steam-type window wiping robot and its operational method - Google Patents
Steam-type window wiping robot and its operational method Download PDFInfo
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- CN110226894A CN110226894A CN201910479524.6A CN201910479524A CN110226894A CN 110226894 A CN110226894 A CN 110226894A CN 201910479524 A CN201910479524 A CN 201910479524A CN 110226894 A CN110226894 A CN 110226894A
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- steam
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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
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4086—Arrangements for steam generation
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention relates to a kind of steam-type window wiping robot and its operational methods.The steam-type window wiping robot includes the robot body and steam generation device of separate design, and the robot body is adsorbed on the window-glass when working, and the robot body is connect with the steam generation device by vapor transmission pipeline；The robot body exports jet instruction under operating mode；Steam needed for the steam generation device generates the robot body work according to jet instruction.The application is by the way that steam generation device to be placed on the ground, and robot body is allowed to be adsorbed on window-glass, and steam generation device is connected by length-adjustable power transmission line with vapor transmission pipeline with robot body, that is, by steam generation device and robot body, the two, which are partially separated, comes, the weight for the part that window wiping robot is adsorbed on glass can be reduced, so as to improve reliability when work, reduces work risk.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of steam-type window wiping robot and its operational method.
Background technique
In modern building design, the exterior wall of building can usually be decorated using large stretch of glass, so that building
It builds object and seems more beautiful and stylish, the visual field is broader, while daylighting is also very good.But it also will increase accordingly clean
Intensity and difficulty for the building relatively high for floor, even more need that the cleanup crew of profession is engaged to come to building
Exterior wall is cleaned, and not only will increase the danger of cleanup crew, also will increase clean cost；For resident, outside glass
The cleaning of wall be also it is intractable, also need to buy corresponding cleaning equipment or engage the cleanup crew of profession to clean.
In view of the above problems, people have developed under being constantly progressive of science and technology dedicated for cleaning window
Steam-type robot, the working principle of the robot is substantially are as follows: and robot is adsorbed on the glass of window, by generating steam,
Then it is sprayed onto glass surface, cleaning member is finally utilized, the surface after sprinkling is cleaned, to realize to the clear of glass
It is clean.Existing steam-type robot is all integrated mostly, in other words, as by all various parts for realizing that cleaning is required
It is all integrated together, but can have a problem that in this way, as the component that robot integrates is more, lead to the increase of weight,
The problem of robot is detached from glass surface may can occurs in it under the environment such as damp and hot humidity, correspondingly, for adsorption element
Requirement will be higher, if the suction of adsorption element does not reach requirement, equally can also occur robot be detached from glass surface
Phenomenon, and then immeasurable consequence is caused to the person and property.
Summary of the invention
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of steam-type window wiping robot and its operational method.
A kind of steam-type window wiping robot, for realizing the cleaning of window-glass, the steam-type window wiping robot includes
The robot body and steam generation device of separate design；
The robot body is adsorbed on the window-glass when working, the robot body and the steam generation
Device is connected by vapor transmission pipeline；The robot body is used to be walked, simultaneously according to work order according to the path of planning
Jet instruction is exported during walking；The steam generation device generates the robot body according to jet instruction
Steam needed for work.
The robot body is equipped with absorbing unit, walking unit and cleaning unit in one of the embodiments,；Institute
State the surface that robot body is adsorbed in window-glass to be cleaned by the absorbing unit；The robot body passes through institute
Walking unit is stated to be moved；The cleaning unit is connect with the vapor transmission pipeline, and the robot body passes through described
Cleaning unit completes the cleaning to the window-glass to be cleaned.
The steam generation device includes water tank, water pump, automatic steam control circuit and fever mould in one of the embodiments,
Block；The automatic steam control circuit is extracted the water of preset vol from the water tank by the water pump under jet instruction
The extremely heating module, and water is heated by steam by the heating module.
The liquid level sensor for measuring cistern water level is provided in the water tank in one of the embodiments, it is described
Liquid level sensor is electrically connected with the automatic steam control circuit.
The cleaning unit includes a nozzle, the nozzle and the vapor transmission pipeline in one of the embodiments,
Connection, the nozzle are used to for the steam after heating being sprayed at the surface of window-glass to be cleaned.
Based on same inventive concept, the application also provides a kind of operational method of steam-type window wiping robot, is based on one
Kind steam-type window wiping robot, the steam-type window wiping robot include the robot body and steam generation dress of separate design
It sets, the robot body is adsorbed on the window-glass when working, and the robot body includes a nozzle, the nozzle
It is connect with the steam generation device by vapor transmission pipeline；The described method includes:
According to the work order control robot body received according to the path walking of planning and during walking
Export jet instruction；
Steam needed for steam generation device generates the robot body work according to jet instruction；
It controls the nozzle and sprays the steam of generation once at interval of a preset time；
Cleaning operation is carried out to the surface of the window-glass after sprinkling.
In one of the embodiments, the method also includes:
In response to running to the boundary of the window-glass, then controls robot body and translated along a preset direction；
Wherein, the preset direction is direction opposite with robot body direction of travel and with certain angle.
The robot body includes absorbing unit and control system, the absorbing unit in one of the embodiments,
On be provided with an absorption detection sensor, the absorption detection sensor is connect with the control system；The method also includes:
The adsorption strength data that the absorption detection sensor is got are obtained while cleaning operation；
Control system adjusts the quantity of steam that the steam generation device generates according to the adsorption strength data dynamic.
The steam generation device includes water tank, water pump, automatic steam control circuit and fever mould in one of the embodiments,
Block；The described the step of required steam of the robot body work is generated according to jet instruction, comprising:
The automatic steam control circuit controls the water pump according to jet instruction and extracts preset vol from the water tank
Water；
The water extracted is imported into the heating module；
It controls the heating module and water is heated into steam.
The spray width of the nozzle is less than the fuselage width of the robot body in one of the embodiments,.
Above-mentioned steam-type window wiping robot and its operational method, by setting robot body and steam generation device separation
Meter, and robot body when work is allowed to be adsorbed on window-glass, steam generation device and robot body pass through steam
Transmission pipeline connection, that is to say, that the two, which are partially separated, by steam generation device and robot body comes, and can reduce wiping window
Robot is adsorbed on the weight of the part on glass, and so as to improve reliability when work, reduction may cause the person
With the risk of property safety.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the steam-type window wiping robot in an embodiment；
Fig. 2 is the comprising modules schematic diagram of the steam-type window wiping robot in another embodiment；
Fig. 3 is the part comprising modules schematic diagram of the steam-type window wiping robot in another embodiment；
Fig. 4 is the operational method flow diagram of the steam-type window wiping robot in an embodiment；
Fig. 5 is the bottom view of the steam-type window wiping robot in an embodiment；
Fig. 6 is the operational method flow diagram of the steam-type window wiping robot in another embodiment；
Fig. 7 is the concrete methods of realizing flow diagram of step S30 in Fig. 4.
Specific embodiment
The application in order to facilitate understanding is described more fully the application below with reference to relevant drawings.In attached drawing
Give the better embodiment of the application.But the application can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more disclosure of this application
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.
Referring to Fig. 1, for the structural schematic diagram of the steam-type window wiping robot in an embodiment.The steam-type window cleaning equipment device
People is mainly used for realizing the cleaning of window-glass, may include the robot body 10 and steam generation device of separate design
20.Wherein, it is adsorbed on window-glass when robot body 10 works, robot body 10 and the steam generation device 20 are logical
Cross the S1 connection of vapor transmission pipeline；In other words, it is separated from each other, and leads between robot body 10 and steam generation device 20
It crosses vapor transmission pipeline S1 and realizes connection, steam generation device 20 can be placed on the ground, can also be placed on other objects.
The length of vapor transmission pipeline S1 can be selected and be adjusted according to actual working environment.In general, traditional means are will be more
A component (including cleaning member, ground-engaging element, water tank, heating module, power-supply system etc.) is integrated together, to form one
Window wiping robot realized the cleaning to window-glass by this window wiping robot, but can had a problem that in this way,
As the component that robot integrates is more, leads to the increase of weight, machine may can occur under the environment such as damp and hot humidity
People is detached from the problem of glass surface, correspondingly, the requirement for adsorption element will be higher, if the suction of adsorption element is not up to
To requirement, equally also can there is a phenomenon where robot be detached from glass surface, and then to the person and property cause it is immeasurable after
Fruit.And the application, traditional window wiping robot is reasonably split, specifically by robot body 10 and is used to generate steam
Steam generation device 20 separated so that the weight for the part device being adsorbed on glass reduces, so as to improve
Reliability when work reduces the risk that may cause the person and property safety.
In one embodiment, robot body 10 is for walking and being expert at according to the path of planning according to work order
Jet instruction is exported during walking, wherein the path of planning can be Z-type path, N-type path, appointing in arc type path
One is one or more, and in other words, robot body 10 can walk according to Z-type path, can also appoint one or more roads
Diameter combination is walked.Steam generation device 20 is instructed according to jet to be generated robot body 10 and works required steam.Specifically
, the communication between robot body 10 and steam generation device 20 can be carried out by wireless transport module (not shown),
That is the jet instruction that robot body 10 exports can be transmitted in steam generation device 20 by wireless transport module,
Steam generation device 20 generates robot body 10 according to the jet instruction received and works required steam.Wherein, wireless to pass
Defeated module can select in WiFi, bluetooth or infrared radio frequency signal any one carry out wireless communication.
Referring to Fig. 2, for the module diagram of the steam-type window wiping robot in another embodiment.The robot body 10
It may include absorbing unit 112, walking unit 114 and cleaning unit 116.Wherein, robot body 10 is single by the absorption
Member 112 is adsorbed in the surface of window-glass to be cleaned；That is, absorbing unit 112 is to be adsorbed in robot body 10
Function element on window-glass, the absorbing unit 112 can make robot body 10 by the way of a variety of different absorption
It is adsorbed on window-glass, including but not limited to any one in sucker suction, negative pressure cavity absorption and non-contact permanent magnetic suck.
Sucker suction can be realized by the way that at least one sucker is arranged；Negative pressure cavity absorption can be by being arranged at least one negative pressure chamber
To realize；Non-contact permanent magnetic suck can be realized by the way that inside and outside two permanent magnets are arranged.Based on above-mentioned suction type, Ke Yili
At least one sub- absorbing unit (sucker, negative pressure cavity, permanent magnet) Lai Shixian can be set in solution, absorbing unit 112.Work as absorbing unit
It, should be equal by each sub- absorbing unit in order to guarantee the optimum efficiency of absorption when the 112 two or more sub- absorbing units of use
It is even to be arranged on robot body 10.For ease of description, the preferred negative pressure cavity of the suction type of absorbing unit 112 is inhaled in the application
It is attached.
Further, the absorption detection for detecting 112 adsorption strength of absorbing unit is provided on absorbing unit 112 to pass
Sensor (Fig. 2 does not show), absorption detection sensor are electrically connected with control system 120.Due to the absorption side of the application absorbing unit 112
Formula is adsorbed using negative pressure cavity, so, absorption detection sensor is just accordingly baroceptor, and adsorption strength is exactly in negative pressure cavity
Pressure.
Robot body 10 is moved by walking unit 114；Walking unit 114 can drive 10 edge of robot body
Multiple directions are mobile, and robot body 10 is completed to treat the cleaning of clean window-glass, cleaning unit by cleaning unit 116
116 connect with vapor transmission pipeline S2.It may include the burnishers such as cleaning roller, mop in cleaning unit 116.
Specifically, cleaning unit 116 is mainly mop, and circular robot body 10 is arranged.Realize above-mentioned walking, clear
The functions such as clean, absorption can be respectively set one by the way that multiple small power units are respectively set, such as each function
Motor is realized by multiple small machines.Further, please continue to refer to Fig. 2, cleaning unit 116 includes a nozzle 1162, spray
Mouth 1162 is connect with vapor transmission pipeline S2, and nozzle 1162 is used to the steam after heating being sprayed at window-glass to be cleaned
Surface, it will be understood that the quantity of nozzle 1162 can be one, be also possible to two.
Further, it can assist refering to Fig. 5, be the bottom view of the window wiping robot in an embodiment.In the application, use
Two walking units, two walking units are symmetrical arranged, and in figure, D indicates the distance between two walking units, and d indicates nozzle
Spray width, 116 be cleaning unit, mainly cleaning mop, and 114 be walking unit.It is not difficult to find out that D is greater than d, further
Ground, d be less than or equal to 10 fuselage width of robot body half, preferably d be 10 fuselage width of robot body three/
One.Meanwhile the sprinkling region of nozzle 1162 should control between two walking units.The sprinkling region of nozzle 1162 is controlled
Between two walking units, walking unit can be avoided to glue water to the greatest extent leads to the case where skidding.
Further, nozzle 1162 may include a jet valve (not shown), which can pass through control
The control of system 120 processed opens or closes.The steam that steam generation device 20 generates is transferred to cleaning by vapor transmission pipeline S2
Nozzle in unit 116, wherein the material of vapor transmission pipeline S2 needs energy high temperature resistant, and has ductility.More into one
Step ground, vapor transmission pipeline S2 may include air inlet pipe (not shown) and return pipe (not shown), the flow direction of steam in air inlet pipe
Jet valve is flowed to for steam unit, the flow direction of steam is that jet valve flows to steam generation device 20 in return pipe, and steam produces
Generating apparatus 20 generates steam, inputs steam to robot body 10 by air inlet pipe, and by the snifting valve of robot body 10
Steam generation device 20 is returned by return pipe after door (switch).It avoids in the case where jet valve (switch) is not switched on, gas
Stream can swimmingly be oriented to and be back to steam generation device 20.
Please continue to refer to Fig. 2, robot body 10 can also include control system 120, the control system 120 respectively with
Absorbing unit 112, cleaning unit 116, walking unit 114 are electrically connected, and control system 120 can use single-chip microcontroller, such as STC89
Series monolithic, STC89 series monolithic have the advantages that high speed, maximum clock frequency 90MHz, low-power consumption.
In one embodiment, please continue to refer to Fig. 2, steam generation device 20 and robot body 10 can be using independent
Power supply driven.Further, power transmission line S2 can be passed through between steam generation device 20 and robot body 10
Carry out wired connection, it will be understood that the length of power transmission line S2 can be selected and be adjusted according to specific working environment
It is whole.In this case, power conversion module 220 is placed in steam generation device 20 by the application, and power conversion module 220 is by city
Electricity is transmitted to robot body 10 by power transmission line S2 again after being converted to working power.Wherein, alternating current can be 100V-
The alternating current of 240V, power conversion module 220 can be adapter, by being arranged power conversion module 220 in steam generation
In device, by separating steam generation module 210 and power conversion module 220 from original window wiping robot, favorably
In the reduction of robot weight, reliability is improved.
Further, steam generation device 20 may include water tank 212, water pump 214, automatic steam control circuit 216 and fever
Module 218；Automatic steam control circuit 216 in jet instruction it is lower by water pump 214 from water tank 212 by the water of preset vol extract to
Heating module 218, and water is heated by steam by heating module 218.Wherein, heating module 218 can be heat-generating pipe, heating
The equipment that water can be heated into steam by furnace etc., the steam that heating module 218 generates can be up to 150 degree, in cleaning window
At the same time it can also play the effect of high temperature sterilization, without adding additional chemical sterilants in water tank, can be realized
Cleaning sterilization.
Further, the liquid level sensor (not shown) for measuring 212 water level of water tank, liquid are provided in water tank 212
Level sensor is electrically connected with automatic steam control circuit 216.When the water in water tank 212 is lower than a certain threshold value, can be passed by liquid level
Sensor detected in time, and inform automatic steam control circuit 216, remind user's water shortage by automatic steam control circuit 216.
Although being not shown, steam-type window wiping robot can also include LED display, voice cue module and various biographies
Sensor etc., details are not described herein.
Based on same inventive concept, the application also provides a kind of operational method of steam-type window wiping robot, can assist
Refering to Fig. 2 and Fig. 4, which is based on a kind of steam-type window wiping robot, and the steam-type window wiping robot includes machine
Human body 10 and steam generation device 20, the robot body 10 are adsorbed on window-glass when working, robot body 10
Including a nozzle 1162, the nozzle 1162 is connect with the steam generation device 20 by vapor transmission pipeline S1.This method
It may include step: S10-S30.
Step S10 walks and is walking according to the path of planning according to the work order control robot body received
During export jet instruction.
Specifically, robot body 10 can first pass through external devices (start and stop key or remote controler) triggering, after triggering
Completion starts and enters standby mode；The instruction to be received into operating mode such as later, at this point, robot is in static shape
State, in 10 start-up course of stationary state and robot body, steam generation device 20 does not generate steam, is connected to work order
Afterwards, it just walks according to the path of planning, and exports jet during walking and instruct to steam generation device 20.Wherein, it advises
The path drawn can be Z-type path, N-type path, any or a variety of in arc type path, in other words, robot sheet
Body 10 can walk according to Z-type path, one or more combination of paths can also be appointed to walk.It should be understood that connecing
The state that steam generation device 20 is defaulted before receiving jet instruction is stopping jet state.
Step S20, steam needed for steam generation device generates the robot body work according to jet instruction.
Specifically, it please assist refering to Fig. 2 and Fig. 7, steam generation device 20 includes water tank 212, water pump 214, automatic steam control
Circuit 216 and heating module 218.The step can also include sub-step S20a-S20c.
Step S20a, the automatic steam control circuit control the water pump according to jet instruction and extract from the water tank
The water of preset vol.
The water extracted is imported the heating module by step S20b.
Step S20c controls the heating module for water and is heated into steam.
It is not difficult to obtain, by the amount for the water that control water pump 214 extracts, then passes through heating module 218 for a certain amount of water
It is heated, can produce a certain amount of steam.The generation of steam is controlled so as to the volume of the water extracted by control
Amount allows to the yield by controlling steam to avoid the steam sprayed excessive, leads to asking for the skidding of robot body 10
Topic, can also reduce the risk of skidding, improve the reliability of window wiping robot.It is appreciated that the volume of the water extracted every time can
To be adjusted according to the demand of practical cleaning situation and user, also, for water tank 212, water pump 214, automatic steam control circuit
216 and the description of heating module 218 be referred to previous embodiment, do not do further repeat herein.
Step S30 controls the nozzle and sprays the steam of generation once at interval of a preset time.
Specifically, it can assist refering to Fig. 5, be the bottom view of the window wiping robot in an embodiment.In figure, D indicates two
The distance between walking unit, d indicate the spray width of nozzle, and 116 be cleaning unit, mainly cleaning mop, and 114 be walking
Unit.It is not difficult to find out that D is greater than d, further, d is less than or equal to the half of 10 fuselage width of robot body, and preferably d is machine
The one third of 10 fuselage width of device human body.Meanwhile the sprinkling region of nozzle 1162 should control two walking units it
Between.The sprinkling region of nozzle 1162 is controlled between two walking units, walking unit can be avoided to glue water to the greatest extent and led
Cause the case where skidding.
Further, if nozzle 1162 only one, and the nozzle be set to it is identical as window wiping robot direction of advance
One end (can be understood as front end), can make later robot body 10 control front end nozzle 1162 at interval of a period of time △
T sprays primary steam.Wherein, △ T and jet amount each time can be according to user's sets itselfs.
Similarly, if nozzle is located at the rear end of machine, it is referred to the operation mode of front end.
If the quantity of nozzle 1162 is two, and is respectively placed in the opposite side (front-end and back-end) of window wiping robot, then
Control is located at the nozzle of front end and sprays primary steam at interval of △ T when window wiping robot advances, and the nozzle of rear end not spraying steam；Afterwards
The nozzle that control is located at rear end when moving back sprays primary steam, front end nozzle not spraying steam at interval of △ T.
Further, when robot body 10 is in walking working condition, there is exception error (power-off, gas leakage in machine
Deng) when, then stop jet, executes jet process again after normal work to be restored.
Step S40 carries out cleaning operation to the surface of the window-glass after sprinkling.
Specifically, robot body 10 carries out cleaning work by the surface that the steam generated treats clean window-glass
Industry.
The above method generates steam by control steam generation device 20 and stops generating the time of steam, can be to prevent
Only robot has skidded phenomenon at work, improves the reliability of window wiping robot.
In one embodiment, the operational method can with comprising steps of
In response to running to the boundary of the window-glass, then controls robot body and translated along a preset direction；
Wherein, the preset direction is direction opposite with robot body direction of travel and with certain angle.
Specifically, it after robot body 10 reaches Glazed fence, needs to control robot body 10 and is carried out along preset direction
Translation, wherein preset direction is direction opposite with robot body direction of travel and with certain angle.Illustratively, when
Robot body 10 is moved from bottom to top, after the coboundary for reaching glass, can control after robot body 10 turns right
(left back) direction oblique angle β translates a fuselage, and the horizontal distance of translation is equal to the width d in sprinkling region, wherein β is acute angle.Into
One step, when robot body 10 is moved from bottom to top, between the steam generation mode of steam generation device 20 can be
Formula of having a rest (certain interval of time), which generates steam, can reduce machine using the intermittent generation stream mode of steam generation device 20
The risk that device human body 10 is skidded.Continue to carry out spraying operation in the same manner as previously described when machine opposite direction is walked downwards,
Robot body 10 translates a fuselage after reaching lower boundary in the same way, then proceedes to walk upwards, is located at sprinkling area
Overseas rag will cover the region of previous sprinkling, and wipe out the droplet of previous sprinkling, to guarantee the company in sprinkling region
Continuous property.
The case where in view of only one front nozzle of robot body 10 or rear nozzle, after arrival Glazed fence and with the right side
Direction (or right front to) oblique angle β translates fuselage, can have zonule and not be sprayed to.In this case, it is possible to by machine
The path planning of human body 10 is set as a variety of combination of paths cleanings, for example, carrying out after completing a N-type path walking primary
Z-type path walking, Z-type path with when the operation of N-type path jet amount and interval time it is identical.
If machine front-end and back-end are assembled with nozzle, front end nozzle spray, rear end nozzle are not sprayed water when machine advances；
Rear end nozzle spray, front end nozzle are not sprayed water when machine opposite direction is walked.Other travelling control modes are identical as aforementioned process.Cause
Be fitted with nozzle for machine front and back end, thus machine run to glass up and down frame when, be able to achieve full glassy zone spray
It spills
It is appreciated that the humidity (water absorption) for the cleaning mop being located in sprinkling region should be greater than clear outside sprinkling region
The humidity of clean mop, after can guaranteeing each machines translation fuselage in this way, the cleaning mop outside sprinkling region can erase
Residual moisture in previous sprinkling region.
In one embodiment, it can assist refering to Fig. 3 and Fig. 6, robot body 10 includes absorbing unit 112 and control system
System 120 is provided with an absorption detection sensor 1122, the absorption detection sensor 1122 and institute on the absorbing unit 112
State the connection of control system 120.The operational method of above-mentioned steam-type window wiping robot can also include step S400a-S400b.
Step S400a obtains the adsorption strength data that the absorption detection sensor is got while cleaning operation.
Step S400b, control system adjust what the steam generation device generated according to the adsorption strength data dynamic
Quantity of steam.
According to the description in previous embodiment it is found that the absorbing unit 112 of the application can use a variety of different absorption
Mode be adsorbed in robot body 10 on window-glass, including but not limited to sucker suction, negative pressure cavity absorption and it is non-contact
Any one in permanent magnetic suck.For ease of description, the suction type of the application absorbing unit 112 is adsorbed using negative pressure cavity,
Correspondingly, absorption detection sensor 1122 is just baroceptor, and adsorption strength data are exactly the pressure data in negative pressure cavity.
Specifically, it when robot body 10 carries out cleaning operation according to the steam of generation, can be examined by absorption
Sensor 1122 (baroceptor) is surveyed to obtain the adsorption strength data (pressure in absorbing unit 112 (negative pressure cavity) in real time
Data), and the adsorption strength data (pressure data) that will acquire are transferred to control system 120, and control system 120 will be real-time
Adsorption strength data (pressure data) are compared with preset threshold value, in response to real-time adsorption strength data (pressure data)
Less than preset threshold value, then corresponding control instruction is issued, control steam generation device 20 stops or reduce the generation of steam
Amount；It simultaneously can be with synchronously control absorbing unit 112 (negative pressure cavity) further pressure release, Lai Zengjia adsorption strength；And then it improves
The reliability of window wiping robot reduces the risk of cleaning operation.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of steam-type window wiping robot, for realizing the cleaning of window-glass, which is characterized in that the steam-type window cleaning equipment
Device people includes the robot body and steam generation device of separate design；
The robot body is adsorbed on the window-glass when working, the robot body and the steam generation device
It is connected by vapor transmission pipeline；The robot body is for walking and being expert at according to the path of planning according to work order
Jet instruction is exported during walking；The steam generation device generates the robot body according to jet instruction and works
Required steam.
2. steam-type window wiping robot according to claim 1, which is characterized in that the robot body is equipped with absorption
Unit, walking unit and cleaning unit；The robot body is adsorbed in window-glass to be cleaned by the absorbing unit
Surface；The robot body is moved by the walking unit；The cleaning unit and the vapor transmission pipeline
Connection, the robot body complete the cleaning to the window-glass to be cleaned by the cleaning unit.
3. steam-type window wiping robot according to claim 1, which is characterized in that the steam generation device includes water
Case, water pump, automatic steam control circuit and heating module；The automatic steam control circuit in jet instruction it is lower by the water pump from
The water of preset vol is extracted to the heating module in the water tank, and water is heated by steam by the heating module.
4. steam-type window wiping robot according to claim 3, which is characterized in that be provided in the water tank for measuring
The liquid level sensor of cistern water level, the liquid level sensor are electrically connected with the automatic steam control circuit.
5. steam-type window wiping robot according to claim 2, which is characterized in that the cleaning unit includes a nozzle,
The nozzle is connect with the vapor transmission pipeline, and the nozzle is used to the steam after heating being sprayed at window glass to be cleaned
The surface of glass.
6. a kind of operational method of steam-type window wiping robot, which is characterized in that it is based on a kind of steam-type window wiping robot, it is described
Steam-type window wiping robot includes the robot body and steam generation device of separate design, and the robot body is inhaled when working
It invests on the window-glass, the robot body includes a nozzle, and the nozzle and the steam generation device pass through steaming
The connection of vapour transmission pipeline；The described method includes:
It is walked according to the work order control robot body received according to the path of planning and is exported during walking
Jet instruction；
Steam needed for steam generation device generates the robot body work according to jet instruction；
It controls the nozzle and sprays the steam of generation once at interval of a preset time；
Cleaning operation is carried out to the surface of the window-glass after sprinkling.
7. according to the method described in claim 6, it is characterized by further comprising:
In response to running to the boundary of the window-glass, then controls robot body and translated along a preset direction；Wherein,
The preset direction is direction opposite with robot body direction of travel and with certain angle.
8. the method according to the description of claim 7 is characterized in that the robot body includes absorbing unit and control system
It unites, is provided with an absorption detection sensor on the absorbing unit, the absorption detection sensor is connect with the control system；
The method also includes:
The adsorption strength data that the absorption detection sensor is got are obtained while cleaning operation；
Control system adjusts the quantity of steam that the steam generation device generates according to the adsorption strength data dynamic.
9. according to the method described in claim 8, it is characterized in that, the steam generation device includes water tank, water pump, steam control
Circuit and heating module processed；The described the step of required steam of the robot body work is generated according to jet instruction,
Include:
The automatic steam control circuit controls the water that the water pump extracts preset vol from the water tank according to jet instruction；
The water extracted is imported into the heating module；
It controls the heating module and water is heated into steam.
10. the method according to the description of claim 7 is characterized in that the spray width of the nozzle is less than the robot sheet
The fuselage width of body.
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| CN201910479524.6A CN110226894B (en) | 2019-06-04 | 2019-06-04 | Steam type window cleaning robot and operation method thereof |
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| CN201910479524.6A CN110226894B (en) | 2019-06-04 | 2019-06-04 | Steam type window cleaning robot and operation method thereof |
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| CN110226894B CN110226894B (en) | 2021-11-05 |
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Cited By (1)
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| CN112826361A (en) * | 2020-12-31 | 2021-05-25 | 广州科语机器人有限公司 | Spraying control method and device of window cleaning robot |
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| CN110226894B (en) | 2021-11-05 |
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