CN202537389U - Glass cleaning device - Google Patents
Glass cleaning device Download PDFInfo
- Publication number
- CN202537389U CN202537389U CN2012201398135U CN201220139813U CN202537389U CN 202537389 U CN202537389 U CN 202537389U CN 2012201398135 U CN2012201398135 U CN 2012201398135U CN 201220139813 U CN201220139813 U CN 201220139813U CN 202537389 U CN202537389 U CN 202537389U
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- windows
- cleans
- action piece
- supporter
- detection unit
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Abstract
The utility model provides a glass cleaning device. The device comprises a body (1) and a control unit, wherein the body (1) is provided with a boundary detection unit (100); the boundary detection unit (100) comprises inductive switches (101, 101') and an action element (102); touch pins (1021, 1021') pressing the surface of glass are arranged at the lower end of the action element (102); and when the touch pins (1021, 1021') leave the surface of the glass (200), the action element (102) correspondingly carries out displacement and triggers the inductive switches (101, 101'), the inductive switches (101, 101') send a switching signal to the control unit, and the control unit controls the glass cleaning device to stop walking or change the walking direction according to the switching signal. The device has the advantages of simple structure, low cost, high sensitivity and strong controllability, and effectively realizes detection of the plate glass boundary.
Description
Technical field
The utility model relates to a kind of device that cleans the windows, and belongs to family expenses small electric apparatus manufacturing technology field.
Background technology
Clean the windows the machine people with its small and exquisite structure with control flexibly, obtained application more and more widely.The detection method on existing clean the windows device glass frame and border is: at first, carry out wavelet decomposition to gathering image, obtain the histogram of image low frequency part, again through histogrammic wavelet analysis being confirmed the threshold value of image blurringization; Then, according to the new membership function of this threshold value definition, image transitions is done to strengthen computing to the fuzzy characteristics plane of equivalence, image is enhanced; At last, accomplish rim detection and identification to strengthening image.This detection mode process is more loaded down with trivial details, and the hardware cost of the device that cleans the windows is had relatively high expectations.And the device that cleans the windows does not on the market in fact all have the border detection function, especially for the plate glass of no frame, has the risk that drops.
The utility model content
The utility model technical problem to be solved is the deficiency to prior art, and a kind of device that cleans the windows is provided, and simple in structure, cost is low, and is highly sensitive, and controllability is strong, effectively realizes the detection to the plate glass border.
The technical problem to be solved of the utility model realizes through following technical scheme:
A kind of device that cleans the windows; Comprise body and control module; Described body is provided with the border detection unit, and said border detection unit comprises inductive switch and action piece, and the lower end of action piece is provided with the haptic element that compresses glass surface; When said haptic element leaves glass surface; Said action piece is corresponding to be produced displacement and triggers inductive switch, and described inductive switch transmit button signal is to said control module, and said control module is controlled the device that cleans the windows according to said switching signal and stopped walking or change direction of travel.
As required, said inductive switch is a travel switch, and said action piece is a connecting rod; Perhaps, said inductive switch is a Hall element, includes the magnetic element of corresponding setting with it on the said action piece; Perhaps, said inductive switch is a magnetron, includes the magnetic element of corresponding setting with it on the said action piece.
Specifically, described border detection unit also comprises supporter, is provided with ladder hole in the supporter, and said action piece is located in this ladder hole, and the length of said action piece is greater than the height of supporter; Action piece top is spacing on the outer face of supporter with it through locating part, is arranged with spring on the action piece, and spring is replaced between ladder hole and haptic element.
Described travel switch is arranged on the enclosure interior of the device that cleans the windows; Perhaps, described Hall element is arranged on the said supporter; Perhaps, described magnetron is arranged on the described supporter.
For the ease of action piece stroke of knee-action in supporter is limited, described locating part is the buckle that is fixed on the said connecting rod.
Clean the windows the for ease retraction of device haptic element when retreating, according to different needs, the end surface shape of said haptic element is for semicircle or arc or have the trapezoidal of guiding surface.
For easy to process, the one-body molded setting of housing at described supporter and body edge.
According to the needs of reality, the outer shape of the device that cleans the windows can be different, and described body outer rim is shaped as circle or square or rectangular is oval or irregularly shaped.
Detect accurately for the border to plate glass, improve the sensitivity and the accuracy of this detection system, the quantity that is provided with of described border detection unit is a plurality of, and the inductive switch in each border detection unit all links to each other with said control module.
For the very first time detects the glass border and in time evades, the border detection unit is arranged on the edge of the device body that cleans the windows.
In sum, the utility model is simple in structure, and cost is low, and is highly sensitive, and controllability is strong, effectively realizes the detection to the plate glass border.
Below in conjunction with accompanying drawing and specific embodiment, the technical scheme of the utility model is at length explained.
Description of drawings
Fig. 1 is one of structural representation of the utility model embodiment one;
Fig. 2 be the utility model embodiment one structural representation two;
Fig. 3 is one of structural representation of the utility model embodiment two;
Fig. 4 be the utility model embodiment two structural representation two.
The specific embodiment
Embodiment one
Fig. 1 is one of structural representation of the utility model embodiment one.As shown in Figure 1, the utility model provides a kind of device that cleans the windows, and comprises body 1 and control module, and body 1 wherein is meant the overall structure of the device that cleans the windows that has comprised adsorbing mechanism, walking mechanism, executing agency or the like.Control module is used for controlling the clean the windows operation separately of each mechanism of device and each mechanism coordinating operation to each other then for to be arranged on the whole control module on the device that cleans the windows.The edge of described body 1 is provided with border detection unit 100; Said border detection unit 100 comprises inductive switch 101 and action piece 102; The lower end of action piece 102 is provided with the haptic element 1021 that compresses glass 200 surfaces; When said haptic element 1021 leaves glass 200 surfaces; Said action piece 102 corresponding generation displacements also trigger inductive switch 101, and described inductive switch 101 transmit button signals are to said control module, and said control module is controlled the device that cleans the windows according to said switching signal and stopped walking or change direction of travel.As required, said inductive switch 101 is a travel switch, and said action piece 102 is a connecting rod.
Specifically, described border detection unit 100 also comprises supporter 103, is provided with ladder hole 1031 in the supporter 103, and said action piece 102 is located in this ladder hole 1031, and the length of said action piece 102 is greater than the height of supporter 103.Action piece 102 through ladder hole 1031 limit its at upper and lower to moving.Action piece 102 tops are spacing on the outer face of supporter 103 with it through locating part 1022, with the stroke of limit movement spare 102 upper and lower action in supporter 103.Described locating part 1022 is for being fixed on the buckle on action piece 102 tops.Also be arranged with spring 104 on the action piece 102, when haptic element 1021 compressed glass, spring 104 compressions were replaced between ladder hole 1031 and haptic element 1021.
Clean the windows the for ease retraction of device haptic element when retreating, the end surface shape of said haptic element 1021 adopts semicircle usually.According to the different needs or the difficulty or ease of processing, the end surface shape of haptic element 1021 also can adopt arc or have the trapezoidal of guiding surface.In order to reduce friction, haptic element 1021 is that smooth, wear-resisting metal or ebonite material constitutes.
For easy to process, reduce cost the one-body molded setting of housing at described supporter 103 and body 1 edge.Ladder hole 1031 is directly offered on body 1.If desired, both also can the split setting, and supporter 103 is assembled together as independent part and body 1.
Because the device that cleans the windows in actual the use, its outer shape can be different, and according to the needs of reality, the outer rim shape of described body 1 can be circle, square, rectangle, ellipse or irregularly shaped.In order to detect accurately on the border to plate glass; Improve the sensitivity and the accuracy of the device that cleans the windows; The quantity that is provided with of described border detection unit 100 is a plurality of, and the inductive switch 101 in each border detection unit 100 all links to each other with said control module.For the body 1 of different outer rim shapes, the position that is provided with of a plurality of border detection unit 100 also can be different.Such as: when body 1 is square or rectangle, can select four border detection unit 100 are separately positioned on four drift angles of body.When body 1 when being circular or oval, can select four or more border detection unit 100 to be evenly distributed on circular or the oval-shaped circumference.When body 1 when being irregularly shaped; Can select the direction of motion of four perhaps more border detection unit 100 according to the device that cleans the windows; Such as: preceding inlet side, retreat end, perhaps according to the general direction of the device global shape that cleans the windows, such as: the mode of left end, right-hand member is provided with.
Fig. 2 be the utility model embodiment one structural representation two.As Fig. 1 and combine shown in Figure 2, a kind of device that cleans the windows that provides of embodiment, employing be cooperatively interacting of simple spring 104, haptic element 1021 and travel switch, realize cleaning the windows the detection operation of device to the border.Below the concrete detection and the course of action of the device that cleans the windows are at length explained:
The outer rim of the device that cleans the windows that is provided in the present embodiment is shaped as square, and comprises four border detection unit 100 in this device that cleans the windows, and lays respectively on four angles of the device that cleans the windows.Action piece 102 is contained in the ladder hole 1031 of detecting unit supporter 103; The upper and lower end of this ladder hole 1031 is open; The corresponding setting of the shape of ladder hole 1031, thereby the direction of motion of limit movement spare 102 with the shape of action piece 102, the lower end of action piece 102 is a haptic element 1021; In the present embodiment, haptic element 1021 is shaped as hemispherical.Spring 104 is set on the action piece 102.As shown in Figure 1, when cleaning the windows the normal walking states of device, spring 104 is in compressive state, and haptic element 1021 props up the upper surface of glass 200, and the top of action piece 102 replaces with travel switch and contact, and makes it be in closure state.In conjunction with shown in Figure 2, when the device row that cleans the windows was gone to the edge of no frame glass surface, haptic element 1021 broke away from glass 200 surfaces.At this moment, spring 104 discharges, and haptic element 1021 is ejected the ladder hole 1031 in the supporter 103, is fixed on the locating part 1022 on action piece 102 tops, that is: buckle props up the upper end step face of ladder hole 1031, and at this moment, travel switch breaks off.After this state is detected; Control module sends retreats instruction, and the device that cleans the windows can be carried out backward movement immediately, under the guiding function of haptic element 1021 hemispherical bottom; Also pushed back by force in the ladder hole 1031, avoid occurring the window cleaning equipment device and exceed the situation of falling in glass 200 surfaces.
Embodiment two
Fig. 3, Fig. 4 be respectively one of structural representation of the utility model embodiment two and two.Like Fig. 3 and combine shown in Figure 4ly, in the present embodiment, in order to increase susceptibility, said inductive switch 101 ' is a Hall element, is arranged on the said supporter 103, includes the magnetic element 300 of corresponding setting with it on the said action piece 102.Perhaps, said inductive switch 101 ' is a magnetron, includes the magnetic element 300 of corresponding setting with it on the said action piece 102.
The outer rim of the device that cleans the windows that is provided in the present embodiment is shaped as circle, and comprises four border detection unit 100 that evenly are arranged on the circumference in this device that cleans the windows.Action piece 102 is contained in the ladder hole 1031 of detecting unit supporter 103; The upper and lower end of this ladder hole 1031 is open; The corresponding setting of the shape of ladder hole 1031, thereby the direction of motion of limit movement spare 102 with the shape of action piece 102, the lower end of action piece 102 is a haptic element 1021 '; In the present embodiment, haptic element 1021 ' is shaped as arc.Spring 104 is set on the action piece 102.As shown in Figure 3; When cleaning the windows the normal walking states of device; Spring 104 is in compressive state; The lower plane of haptic element 1021 ' props up the upper surface of glass 200, and magnetic element on the action piece 102 300 staggers with the Hall element or the position of magnetron that are arranged on the supporter 103 each other, has no signal feedback.In conjunction with shown in Figure 4, when the device row that cleans the windows was gone to the edge of no frame glass surface, haptic element 1021 ' broke away from glass 200 surfaces.At this moment, spring 104 discharges, and haptic element 1021 ' is ejected the ladder hole 1031 in the supporter 103; Be fixed on the locating part 1022 on action piece 102 tops; That is: buckle props up the upper end step face of ladder hole 1031, and at this moment, magnetic element on the action piece 102 300 aligns with the Hall element or the position of magnetron that are arranged on the supporter 103 each other; Hall element or magnetron produce induction and feed back signal to control module; Control module sends retreats instruction, and the device that cleans the windows can be carried out backward movement immediately, under the guiding function of haptic element 1021 ' lower arcuate surface; Also pushed back by force in the ladder hole 1031, avoid occurring the window cleaning equipment device and exceed the situation of falling in glass 200 surfaces.
In sum, the utility model is simple in structure, and cost is low, and is highly sensitive, and controllability is strong, effectively realizes the detection to the plate glass border.
Claims (10)
1. device that cleans the windows; Comprise body (1) and control module; It is characterized in that; Described body (1) is provided with border detection unit (100), and said border detection unit (100) comprises inductive switch (101,101 ') and action piece (102), and the lower end of action piece (102) is provided with the haptic element (1021,1021 ') that compresses glass surface; When said haptic element (1021,1021 ') leaves glass (200) surface; Said action piece (102) is corresponding to be produced displacement and triggers inductive switch (101,101 '), and described inductive switch (101,101 ') transmit button signal is to said control module, and said control module is controlled the device that cleans the windows according to said switching signal and stopped walking or change direction of travel.
2. the device that cleans the windows as claimed in claim 1 is characterized in that, said inductive switch (101) is a travel switch, and said action piece (102) is a connecting rod;
Perhaps, said inductive switch (101 ') is a Hall element, includes the magnetic element (200) of corresponding setting with it on the said action piece (102);
Perhaps, said inductive switch (101 ') is a magnetron, includes the magnetic element (200) of corresponding setting with it on the said action piece (102).
3. the device that cleans the windows as claimed in claim 2; It is characterized in that; Described border detection unit (100) also comprises supporter (103); Be provided with ladder hole (1031) in the supporter (103), said action piece (102) is located in this ladder hole (1031), and the length of said action piece (102) is greater than the height of supporter (103); Action piece (102) top is spacing on the outer face of supporter (103) with it through locating part (1022), is arranged with spring (104) on the action piece (102), and spring (104) is replaced between ladder hole (1031) and haptic element (1021,1021 ').
4. the device that cleans the windows as claimed in claim 3 is characterized in that described travel switch is arranged on the enclosure interior of the device that cleans the windows;
Perhaps, described Hall element is arranged on the said supporter (103);
Perhaps, described magnetron is arranged on the described supporter (103).
5. the device that cleans the windows as claimed in claim 3 is characterized in that, described locating part (1022) is for being fixed on the buckle on the said connecting rod.
6. the device that cleans the windows as claimed in claim 1 is characterized in that, the end surface shape of said haptic element (1021,1021 ') is for semicircle or arc or have the trapezoidal of guiding surface.
7. the device that cleans the windows as claimed in claim 1 is characterized in that, the one-body molded setting of housing at described supporter (103) and body (1) edge.
8. the device that cleans the windows as claimed in claim 1 is characterized in that, described body (1) outer rim is shaped as circle or square or rectangular is oval or irregularly shaped.
9. the device that cleans the windows as claimed in claim 1 is characterized in that, said border detection unit (100) is arranged on the edge of body.
10. like each described device that cleans the windows of claim 1 to 9, it is characterized in that the quantity that is provided with of described border detection unit (100) is a plurality of, the inductive switch (101,101 ') in each border detection unit (100) all links to each other with said control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201398135U CN202537389U (en) | 2012-04-05 | 2012-04-05 | Glass cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201398135U CN202537389U (en) | 2012-04-05 | 2012-04-05 | Glass cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202537389U true CN202537389U (en) | 2012-11-21 |
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ID=47158091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012201398135U Expired - Lifetime CN202537389U (en) | 2012-04-05 | 2012-04-05 | Glass cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202537389U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013149504A1 (en) * | 2012-04-05 | 2013-10-10 | 科沃斯机器人科技(苏州)有限公司 | Glass-wiping device |
| CN104921651A (en) * | 2014-03-17 | 2015-09-23 | 科沃斯机器人科技(苏州)有限公司 | Self-moving device and motion surface defect detection and control method thereof |
| CN104977926A (en) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | Self-moving robot local barrier avoiding walking method |
| US9215962B2 (en) | 2014-03-13 | 2015-12-22 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
| CN105747985A (en) * | 2015-12-15 | 2016-07-13 | 深圳市宝乐机器人技术有限公司 | Window cleaner with adjustable potentiometer |
| CN105769041A (en) * | 2015-12-15 | 2016-07-20 | 深圳市宝乐机器人技术有限公司 | Edge detection method for glass rubbing device |
| CN105769040A (en) * | 2015-12-15 | 2016-07-20 | 深圳市宝乐机器人技术有限公司 | Glass wiping device with resistance strain gauge |
| CN106073638A (en) * | 2016-08-10 | 2016-11-09 | 天佑电器（苏州）有限公司 | Vacuum cleaner |
-
2012
- 2012-04-05 CN CN2012201398135U patent/CN202537389U/en not_active Expired - Lifetime
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10172504B2 (en) | 2012-04-05 | 2019-01-08 | Ecovacs Robotics Co., Ltd. | Glass-wiping device |
| CN103356122A (en) * | 2012-04-05 | 2013-10-23 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| WO2013149504A1 (en) * | 2012-04-05 | 2013-10-10 | 科沃斯机器人科技(苏州)有限公司 | Glass-wiping device |
| US10188254B2 (en) | 2014-03-13 | 2019-01-29 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
| EP4005451A2 (en) | 2014-03-13 | 2022-06-01 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
| US11324377B2 (en) | 2014-03-13 | 2022-05-10 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
| US9215962B2 (en) | 2014-03-13 | 2015-12-22 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
| US9655484B2 (en) | 2014-03-13 | 2017-05-23 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
| US10258215B2 (en) | 2014-03-13 | 2019-04-16 | Ecovacs Robotics, Inc | Autonomous planar surface cleaning robot |
| CN104921651A (en) * | 2014-03-17 | 2015-09-23 | 科沃斯机器人科技(苏州)有限公司 | Self-moving device and motion surface defect detection and control method thereof |
| US10423160B2 (en) | 2014-04-14 | 2019-09-24 | Ecovacs Robotics Co., Ltd. | Local obstacle avoidance walking method of self-moving robot |
| CN104977926A (en) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | Self-moving robot local barrier avoiding walking method |
| CN105769040A (en) * | 2015-12-15 | 2016-07-20 | 深圳市宝乐机器人技术有限公司 | Glass wiping device with resistance strain gauge |
| CN105747985B (en) * | 2015-12-15 | 2018-09-07 | 广东宝乐机器人股份有限公司 | Glass cleaning device with adjustable potentiometer |
| CN105769041A (en) * | 2015-12-15 | 2016-07-20 | 深圳市宝乐机器人技术有限公司 | Edge detection method for glass rubbing device |
| CN105747985A (en) * | 2015-12-15 | 2016-07-13 | 深圳市宝乐机器人技术有限公司 | Window cleaner with adjustable potentiometer |
| CN106073638A (en) * | 2016-08-10 | 2016-11-09 | 天佑电器（苏州）有限公司 | Vacuum cleaner |
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Legal Events
| Date | Code | Title | Description |
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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 ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20121121 |