CN207186571U - Intelligence knows limit window wiping robot - Google Patents

Abstract

Intelligence knows limit window wiping robot, its control system includes a microprocessing unit, a mains power inlet, a receiver of remote-control sytem, after microprocessing unit reception remote control manual control signal and decoding are provided, judgement is manual command or automatic running instruction, so as to switchable pump module and drives the module manually or automatically progress of work；N/Z types are stored in the microprocessing unit to walk about logical program, and the gyroscope by being electrically connected with microprocessing unit reads data, judge location status of two cleaning wheels on glass door and window, and according to gyroscope outgoing position status data, adjust the wiping action of two cleaning wheels and N/Z type path of trave is selected on glass door and window；Drive two cleaning wheel motor drive ics of module connection, read the stall electric signal for coming from the motor through amplifier amplification, microprocessing unit is fed back to so as to determine whether to hit side, and output order is corresponded to through driving module to coordinate the respective working condition of two cleaning wheels by microprocessing unit, until two cleaning wheels return to original state.

Description

Intelligence knows limit window wiping robot

Technical field

The present invention relates to cleaner technical field, especially a kind of machine with intelligence for being used to clean glass door and window surface Device people.

Background technology

Chinese patent ZL201210185869.9 discloses a kind of cleaner and its controlling of path thereof, and the cleaner includes An at least cleaning element, a pump module, a driving module and a control system.An at least cleaning element defines with plate such as glass Go out an at least space.Pump module extracts the air in an at least space, so as to making the cleaning element be adsorbed on the plate.Drive Dynamic model group drives an at least cleaning element.Control system is coupled to the pump module and the driving module, and controls powered An at least cleaning element is in producing a displacement on the plate.The controlling of path thereof includes：Make first cleaning element with being somebody's turn to do One first space that plate is defined；And second cleaning element forms negative pressure with the second space that the plate is defined；And Second cleaning element is rotated along one first direction of rotation, turned round so as to produce one first between second cleaning element and pitman arm Power, so as to making the pitman arm be swung toward one second direction of rotation in contrast to first direction of rotation using first torsion.It A sensor is also comprised at least, is configured on the casing, and is electrically connected at the control system, whether to sense the cleaner Close to a foreign matter or an edge of the plate；The invention provides one kind for the surface cleaning under windowpane or like environment Intelligent machine；Referring to its accompanying drawing 3, two cleaning elements in embodiment are disclosed in figure and are rotated in opposite directions by pitman arm connection parallel Walk the plate such as realizes cleaning function path profile on a windowpane；Referring to its accompanying drawing 5, its casing surrounding is disclosed in figure Edge is provided with edge sensor, and for identifying that it has located marginal position, the situation for preventing it from running off border and causing to drop is sent out It is raw；Referring to its accompanying drawing 6B, it also includes a horizon sensor, to sense a horizontal angle of the cleaner, with for the control System controls the driving module according to the horizontal angle.Cleaner has the function at detection door and window edge.Referring to shown in its Fig. 2 and 6B, Sensing unit can include the edge sensor and an analog-digital converter.Analog-digital converter is coupled to edge biography Between sensor and CPU, the foreign matter that is able to detect that by using edge sensor on the edge or plate of plate. Edge sensor can be analogue type sensor, and it can be infrared ray, laser, the equidistant sensor of ultrasonic to be, for example,.Control system System can read the sensing value of edge sensor via analog-digital converter, and judge according to this cleaner and plate member edge away from From.Specifically, if plate is the glass without sash, and when sense side value is less than a low threshold value, then it represents that do not connect at present Sensing signal is received from the reflection sense side value after glass-reflected, that is, cleaner is at present close to glass edge.On the other hand, if Plate is that edge has the glass of sash, and when feeling side value and being higher than high threshold setting value, then it represents that cleaner is at present Close to sash, therefore the higher sensing signal of intensity can be received from the reflection sense side value after glass-reflected；In summary, when this Invent when being used for two wheel drive cleaners, be primarily due to the invention and be provided with the first cleaning element and the second cleaning element Pitman arm, because the setting of pitman arm causes housing construction complicated, its rigid structure, design space in casing was both constrained, It is unfavorable for carrying out simple installation, increases production cost；Secondly the edge sensor is mechanical location identification sensor, and it is felt Answer parametric variable for mechanical location identify variable or with its positive correlation.Therefore, the edge sensor is caused in the invention must not Can lack, it is necessarily placed at casing surrounding, otherwise can not normal work, objectively constrain electric-mechanic control system realize its clean region The function of limit is distinguished in identification.In view of this, it is necessary to improved and innovated on this basis.

The content of the invention

It is an object of the invention to the sensed parameter by changing the sensor of its control system in the prior art, so as to reach To the pitman arm and Intelligent Recognition omitted between the first cleaning element and the second cleaning element, it cleans the intelligence knowledge limit in region and wipes window Robot,

For achieving the above object, the present invention provides a kind of intelligence knowledge limit window wiping robot, and it is used to remove glass door Dust on window；It includes two cleaning wheels, a pump module, a driving module and a control system；Two cleaning wheels and glass A space is respectively defined between glass door and window；Pump module is communicated in the space, to extract the air in the space, makes to be formed in its space Negative pressure, described two cleaning wheels are adsorbed on glass door and window；Drive module to connect two cleaning wheels, and drive its rotation；Control System processed is coupled to the pump module and the driving module, and controls the driving module so that powered two cleaning wheels are in glass Displacement is produced on door and window；It is characterized in that：The control system includes a microprocessing unit, by the microprocessing unit controlling pump mould Group and driving module action；One mains power inlet, for providing microprocessing unit operating voltage and rear pump module and drive Dynamic model group operating voltage；One receiver of remote-control sytem, after microprocessing unit reception remote control manual control signal and decoding are provided, Judgement is manual command or automatic running instruction, so as to switchable pump module and drives the module manually or automatically progress of work；This is micro- Store N/Z types in processing unit to walk about logical program, and the gyroscope by electrically connecting with microprocessing unit reads data, sentences Break location status of two cleaning wheels on glass door and window, and according to gyroscope outgoing position status data, adjusts two cleanings The wiping action of wheel simultaneously selects N/Z type path of trave on glass door and window so that two cleaning wheels are transported on glass door and window It is dynamic；Two cleaning wheel motor drive ics of the driving module connection, read and come from the stifled of the motor through amplifier amplification Turn electric signal, feed back to microprocessing unit so as to determine whether to hit side, and output order is corresponded to through driving mould by microprocessing unit Group coordinates the respective working condition of two cleaning wheels, until two cleaning wheels return to original state.

Under manual command, data are read by the gyroscope electrically connected with microprocessing unit, judge that two cleaning wheels exist Location status on glass door and window, and according to gyroscope outgoing position status data, adjust the wiping action of two cleaning wheels simultaneously N/Z type path of trave is selected on glass door and window so that two cleaning wheels are moved on glass door and window；Until its return is just Beginning state.Position of the manual command as manipulator according to residing for two cleaning wheels on glass door and window is adjusted；

Two cleaning wheels that the present invention is stored by microprocessing unit walk type programming and two cleaning wheel motor chips The stall electric signal for coming from two cleaning wheel motors through amplifier amplification is read, feeds back to microprocessing unit so as to sentence It is fixed whether to hit side, and then coordinate the working condition between two cleaning wheels, until returning to original state；Omitting, connection two is clear Between clean wheel on the basis of pitman arm and edge sensor, still adapt to working environment and effectively work.

Brief description of the drawings

Fig. 1 is the decomposition chart of an embodiment of the present invention.

Fig. 2 is the part isometric structure chart of embodiment illustrated in fig. 1.

Fig. 3 is Fig. 1 combining structure plan.

Fig. 4 is polycrystalline substance floor map of the present invention.

Fig. 5 is workflow diagram of the present invention.

Fig. 6 is power supply the principle figure of the present invention.

Embodiment

Illustrate embodiments of the invention below in conjunction with the accompanying drawings, but should not necessarily be limited by following examples：

Referring to Fig. 5 and Fig. 6, there is provided a kind of intelligence knows limit window wiping robot, and it is used to remove the dust on glass door and window；It Including two cleaning wheels 7, a pump module 4, the one driving control system of module 3 and one；Referring to Fig. 1, bottom plate shown in Fig. 1 or bottom After seat 1 covers with the phase of inner cap 2, a space is respectively defined between two cleaning wheels 7 and glass door and window；Pump module 4 is communicated in the space, To extract the air in the space, make to form negative pressure in its space, described two cleaning wheels 7 are adsorbed on glass door and window；Drive Dynamic model group 3 connects two cleaning wheels 7 by turbine and worm decelerator shown in Fig. 1, and drives its rotation；Control system is coupled to The pump module 4 and the driving module 3, and the driving module 3 is controlled so that powered two cleaning wheels 7 on glass door and window in producing Raw displacement；The control system includes a microprocessing unit U5, by microprocessing unit U5 controlling pumps module 4 and the driving module 3 actions；One mains power inlet 61, for providing microprocessing unit U5 operating voltages and rear pump module 4 and the driving work of module 3 Make voltage；One receiver of remote-control sytem, after providing microprocessing unit U5 reception remote control manual control signals and decoding, judgement is Manual command or automatic running instruction, so as to switchable pump module 4 and drive the manually or automatically progress of work of module 3；The microprocessor Store N/Z types in unit U5 to walk about logical program, and the gyroscope 6050 by electrically connecting with microprocessing unit U5 reads number According to, judge location status of two cleaning wheels 7 on glass door and window, and according to the outgoing position status data of gyroscope 6050, tune The wiping action of whole two cleaning wheels 7 simultaneously selects N/Z type path of trave on glass door and window so that two cleaning wheels 7 are in glass Moved on door and window；Two cleaning wheel motor drive ics that the driving module 3 connects, reading comes from puts through amplifier The stall electric signal of big motor, microprocessing unit U5 is fed back to so as to determine whether to hit side, and corresponded to by microprocessing unit U5 Output order is through driving module 3 to coordinate the respective working condition of two cleaning wheels 7, until two cleaning wheels 7 return to original state. Under manual command, data are read by the gyroscope 6050 electrically connected with microprocessing unit U5, judge two cleaning wheels 7 in glass Location status on glass door and window, and according to the outgoing position status data of gyroscope 6050, the wiping action of two cleaning wheels 7 of adjustment And N/Z type path of trave is selected on glass door and window so that two cleaning wheels 7 are moved on glass door and window；Until it is returned Return original state.Position of the manual command as manipulator according to residing for two cleaning wheels 7 on glass door and window is adjusted；It is described N/Z type path of trave, be two cleaning wheels 7 respectively in the horizontal direction or the track advanced of vertical direction, two cleaning wheels 7 rotate When, one of cleaning wheel 7 is motionless on glass door and window surface by negative pressure suction, when another cleaning wheel 7 rotates, produces one and turns round Power, angular displacement is formed, that is, produces wiping action；Controlled between the two by microprocessing unit and keep relative motion state, to realize Wiped on whole glass door and window and exhaustively effect.

Mains power inlet connection battery modules can further include electricity sensing module (non-icon), when electricity not When sufficient, electricity sensing module can sound a warning sound or emergency warning lamp etc., and now user can be from glass door after warning is notified Complete machine is removed on window.

The complete machine can include a power line to electrically connect a socket, and its general power supply is provided by power line, when disconnected Battery modules can be as standby power supply, while giving a warning or emergency warning lamp etc. when electric；To warn manipulator from glass Removed on glass door and window, prevent from breaking.

Shell one end after base 1 and enclosing cover 6 combination is provided with a safe lifting hole(eyelet) 62, is easy to be connected on safety rope hanging On one fixing point of building.

Referring to Fig. 5, workflow of the invention is further illustrated：Main power source is connected, OLED13 is obtained and lies prostrate, be bright for LED To indicate complete machine working condition, the motor of driving module 3 drives IC5 volts, the rotation for two cleaning wheels, microprocessor for degree control Unit U5 and circuit 3.3 volts of voltages of power supply, for microprocessing unit U5 normal working voltages；Main power source is opened, pump module 4 obtains electric Work, negative pressure is produced, by complete machine absorption on glass door and window, and gather the AIN's from remote control by microprocessing unit U5 Analog quantity carries out electric current and judges its state or wait instruction, using remote controller operation, presses corresponding function key, passes through microprocessor list First U5 is decoded, and judgement is that manual operating instruction or automatic running instruct and carry out corresponding process switching, if automatic fortune OK, carry out hitting frontier inspection survey, now determine the position of starting point two frames of distance, read the data of gyroscope 6050, judge two Relative position residing for individual cleaning wheel 7, such as horizontal, vertical and horizontal angular position, the number inputted according to gyroscope 6050 According to by the rotation of microprocessing unit U5 two cleaning wheels 7 of control so that complete machine starts to move on glass door and window.Driven in motion The motor driving IC of the dynamic model group 3 amplified feedback microprocessing unit U5 of stall signal carries out hitting side judgement, and in microprocessor In unit the N/Z types of memory and storage walk about logical program instruction under, walked about by N/Z types, after end of run, returned to Initial point.Manipulator optionally, can also change the state of two cleaning wheels 7 by remote control, be not repeated to describe.

Referring to Fig. 1 to Fig. 4, during its whole machine installation, load reducing gear on base 1, and will drive the motor of module 3 with Reducing gear coordinates, and the reserved location being fixed on base 1, is fixed plus the rear thread of inner cap 2, then in pump module 4 is installed on Preset space in lid 2, the side installation settings of its inner cap 2 have microprocessing unit U5, gyroscope 6050, remote-control receiving circuit Circuit board, and fixed by the column 11 on base 1, opposite side installation stand-by power supply and the electricity of mounting circuit boards rear base Road plate electrical connection；Load the dust cover 5 of pump module 4, enclosing cover 6 and the phase of base 1 are covered, load in two side bottoms of base 1 clear It is clean to take turns 7, cleaning sleeve is inserted on cleaning wheel 7, that is, completes whole machine installation；Enclosing cover 6 sets a main power source with circuit board corresponding position Access interface 61, to provide 220 volts of main power source input voltages；Main power source access can be also set to open by main power source access interface Close, be easy to control the input of power supply.

The present invention can also be electrically connected by microprocessing unit U5 and one be placed in the liquid crystal display 63 covered outside, so as to show the time, The physical parameters such as voltage, speed, working condition refer to for manipulator.

Although above have been shown that the present invention detailed embodiment, those skilled in the art without prejudice to the present invention before Put, part modifications and changes can be carried out；The content referred in described above and accompanying drawing only illustratively illustration, not It is construed as limiting the invention, the intelligence with above-mentioned technical characteristic knows limit window wiping robot, each falls within the scope of the present invention.

Claims (6)

1. a kind of intelligence knows limit window wiping robot, it is used to remove the dust on glass door and window；It include two cleaning wheels, one Pump module, a driving module and a control system；Two respectively define a space between cleaning wheel and glass door and window；Pump module connects In the space, to extract the air in the space, make to form negative pressure in its space, described two cleaning wheels are adsorbed on glass door On window；Drive module to connect two cleaning wheels, and drive its rotation；Control system is coupled to the pump module and the driving module, And the driving module is controlled so that powered two cleaning wheels are in producing displacement on glass door and window；It is characterized in that：The control System processed includes a microprocessing unit, acted by the microprocessing unit controlling pump module and the driving module；One main power source inputs Mouthful, for providing microprocessing unit operating voltage and rear pump module and driving module operating voltage；One receiver of remote-control sytem, is used for After providing microprocessing unit reception remote control manual control signal and decoding, judgement is that manual command or automatic running instruct, from And switchable pump module and the driving module manually or automatically progress of work；N/Z types are stored in the microprocessing unit to walk about logic journey Sequence, and the gyroscope by being electrically connected with microprocessing unit reads data, judges position of two cleaning wheels on glass door and window State, and according to gyroscope outgoing position status data, adjust the wiping action of two cleaning wheels and selected on glass door and window N/Z type path of trave so that two cleaning wheels are moved on glass door and window；Two cleaning wheels of the driving module connection Motor drive ic, the stall electric signal for coming from the motor through amplifier amplification is read, feeds back to microprocessing unit so as to sentence It is fixed whether to hit side, and output order is corresponded to through driving module to coordinate the respective working condition of two cleaning wheels by microprocessing unit, Until two cleaning wheels return to original state.

2. intelligence as claimed in claim 1 knows limit window wiping robot, it is characterised in that：The microprocessing unit is in manual command Under, data are read by the gyroscope electrically connected with microprocessing unit, judge position shape of two cleaning wheels on glass door and window State, and according to gyroscope outgoing position status data, adjust the wiping action of two cleaning wheels and N/Z is selected on glass door and window Type path of trave so that two cleaning wheels are moved on glass door and window；Until it returns to original state.

3. a kind of intelligence knows limit window wiping robot, it is characterised in that：Load reducing gear, and the electricity that module will be driven on its base Machine and reducing gear coordinate, and the reserved location being fixed on base, are fixed plus inner cap rear thread, then in pump module is installed on Preset space in lid, the side installation settings of its inner cap have the circuit board of microprocessing unit, gyroscope, remote-control receiving circuit, And fixed by the column on base, the opposite side installation stand-by power supply of mounting circuit boards rear base is electrically connected with circuit board Connect；Load the dust cover of pump module, enclosing cover is mutually covered with base, on the two side bottoms loading cleaning wheel of base, cleaning wheel Cleaning sleeve is inserted in, that is, completes whole machine installation.

4. intelligence as claimed in claim 3 knows limit window wiping robot, it is characterised in that：Enclosing cover is set with circuit board corresponding position Put a main power source access interface；One main power source access switch can be also set by main power source access interface, be easy to control power supply Input.

5. intelligence as claimed in claim 3 knows limit window wiping robot, it is characterised in that：The microprocessing unit electrical connection one is put In the liquid crystal display covered outside.

6. the intelligence as described in claim 1 or 3 knows limit window wiping robot, it is characterised in that：The walking of described two cleaning wheels Path is in N/Z shapes.