WO2018056492A1 - Robot de nettoyage de fenêtre et procédé de commande - Google Patents

Robot de nettoyage de fenêtre et procédé de commande Download PDF

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Publication number
WO2018056492A1
WO2018056492A1 PCT/KR2016/011248 KR2016011248W WO2018056492A1 WO 2018056492 A1 WO2018056492 A1 WO 2018056492A1 KR 2016011248 W KR2016011248 W KR 2016011248W WO 2018056492 A1 WO2018056492 A1 WO 2018056492A1
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WO
WIPO (PCT)
Prior art keywords
cleaning robot
window
window cleaning
distance
frame
Prior art date
Application number
PCT/KR2016/011248
Other languages
English (en)
Korean (ko)
Inventor
이순복
김동규
김현윤
Original Assignee
(주)알에프
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by (주)알에프 filed Critical (주)알에프
Publication of WO2018056492A1 publication Critical patent/WO2018056492A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed

Definitions

  • the present invention relates to a window cleaning robot.
  • the glass windows installed on the wall of the building are easily contaminated by external dust, pollution, etc., so that it is easy to damage the aesthetics or deteriorate the skylight. Therefore, it is desirable to frequently clean the windows installed on the outer wall of the building.
  • the Republic of Korea Patent Publication No. 10-2005-0054766 (name of the invention: sliding detection device of the robot cleaner) is installed on the outside of the driving wheel running detection wheel that is freely rotated irrespective of the rotation of the driving wheel, and drive
  • one end is provided with a rotary shaft fixed to the center of the driving detection wheel, the other end of the rotary shaft is installed to be coupled to detect the rotation of the rotary shaft to detect whether the drive wheel slipped
  • a configuration having an encoder is disclosed.
  • the conventional robot cleaner measured the vertical and horizontal positions by detecting the rotational speed of the wheel, and when the product slips due to gravity or the wheel rotates idle due to foreign matters, a lot of errors occur in the coordinate measurement.
  • the present invention is to solve the above-mentioned problems of the prior art, an object of the present invention to provide a window cleaning robot that can improve the position accuracy, and can efficiently improve the cleaning pattern.
  • the window cleaning robot control method by detecting the distance between the surrounding glass window frame and the window cleaning robot through the ultrasonic sensor, Specifying; Detecting, in the area to be cleaned, an initial attachment position of the window cleaning robot based on the distance; Generating, by the window cleaning robot, an initial movement of the window cleaning robot through a initial movement in the area to be cleaned; And moving the window cleaning robot according to the movement path to perform a cleaning operation.
  • the window cleaning robot according to the second aspect of the present application is located on at least one or more sides of the main body portion including the drive unit, a plurality of side of the main body portion, at least one ultrasonic wave for sensing the distance between the window cleaning robot and the external object sensor; And a control unit for controlling the cleaning operation based on the distance between the window cleaning robot and the window frame detected by the ultrasonic sensor, wherein the control unit detects the distance between the surrounding window frames and the window cleaning robot through the ultrasonic sensor.
  • the movement map which specifies the target area, detects the initial attachment position of the window cleaning robot based on the distance in the area to be cleaned, and sets the movement path of the window cleaning robot through the initial movement of the window cleaning robot in the area to be cleaned. Create and perform a cleaning operation by moving the window cleaning robot according to the movement map.
  • FIG. 1 is a schematic diagram of a window cleaning robot according to an embodiment of the present invention.
  • FIGS. 2 to 4 are views of a window cleaning robot according to various embodiments of the present invention.
  • FIG. 5 is a view for explaining a method of generating a movement map of the window cleaning robot according to an embodiment of the present invention.
  • FIG. 6 is a view for explaining the movement path of the window cleaning robot according to an embodiment of the present invention.
  • FIG. 7 is a flowchart illustrating a method for controlling a window cleaning robot according to an embodiment of the present invention.
  • FIG. 8 is a flow chart of the cleaning method of the window cleaning robot according to an embodiment of the present invention.
  • the present application relates to a window cleaning robot.
  • the present invention relates to a robot that is attached to a glass window installed on the wall of a building for cleaning.
  • the robot may be a cleaning robot that sucks dust or foreign substances from the surrounding area while driving itself in a certain area.
  • the window cleaning robot may perform the window cleaning while moving according to the input data.
  • a window cleaning robot is equipped with a battery to receive operating power from the battery, it can be moved according to the predetermined means.
  • FIG. 1 is a schematic view of a window cleaning robot according to an embodiment of the present invention
  • Figures 2 to 4 is a view of a window cleaning robot according to various embodiments of the present invention
  • Figure 5 according to an embodiment of the present invention 6 is a view for explaining a method of generating a movement map of the window cleaning robot
  • Figure 6 is a view for explaining the movement path of the window cleaning robot according to an embodiment of the present invention
  • Figure 7 is an embodiment of the present invention 8 is a flowchart of a method for controlling a window cleaning robot
  • FIG. 8 is a flowchart of a method for cleaning a window cleaning robot according to an embodiment of the present invention.
  • the window cleaning robot 100 will be described with reference to FIGS. 1 to 4.
  • the window cleaning robot 100 may be provided with a cleaning unit on a lower surface thereof to clean the surface in contact with the lower surface.
  • the window cleaning robot 100 may be a robot that is attached to both sides of the glass window by the magnetic material to clean the window.
  • the window cleaning robot 100 includes a main body 160 including a driving unit 161, a plurality of sensor units, and a controller 150 controlling the driving unit 161 and the sensor unit.
  • the main body 160 is formed in a predetermined shape and includes a driving unit 161, a sensor unit, and a control unit 150 therein.
  • the main body 160 may have a rectangular shape, but is not limited thereto.
  • the sensor unit may include at least one of the ultrasonic sensor 110, the contact sensor 120, the tilt sensor 130, and the temperature sensor 140 which will be described later.
  • the controller 150 may control the driver 161 based on the data transmitted from the sensor unit.
  • the controller 150 performs data communication with a program for performing a series of operations related to the cleaning operation, a storage unit for storing a calculated movement map, a processor for processing the program, various sensors, or external devices. It includes a communication module.
  • the ultrasonic sensor 110 is positioned on at least one side of the plurality of side surfaces of the main body 160 and detects a distance between the window cleaning robot 100 and an external object.
  • the above-described side surface is a surface positioned at 12 o'clock, 3 o'clock, 6 o'clock, and 9 o'clock in FIG.
  • the ultrasonic sensor 110 may include an ultrasonic transmission sensor 111 for transmitting ultrasonic waves and an ultrasonic reception sensor 112 for receiving ultrasonic waves reflected by the obstacle O or the window frame 200.
  • the present invention is not limited thereto, and one ultrasonic sensor 110 may transmit and receive ultrasonic waves.
  • the controller 150 may control the cleaning operation based on the distance between the window cleaning robot 100 and the window frame 200 detected by the ultrasonic sensor 110.
  • the controller 150 detects a distance between the surrounding window frames 200 and the window cleaning robot 100 through the ultrasonic sensor 110 to specify a cleaning target area, and in the cleaning target area, The initial attachment position of the window cleaning robot 100 is detected based on the distance, and the window cleaning robot 100 generates a movement map for setting the movement path of the window cleaning robot 100 through the initial movement in the area to be cleaned.
  • the cleaning operation may be performed by moving the glass cleaning robot 100 according to the movement map. Detailed description thereof will be described later.
  • the distance from the ultrasonic sensor 110 to the obstacle O or the window frame 200 may be 3.4 m.
  • the window cleaning robot 100 may further include a temperature sensor 140 for measuring the ambient temperature.
  • the controller 150 corrects the speed of the ultrasonic wave based on the temperature information received from the temperature sensor 140, and from the ultrasonic sensor 110 based on the corrected ultrasonic speed. Accurate distance data to the obstacle O or the window frame 200 may be obtained.
  • the ultrasonic sensor 110 may be positioned at one side of the main body 160.
  • the controller 150 may maintain the horizontal posture through the tilt sensor 130 to be described later, and detect the initial attachment position through the ultrasonic sensor 110 while rotating by 90 degrees.
  • the controller 150 first detects a distance from the ultrasonic sensor 110 to the lower frame 220 of the glass window. Rotate 90 degrees clockwise to sense the distance to the right frame 240 of the glass window, rotate 90 degrees counterclockwise to detect the distance to the upper frame 210 of the glass window, 90 degrees counterclockwise. It may also rotate to detect the distance to the left frame 230 of the glass window.
  • the ultrasonic sensors 110 may be located on side surfaces of the main body 160 that face each other.
  • the ultrasonic sensor 110 may be located on the upper side and the lower side of the main body 160.
  • the control unit 150 detects the distance from the ultrasonic sensor 110 located on the upper side and the lower side to the upper and lower frames 210 and 220 to detect the distance to the window frame 200, By rotating 90 degrees counterclockwise or clockwise, distances to the left and right frames 230 and 240 may be detected.
  • the initial attachment position may be detected more quickly than the window cleaning robot 100 having the one ultrasonic sensor 110.
  • the ultrasonic sensor 110 may be located on the left side, the right side, the upper side, and the lower side, respectively, as shown in FIG. 4.
  • the controller 150 may quickly detect the initial attachment position without rotating the window cleaning robot 100. There is an advantage.
  • the tilt sensor 130 detects a tilt of the window cleaning robot 100.
  • the tilt sensor 130 may be a gyro sensor.
  • the window cleaning robot 100 When the window cleaning robot 100 is inclinedly attached to the glass window, the window cleaning robot 100 may not accurately detect the distance from the ultrasonic sensor 110 to the window frame 200. Accordingly, the tilt sensor 130 detects the tilt of the window cleaning robot 100, rotates the position of the window cleaning robot 100 to the correct position (horizontal state), and then uses the ultrasonic sensor 110. By detecting the distance to the obstacle (O) or the window frame 200, it is possible to accurately detect the distance.
  • the window cleaning robot 100 when the window cleaning robot 100 moves, it may be determined whether the vehicle moves to the correct movement path through the ultrasonic sensor 110 and the tilt sensor 130. Detailed description thereof will be described later.
  • the window cleaning robot 100 may further include a contact sensor 120 positioned on a surface perpendicular to the surface to which the ultrasonic sensor 110 is attached.
  • the window cleaning robot 100 may contact the sensor 120 on the side where the ultrasonic sensor 110 is not attached. It may be provided.
  • the contact sensor 120 may be located on the left side and the right side of the main body 160, respectively.
  • the touch sensor 120 when generating or cleaning the movement map, may determine whether the contact with the window frame 200 and the obstacle (O). Detailed description thereof will be described later.
  • the window cleaning robot 100 may further include an encoder for counting the number of revolutions of the wheel.
  • the window cleaning robot 100 when generating or cleaning the movement map, the window cleaning robot 100 detects the movement distance of the window cleaning robot 100 based on the rotation speed of the wheel counted through the encoder, so that the ultrasonic sensor 110 The position can be obtained in an unattached direction. Detailed description thereof will be described later.
  • the controller 150 may detect the distance between the surrounding window frames 200 and the window cleaning robot 100 through the ultrasonic sensor 110, and specify a cleaning target area.
  • the controller 150 controls the upper frame 210, the lower frame 220, the left frame 230, and the right frame 240 and the window cleaning robot 100 through the ultrasonic sensor 110 at the initial attachment position. By detecting the distance to the), the size data of the glass window frame 200 is obtained, it is possible to specify the area to be cleaned.
  • controller 150 may detect the initial attachment position of the window cleaning robot 100 based on the distance detected by the ultrasonic sensor 110.
  • the distance between the window cleaning robot 100 and the upper frame 210 is 130 cm
  • the distance between the lower frame 220 is 70 cm
  • the distance from the left frame 230 is 40 cm
  • the right frame If the distance from the 240 is 170cm, the area to be cleaned is 210cm in width and 200cm in length, and the window cleaning robot 100 is attached at a distance of 40cm from the left frame 230 and 170cm away from the right frame 240. Can be.
  • the controller 150 may generate a movement map in which the window cleaning robot 100 sets the movement path of the window cleaning robot 100 through initial movement in the cleaning target region.
  • the controller 150 may acquire the position information of the obstacle O while moving the window cleaning robot 100 from the left end to the right end or the upper end to the right end, thereby generating a movement map. Can be. Detailed description thereof will be described later.
  • controller 150 may perform the cleaning operation by moving the window cleaning robot 100 according to the movement map.
  • the controller 150 may move the window cleaning robot 100 in a zigzag manner to clean the cleaning area.
  • the window cleaning robot 100 secures a cleaning area while moving in a 'd' shape, or as shown in FIG.
  • the cleaning area can be secured while moving in the 'Z' shape.
  • the present invention is not limited thereto, and the window cleaning robot 100 may clean the cleaning area using a random method or a spiral method.
  • controller 150 may reduce the moving speed when the distance between the window cleaning robot 100 and the window frame 200 is less than or equal to a predetermined distance.
  • the controller 150 may acquire the current position of the window cleaning robot 100 through the ultrasonic sensor 110 or the encoder, and may be formed between the window cleaning robot 100 and the window frame 200 or the obstacle O. When the distance is close, the movement speed of the glass cleaning robot 100 may be reduced to prevent the parts from being damaged by the impact.
  • step S100 it may be determined whether the window cleaning robot 100 is horizontal through the tilt sensor 130.
  • the horizontal of the window cleaning robot 100 described above may mean a state in which the cleaning progress direction and the gravity direction of the window cleaning robot 100 are vertical or parallel.
  • the controller 150 of the window cleaning robot 100 may determine whether the window cleaning robot 100 is horizontal through the tilt sensor 130. In this case, the controller 150 may maintain the horizontal state by rotating the window cleaning robot 100 based on the tilt state information transmitted from the tilt sensor 130.
  • next step (S200) may be performed.
  • the distance between the surrounding window frames 200 and the window cleaning robot 100 may be detected through the ultrasonic sensor 110, and the cleaning target area may be specified.
  • the upper, lower, and lower sides of the window cleaning robot 100 may be installed through the ultrasonic sensor 110 positioned on at least one side of the upper, lower, left, and right sides of the main body 160.
  • the distance to the left and right frames 210, 220, 230, and 240 may be sensed to identify a cleaning target area.
  • the window cleaning robot 100 rotates by 90 degrees in a clockwise or counterclockwise direction.
  • the distance to the frames 210, 220, 230, and 240 may be detected.
  • the controller 150 may analyze the detected distance data, acquire size data of the window frame 200, and specify a cleaning target area.
  • the cleaning target area may have a rectangular shape of 210 cm ⁇ 200 cm.
  • the glass window is cleaned by ultrasonic sensors located on one side and the other side of the window cleaning robot 100, respectively.
  • the robot 100 may rotate 90 degrees clockwise or counterclockwise to detect the distances to the left and right frames 230 and 240. have.
  • the cleaning target region may be specified by one rotation as compared with the case where the one ultrasonic sensor 110 is provided.
  • the cleaning target area may be specified based on the distance data detected by each ultrasonic sensor 110 without rotating. have.
  • the controller 150 may correct the distance data by correcting the ultrasonic movement speed based on the temperature transmitted from the temperature sensor 140.
  • the initial attachment position of the window cleaning robot 100 may be detected based on the distance in the area to be cleaned.
  • the distance between the window cleaning robot 100 and the upper frame 210 is 130 cm
  • the distance between the lower frame 220 is 70 cm
  • the distance from the left frame 230 is 40 cm
  • the right frame If the distance from the 240 is 170 cm, the cleaning area is 210 cm in width and 200 cm in the shape of a rectangle to be cleaned.
  • the window cleaning robot 100 is 130 cm from the upper frame 210 and 130 cm from the lower frame 220. 70cm, 40cm from the left frame 230, it can be seen that attached to the position 170cm from the right frame 240.
  • the window cleaning robot may generate a movement map in which the movement path of the window cleaning robot 100 is set through the initial movement in the cleaning target area.
  • step S300 the window cleaning robot 100 moves from the left frame 230 to the right frame 240, and from the window cleaning robot 100 through the ultrasonic sensor 110, the upper or lower frame 210. , 220) to detect the distance to generate a movement map.
  • the window cleaning robot 100 may be positioned so that the ultrasonic sensor 110 faces downward. In this case, the window cleaning robot 100 may move from the left frame 230 to the right frame 240, and detect the distance to the lower frame 220 through the ultrasonic sensor 110 whenever a predetermined distance moves. .
  • the controller 150 may determine the movement distance from the initial attachment position to the left frame 230 based on the initial attachment position data, and move the window cleaning robot 100. At this time, the controller 150 may determine the moving distance of the window cleaning robot 100 based on the information transmitted through the encoder for counting the number of wheel revolutions.
  • the controller 150 may reduce the moving speed when the distance between the window cleaning robot 100 and the left frame 230 is less than or equal to a predetermined distance.
  • the window cleaning robot 100 may move slowly until the left frame 230 is in contact with the contact sensor 120 because the information of the encoder and the actual moving distance may not match due to the wheel slip phenomenon.
  • the controller 150 determines a moving distance to the left and right sides of the window cleaning robot 100 based on information transmitted through an encoder that counts the number of wheel revolutions. By detecting the distance to the lower frame 220 through, to generate a moving map based on the detected distance data. At this time, the controller 150 may obtain data as shown in Table 1 below.
  • the window cleaning robot 100 is rotated 90 degrees, so that the ultrasonic sensor 110 is located on the left or right, while moving from the upper frame 210 to the lower frame 220, the left frame 230 or the right frame.
  • the obstacle O located at 240 may be detected.
  • the glass cleaning robot 100 rotates 180 degrees, so that the ultrasonic sensor 110 is located on the upper side, it may detect the obstacle (O) located in the upper frame 210.
  • the window cleaning robot 100 includes two ultrasonic sensors 110, a method of generating a movement map will be described.
  • the glass cleaning robot 100 may have ultrasonic sensors 110 positioned on upper and lower surfaces of the main body 160, respectively. At this time, the window cleaning robot 100 moves from the left frame 230 to the right frame 240, the distance to the upper frame 210 and the lower frame 220 through the ultrasonic sensor 110 every time a certain distance moves. Can be detected.
  • the controller 150 may determine the movement distance from the initial request position to the left frame 230 based on the initial attachment position data to move the window cleaning robot 100. At this time, the controller 150 may determine the moving distance of the window cleaning robot 100 based on the information transmitted through the encoder for counting the number of wheel revolutions.
  • the controller 150 may reduce the moving speed when the distance between the window cleaning robot 100 and the left frame 230 is less than or equal to a predetermined distance.
  • the window cleaning robot 100 may move slowly until the left frame 230 is in contact with the contact sensor 120 because the information of the encoder and the actual moving distance may not coincide due to the slip phenomenon of the wheel.
  • the controller 150 determines the moving distance to the left and right sides of the window cleaning robot 100 based on the information transmitted through the encoder for counting the number of revolutions of the wheel, the upper frame through the ultrasonic sensor 110 when moving a certain distance. By detecting the distance to the 210 and the lower frame 220, a movement map may be generated based on the detected distance data. At this time, the controller 150 may obtain data as shown in Table 2 below.
  • the glass cleaning robot 100 detects the distance to the upper frame 210 and the lower frame 220 by the ultrasonic sensor 110 when moving the 10cm, the lower left corner portion It can be seen that the obstacle (O) of more than 30cm in width, 30cm in length is located.
  • the window cleaning robot 100 is rotated 90 degrees, so that the ultrasonic sensor 110 is located on the left and right, while moving from the upper frame 210 to the lower frame 220, the left frame 230 and the right frame.
  • the obstacle O located at 240 may be detected.
  • the window cleaning robot 100 includes four ultrasonic sensors 110, a method of generating a movement map will be described.
  • the window cleaning robot 100 may be positioned so that the ultrasonic sensor 110 faces the upper, lower, left, and right sides, and the window cleaning robot 100 is the right frame 240 from the left frame 230. While moving to, the distance to the upper frame 210 and the lower frame 220 through the ultrasonic sensor 110 can be detected every time a certain distance moves.
  • the window cleaning robot 100 may move by determining the movement distance from the initial attachment position to the left frame 230 based on the initial attachment position data.
  • the controller 150 may determine the moving distance of the window cleaning robot 100 based on the information transmitted from the ultrasonic sensors 110 located on the left and right sides.
  • controller 150 may reduce the moving speed when the distance between the window cleaning robot 100 and the left frame 230 is less than or equal to a predetermined distance.
  • the controller 150 determines the moving distance to the left and right sides of the window cleaning robot 100 based on the information transmitted from the ultrasonic sensors 110 located on the left and right sides, and moves the ultrasonic sensor 110 when moving a predetermined distance.
  • the distance between the upper frame 210 and the lower frame 220 may be sensed to generate a movement map based on the detected distance data.
  • the window cleaning robot 100 does not include the encoder and the contact sensor 120, and accurately determines the position of the window cleaning robot 100. It can be effective.
  • the cleaning operation may be performed by moving the window cleaning robot 100 according to the movement path.
  • the above-described movement path means an optimal path that can be cleaned without colliding with the obstacle O based on the obstacle information monitored in the step S400 of generating the movement map.
  • step S500 includes moving the window cleaning robot 100 to a cleaning start point of the cleaning target area at step S510, and moving the window cleaning robot 100 at the left frame 230. Reciprocating to the right frame 240 to perform the cleaning window (S520), and when the window cleaning robot 100 arrives at the cleaning end point in the movement map, the window cleaning robot 100 is initially attached position It may include the step of returning to (S530).
  • the window cleaning robot 100 may move to the edge of the window.
  • the corner portion of the glass window described above may be one of four corner portions, and preferably the corner located closest to the initial position.
  • the glass window may be cleaned while moving based on the movement map.
  • the window cleaning robot 100 may clean the window while reciprocating the left frame 230 and the right frame 240.
  • the window cleaning robot 100 may move a predetermined distance downward when the window cleaning robot 100 contacts the left frame 230 or the right frame 240. That is, the window cleaning robot 100 may clean the window while moving in a ' ⁇ ' shape.
  • the window cleaning robot 100 while the robot cleans the glass window while reciprocating the left frame 230 and the right frame 240, while moving in the 'Z' shape of the glass window You can clean it. That is, the glass window cleaning robot 100 rotates at a predetermined angle in the lower direction when contacting the left frame 230 or the right frame 240, and can clean the window while moving straight.
  • the window cleaning robot 100 may clean while detecting the distance to the upper or lower frame 220 through the ultrasonic sensor 110.
  • the window cleaning robot 100 detects the distance to the upper or lower frames 210 and 220 when the window is cleaned, and when the window is deviated from the designated cleaning path, returns to the designated cleaning path and executes the cleaning again. Can be.
  • step S500 when the distance between the window cleaning robot 100 and the window frame 200 is less than or equal to a predetermined distance, the moving speed may be reduced based on the movement map.
  • the controller 150 may reduce the moving speed to reduce the impact caused by contact with the window frame 200.
  • step S530 when the window cleaning robot 100 arrives at the cleaning end point in the movement map, that is, when the window cleaning robot 100 comes into contact with the lower frame 220, the window cleaning robot 100 may be returned to the initial attachment position. have.
  • the window cleaning robot 100 is located at the lower right or lower left, and may be a position that is difficult for the user to recover. Separation of the robot 100 can be facilitated.
  • Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media.
  • Computer readable media may include both computer storage media and communication media.
  • Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data.
  • Communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transmission mechanism, and includes any information delivery media.
  • upper frame 220 lower frame

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

Procédé de commande d'un robot de nettoyage de fenêtre selon un mode de réalisation de la présente invention comprenant les étapes consistant à : spécifier une zone à nettoyer par détection d'une distance entre des cadres de fenêtre environnants et le robot de nettoyage de fenêtre par l'intermédiaire d'un capteur ultrasonore ; détecter une position de fixation initiale du robot de nettoyage de fenêtre dans la zone à nettoyer sur la base de la distance ; produire une carte de déplacement dans laquelle un chemin de déplacement du robot de nettoyage de fenêtre est réglé par l'intermédiaire d'un déplacement initial du robot de nettoyage de fenêtre dans la zone à nettoyer ; et déplacer le robot de nettoyage de fenêtre selon le chemin de déplacement pour effectuer une opération de nettoyage.
PCT/KR2016/011248 2016-09-26 2016-10-07 Robot de nettoyage de fenêtre et procédé de commande WO2018056492A1 (fr)

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KR10-2016-0123296 2016-09-26
KR1020160123296A KR20180033837A (ko) 2016-09-26 2016-09-26 유리창 청소 로봇 및 제어 방법

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WO2023104118A1 (fr) * 2021-12-10 2023-06-15 科沃斯机器人股份有限公司 Procédé et système de détermination de trajet de nettoyage et dispositif et support de stockage
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CN109129499B (zh) * 2018-07-18 2020-09-22 广东宝乐机器人股份有限公司 控制擦窗机器人行走的方法、擦窗机器人及存储介质
CN110162061B (zh) * 2019-06-06 2022-06-24 深圳怪虫机器人有限公司 一种光伏清洁机器人直线清洁路径的方法
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