CN201965489U - Movement control system of glass-cleaning robot - Google Patents

Movement control system of glass-cleaning robot Download PDF

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Publication number
CN201965489U
CN201965489U CN2011200185527U CN201120018552U CN201965489U CN 201965489 U CN201965489 U CN 201965489U CN 2011200185527 U CN2011200185527 U CN 2011200185527U CN 201120018552 U CN201120018552 U CN 201120018552U CN 201965489 U CN201965489 U CN 201965489U
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China
Prior art keywords
windows
machine
cleans
unit
people
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Expired - Lifetime
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CN2011200185527U
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Chinese (zh)
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汤进举
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Ecovacs Robotics Suzhou Co Ltd
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Abstract

The utility model belongs to the technical field of intelligent robots and particularly relates to a movement control system of a glass-cleaning robot. The glass-cleaning robot comprises a walking unit and a driving unit; the movement control system comprises a sensing component and a control unit; the sensing component comprises sensing units which are located at the same end of the glass-cleaning robot and a side sensing unit located at the side of the glass-cleaning robot; the control unit is respectively connected with the sensing component and the driving unit; and the control unit controls the driving unit to drive the walking unit to move according to the signals sent by left and right sensors at the same end of the glass-cleaning robot and/or sensors at the same side of the glass-cleaning robot. The movement control mechanism of the glass-cleaning robot not only can uniformly clean the glass and lighten the work intensity of the workers, but also has high intelligent level and can stay away from obstacles in the cleaning process.

Description

Machine people's mobile control system cleans the windows
Technical field
The utility model belongs to the intelligent robot technology field, specifically, relates to a kind of machine people's that cleans the windows mobile control system.
Background technology
In daily life, for the glass of fritter, people generally use rag to clean scouring, and the outer facade of structural glass and window uses the rod-type cleaning glass to wipe usually and cleans scouring.Yet when wiping cleaning glass with the rod-type cleaning glass, arm is tired easily, and when wiping the examination outdoor glass, especially for skyscraper, operating process is very dangerous.As seen, cleaning exterior window is a great problem in family and even city, not only dangerous but also be difficult for wiping complete, clean.
At as above problem, a kind of window-cleaning device has appearred at present, and the patent No. is ZL200820080547.7.Fig. 1 is the structure diagram of existing window-cleaning device, and as shown in Figure 1, these vierics are made up of identical two operation parts, and each operation part comprises respectively again: handle 441, plastic plate 442 and rag 444.Handle 441 is fixed on the one side of plastic plate 442, and rag 4 is fixed on the another side of plastic plate 2, is fixed with magnet plate 443 between plastic plate 442 and rag 444.When needs wiping glass, two operation parts of window-cleaning device are placed the two sides for the treatment of wiping glass respectively, under the magnetic action of both magnet plates 443, both are across treating that wiping glass is attached together.The user grips the handle of dwelling on the operation part for the treatment of the wiping glass inner side, by it is moved, realizes treating the cleaning of wiping glass inner side.Because magnetic action, be in and can drive the operation part motion that is in the outside when inboard operation part moves, thereby with the outside of glass also wiped clean.
Technique scheme, though contingent unsafe factor when efficiently solving the wiping exterior window, but this window-cleaning device need be by handling the operation part that is positioned at glass inner side artificially, thereby guiding is positioned at the operation part work of glass outer side, for area bigger treat wiping glass, the user still needs to climb low, labour intensity height and workload are big, and the process of wiping window is random big, has that some place repeats to wipe, some local defective of wiping of leaking.
The utility model content
Technical problem to be solved in the utility model is at the deficiencies in the prior art, and a kind of machine people's that cleans the windows mobile control system at first is provided, and can make the uniform wiping glass of glass cleaning machine device people, and in wiping process avoiding barrier.
Technical problem to be solved in the utility model is achieved by the following technical solution:
In the machine people's that cleans the windows of the present utility model mobile control system, the described machine people that cleans the windows comprises walking unit 15 and driver element 16; Described mobile control system comprises sensing element 12 and control module 11, sensing element 12 comprises sensing unit 121 that is positioned at the same end of machine people that cleans the windows and the side sensing unit 122 that is positioned at machine people one side that cleans the windows, control module 11 is connected with driver element 16 with sensing element 12 respectively, the signal that control module 11 is sent according to the side sensing unit 122 of the sensing unit 121 of the same end of machine people that cleans the windows and/or a side, control drive unit 16 drives walking unit 15 and moves.
Same end sensing unit 121 comprises two sensors, and two sensors lay respectively at the left side, the right on the plane.
Side sensing unit 122 comprises two sensors, and two sensors lay respectively at front end, the rear end of the same side of robot.
Sensor is touch sensor or non-contacting sensor.
Preferably, touch sensor is travel switch, pressure transducer or conductive rubber.
Preferably, non-contacting sensor is infrared external reflection sensing or sonac.
The described machine people that cleans the windows comprises driving machine 1 and follower 2, driving machine 1 is built-in with first magnet 14, follower 2 is built-in with second magnet 24, make both can be adsorbed on the inside and outside both sides of glass mutually, under the suction of first and second magnet 14,24, produce servo-actuateds with moving cell 26 and walking unit 15 on the follower 2.
Walking unit 15 comprises left and right sides crawler belt 151 and the Athey wheel 152 that is positioned at driving machine 1, and crawler belt 151 comprises a plurality of track unit joint 151a.
Compared with prior art, the beneficial effects of the utility model are:
The utility model level of intelligence height is realized evenly cleaning the windows the person's that not only do not lighten one's labor working strength, and wiped clean.
Description of drawings
Fig. 1 is the clean the windows structure diagram of device of prior art;
Fig. 2 is the utility model machine people mobile control system control flow synoptic diagram that cleans the windows;
Fig. 3 is clean the windows machine people's structural representation of the utility model;
Fig. 4 is clean the windows machine people's control method for movement embodiment 1 process flow diagram of the utility model;
Fig. 5 is clean the windows machine people's control method for movement embodiment 2 process flow diagrams of the utility model;
Fig. 6 is clean the windows machine people's control method for movement embodiment 3 process flow diagrams of the utility model;
Fig. 7 is clean the windows machine people's control method for movement embodiment 4 process flow diagrams of the utility model;
Fig. 8 is clean the windows machine people's motion track synoptic diagram of the utility model.
Reference numeral:
1. driving machine 111. driving machine shells 2. followers 222. follower shells
3. glass 11. control modules 12. sensing elements
121. sensing unit 122. side sensing units 15. walking unit
151. crawler belt 152. Athey wheel 151a. track unit joint
14. first magnet, 24. second magnet, 16. driver elements 26. are with moving cell
441. handle 442. plastic plates 443. magnet plates 444. rags
Embodiment
The utility model machine people that cleans the windows is made up of driving machine 1 and follower 2, and both are separate piece.Driving machine is provided with energy unit, driver element and control module, and this energy unit is the rechargeable type battery, as: Ni-MH battery or lithium battery or the like.Follower 2 is provided with the wiping glass unit, and driving machine 1 is built-in with first magnet 14, and follower 2 is built-in with second magnet 24.
Driver element 16 comprises drive motor, and walking unit 15 comprises crawler belt 151 and Athey wheel 152, and crawler belt 151 comprises a plurality of track unit joint 151a.Two crawler belts 151 lay respectively at the both sides of driving machine 1, and every crawler belt 151 is driven by a drive motor respectively.By single driving, thereby realization is synchronized with the movement, differential motion.Be synchronized with the movement and make driving machine advance or retreat; Differential motion can make driving machine 1 realize rotation.
Use the utility model machine man-hour that cleans the windows, driving machine 1 and follower 2 are placed the both sides for the treatment of wiping glass 3 respectively, be positioned at the driver element on the driving machine 1, realization work under the energy of energy unit is supplied with, thus realize that driving machine 1 moves on glass 3.Owing to be provided with first magnet 14 in the driving machine 1, be provided with second magnet 24 in the follower 2, under magnetic action, driving machine 1 drives follower 2 and moves, and realizes that the wiping glass unit that is arranged on the follower 2 carries out wiping to the surface of glass 3.
When driving machine 1 was advanced, Athey wheel 152 rotations drove crawler belt 151 and rotate, and track unit joint 151a constantly alternately contacts glass 3 surfaces provides enough big stiction to advance for window wiping robot.Because the absorption of the strong magnets in driving machine 1 and the follower 2 relation, follower 2 is advanced with same trajectories with driving machine 1.
The machine people that cleans the windows comprises walking unit 15 and driver element 16; Mobile control system comprises sensing element 12 and control module 11, sensing element 12 comprises sensing unit 121 that is positioned at the same end of machine people that cleans the windows and the side sensing unit 122 that is positioned at machine people one side that cleans the windows, control module 11 is connected with driver element 16 with sensing element 12 respectively, the signal that control module 11 is sent according to the side sensing unit 122 of the sensing unit 121 of the same end of machine people that cleans the windows and/or a side, control drive unit 16 drives walking unit 15 and moves.
Same end sensing unit 121 comprises two sensors, and two sensors lay respectively at the left side, the right on the plane.
Side sensing unit 122 comprises two sensors, and two sensors lay respectively at front end, the rear end of the same side of robot.
Sensor is touch sensor or non-contacting sensor.
Preferably, touch sensor is travel switch, pressure transducer or conductive rubber.
Preferably, non-contacting sensor is infrared external reflection sensing or sonac.
The described machine people that cleans the windows comprises driving machine 1 and follower 2, driving machine 1 is built-in with first magnet 14, follower 2 is built-in with second magnet 24, make both can be adsorbed on the inside and outside both sides of glass mutually, under the suction of first and second magnet 14,24, produce servo-actuateds with moving cell 26 and walking unit 15 on the follower 2.
Walking unit 15 comprises left and right sides crawler belt 151 and the Athey wheel 152 that is positioned at driving machine 1, and crawler belt 151 comprises a plurality of track unit joint 151a.
Driving machine 1 is in the active moving process, and when driving machine 1 is provided with the barrier that similar window frame is felt in the collision sensing unit, driving machine 1 can initiatively be dodged.
Further specify clean the windows machine people's the course of work of control method for movement of the utility model in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figure 4, clean the windows machine people's control method for movement specifically comprises the steps:
Step S100: the people starts the machine;
Step S115: robot walks forward;
Step S120:, enter step S130 if when the signal of sensing unit 121 of robot front end is received in ROBOT CONTROL unit 11; Otherwise, return step S115;
Step S130: walking unit 15 half-twists of robot;
Step S135: robot welt walking;
Step S140:, enter step S146 if control module 11 is received the signal of the sensing unit 121 of robot front end; Step S146: robot drives 15 rotations of walking unit by two drive motor differential movement in the driver element 16, makes substantially parallel with the running route of step S135 and the certain at interval distance of robot after the posture adjustment; Otherwise, return step S135.
Step S152: robot walks forward;
Step S155: if control module 11 is received the signal of the sensing unit 122 of side, enter step 170, otherwise, return step S140;
Step S170: walking unit 15 welts walking;
Step S175: control module 11 receives the signal that the sensing unit 121 of front end sends, and enters step S180; Otherwise, return step S170;
Step S180: power cut-off.
Embodiment 2
As shown in Figure 5, on the basis of embodiment 1, the control method of embodiment 2 is further comprising the steps of.
Further comprising the steps of between step S100 and step S115:
Step S105: the acceleration transducer in the robot is adjusted the position of robot, corrects the position deflection of robot;
Step S110: control module 11 is received the signal that acceleration transducer sends, if judge that robot is in perfect condition, enters step S115, otherwise, return step S105.
Step S121: the signal of the sensing unit 121 of control module 11 receiving front-ends, if control module 11 judge when robots are in the opposite side state, enter step S130; Otherwise enter step S122; Wherein, the opposite side state is the signal that control module receives the and arranged on left and right sides sensor of robot front end simultaneously;
Step S122: control module after the adjustment robot pose, returns step S121 by the signal of the sensing unit 121 of judgement front end.
Step S122 specifically comprises: when having only left side sensor in the sensing unit 121 of front end to sense signal, control module 11 control drive unit 16 turn clockwise robot, change the attitude of robot; When perhaps having only the right sensor in the sensing unit 121 of front end to sense signal, control module 11 control drive unit 16 are rotated counterclockwise robot, change the attitude of robot.
Further comprising the steps of between step S140 and step S146:
Step S141: the signal of the sensing unit 121 of control module 11 receiving front-ends, if control module 11 judge when robots are in the opposite side state, enter step S146; Otherwise, enter step S142; Wherein, the opposite side state is the signal of the and arranged on left and right sides sensor of the control module sensing unit 121 that receives the robot front end simultaneously; Otherwise, enter step S142;
Step S142: control module after the adjustment robot pose, returns step S141 by the signal of the sensing unit 121 of judgement front.
Step S142 specifically comprises: when having only left side sensor in the sensing unit 121 of front end to sense signal, control module 11 control drive unit 16 turn clockwise robot, change the attitude of robot; When perhaps having only right sensor in the sensing unit 121 of front end to sense signal, control module 11 control drive unit 16 are rotated counterclockwise robot, change the attitude of robot.
Further comprising the steps of between step S146 and step S152:
Step S147: the acceleration transducer in the robot is adjusted the position of robot, corrects the position deflection of robot;
Step S148: control module is received the signal that acceleration transducer sends, if judge that robot is in perfect condition, enters step S152, otherwise, return step S147.
Further comprising the steps of between step S175 and step S180:
Step S176: walking unit 15 half-twists;
Step S177: robot welt walking;
Step S178: if control module 11 is received the signal of the sensing unit 121 of robot front end, enter step S180, otherwise, return step S177.
Embodiment 3
As shown in Figure 6, on the basis of embodiment 2, the control method of embodiment 3 is further comprising the steps of.
Between step S120 and step S130, also comprise following concrete steps:
Step S123: two drive motor antiports in the driver element 16 drive walking unit 15 and move;
Step S124: robot walks forward;
Step S125: if control module 11 is received the signal of the sensing unit 121 that is positioned at the robot front end, enter step S130, otherwise, return step S124.
Embodiment 4
As shown in Figure 7, on the basis of embodiment 3, the control method of embodiment 4 is further comprising the steps of.
Also comprise following concrete steps between step S140 and the step S146:
Step S143.: two drive motor antiports in the driver element 16 drive walking unit 15 and move;
Step S144: robot walks forward;
Step S145: if control module 11 is received the signal of the sensing unit 121 that is positioned at the robot front end, enter step S146, otherwise, return step S144.
In preferred version, also be provided with the collision sensing unit on the follower 2.Therefore, no matter be that driving machine 1 is felt as barriers such as window frames in the active moving process, still follower 2 is felt barrier in passive moving process, can dodge by the communication information interactive function that driving machine 1 and follower 2 are possessed between the two, can realize that all driving machine 1 and follower 2 carry out work in real erasable zone, and can not occur taking place such as being stuck in the first-class abnormal conditions of similar window frame.
The machine people that cleans the windows realizes from locomotive function by the driver element that is provided with in the driving machine, realizes that people need not do-it-yourself and carry out work, makes people break away from heavy housework; The utility model is done technical guarantee by the collision sensing unit that all has in driving machine and the follower, and the feasible machine people that cleans the windows can easily tackle the contingent many unpredictalbe abnormal conditions in glass both sides.

Claims (8)

1. mobile control system of machine people that cleans the windows, the described machine people that cleans the windows comprises walking unit (15) and driver element (16); Described mobile control system comprises sensing element (12) and control module (11), it is characterized in that: sensing element (12) comprises the sensing unit (121) that is positioned at the same end of machine people that cleans the windows and is positioned at the side sensing unit (122) of machine people one side that cleans the windows, control module (11) is connected with driver element (16) with sensing element (12) respectively, the signal that control module (11) is sent according to the side sensing unit (122) of the clean the windows sensing unit (121) of the same end of machine people and/or a side, control drive unit (16) drives walking unit (15) and moves.
2. the machine people's that cleans the windows according to claim 1 mobile control system is characterized in that: the sensing unit of same end (121) comprises two sensors, and two sensors lay respectively at the left side, the right on the plane.
3. the machine people's that cleans the windows according to claim 2 mobile control system is characterized in that: side sensing unit (122) comprises two sensors, and two sensors lay respectively at front end, the rear end of the same side of robot.
4. the machine people's that cleans the windows according to claim 3 mobile control system is characterized in that: sensor is touch sensor or non-contacting sensor.
5. the machine people's that cleans the windows according to claim 4 mobile control system is characterized in that: touch sensor is travel switch, pressure transducer or conductive rubber.
6. the machine people's that cleans the windows according to claim 4 mobile control system is characterized in that: non-contacting sensor is infrared external reflection sensing or sonac.
7. according to each described machine people's that cleans the windows of claim 1 to 6 mobile control system, it is characterized in that: the described machine people that cleans the windows comprises driving machine (1) and follower (2), built-in first magnet of driving machine (1) (14), built-in second magnet of follower (2) (24), make both can be adsorbed on the inside and outside both sides of glass mutually, under the suction of first magnet (14), second magnet (24), produce servo-actuated with moving cell (26) and walking unit (15) on the follower (2).
8. according to each described machine people's that cleans the windows of claim 1 to 6 mobile control system, it is characterized in that: walking unit (15) comprises left and right sides crawler belt (151) and the Athey wheel (152) that is positioned at driving machine (1), and crawler belt (151) comprises a plurality of track unit joints (151a).
CN2011200185527U 2011-01-05 2011-01-05 Movement control system of glass-cleaning robot Expired - Lifetime CN201965489U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011200185527U CN201965489U (en) 2011-01-05 2011-01-05 Movement control system of glass-cleaning robot

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Application Number Priority Date Filing Date Title
CN2011200185527U CN201965489U (en) 2011-01-05 2011-01-05 Movement control system of glass-cleaning robot

Publications (1)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103202676A (en) * 2013-03-07 2013-07-17 陕西科技大学 Multifunctional full-automatic window glass cleaning device
CN106419720A (en) * 2016-08-31 2017-02-22 洛阳圣瑞智能机器人有限公司 System for controlling right-angle region movement of intelligent glass cleaning robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103202676A (en) * 2013-03-07 2013-07-17 陕西科技大学 Multifunctional full-automatic window glass cleaning device
CN103202676B (en) * 2013-03-07 2015-09-23 陕西科技大学 A kind of window-glass cleaning device of Multifunctional full-automatic
CN106419720A (en) * 2016-08-31 2017-02-22 洛阳圣瑞智能机器人有限公司 System for controlling right-angle region movement of intelligent glass cleaning robot

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C14 Grant of patent or utility model
GR01 Patent grant
C56 Change in the name or address of the patentee
CP01 Change in the name or title of a patent holder

Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108

Patentee after: Ecovacs robot Limited by Share Ltd

Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108

Patentee before: Ecovacs Robot Co., Ltd.

Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108

Patentee after: ECOVACS ELECTRICAL CO., LTD.

Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108

Patentee before: Taiyikai Electric Appliance (Suzhou) Co., Ltd.

Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108

Patentee after: Ecovacs Robot Co., Ltd.

Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108

Patentee before: ECOVACS ELECTRICAL CO., LTD.

CX01 Expiry of patent term
CX01 Expiry of patent term

Granted publication date: 20110907