WO2018157276A1 - 自适应调节吸力的擦窗机器人及其操作方法 - Google Patents
自适应调节吸力的擦窗机器人及其操作方法 Download PDFInfo
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- WO2018157276A1 WO2018157276A1 PCT/CN2017/075110 CN2017075110W WO2018157276A1 WO 2018157276 A1 WO2018157276 A1 WO 2018157276A1 CN 2017075110 W CN2017075110 W CN 2017075110W WO 2018157276 A1 WO2018157276 A1 WO 2018157276A1
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- window cleaning
- window
- cleaning robot
- vacuum suction
- air volume
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- the present invention relates to the field of robot route planning, and in particular to a window cleaning robot that adaptively adjusts suction and an operating method thereof.
- the present invention provides a window cleaning robot that adaptively adjusts suction, comprising: a vacuum suction module for generating vacuum suction to adsorb the window cleaning robot to a window; and a sensing module for acquiring the Sensing data of the window cleaning robot, the sensor data includes window size information, current position information, speed information, air volume information, wherein the window size information and the current position information are acquired by using a laser ranging method; and the control module And arranging a window cleaning route according to the sensing data and adjusting a vacuum suction value of the vacuum suction module; and a motor module for operating according to the planned window cleaning route.
- control module is configured to generate a suction adjustment signal to increase the vacuum suction when it is detected that the operating environment air volume indicated by the air volume information is increased.
- control module is configured to detect the operation indicated by the air volume information When the ambient air volume is reduced, a suction adjustment signal is generated to reduce the vacuum suction.
- the sensing module includes: a laser ranging unit, configured to laser measure the distance between the window cleaning robot and the edge of each window to obtain the window size information and the current position information; and the air volume detection a unit for sensing the air volume information of the window cleaning robot to obtain a working environment air volume of the window cleaning robot, and a turbine detecting unit configured to sense the speed information of the window cleaning robot.
- control module includes: a sensing data processing unit for receiving and processing the sensing data from the sensing module; a window cleaning path unit for determining the sensing data according to the sensing data Processing result of the processing unit to plan a window cleaning path; a vacuum suction adjusting unit configured to generate a suction adjustment signal according to a processing result of the sensing data processing unit to adjust the vacuum suction value; and an underlying motor control unit for A motor control signal is generated in accordance with the planned window cleaning path.
- the invention also provides a method for operating a window cleaning robot that adaptively adjusts suction, comprising: generating vacuum suction to adsorb the window cleaning robot on a window; acquiring sensing data of the window cleaning robot, the sensing data Including window size information, current position information, speed information, air volume information, wherein the window size information and the current position information are acquired by a laser ranging method; planning a window cleaning route according to the sensing data and adjusting the a vacuum suction value; and operating in accordance with the planned window cleaning route.
- the step of planning a window cleaning route according to the sensing data and adjusting the vacuum suction value comprises: generating a suction adjustment signal when detecting that the working environment air volume indicated by the air volume information increases To increase the vacuum suction.
- the step of planning a window cleaning route according to the sensing data and adjusting the vacuum suction value comprises: generating a suction adjustment signal when detecting that the working environment air volume indicated by the air volume information is decreased The vacuum suction is reduced.
- the step of acquiring the sensing data of the window cleaning robot comprises: measuring a distance between the window cleaning robot and the edge of each window of the window to obtain the window size information and the current position information; Sensing the air volume information of the window cleaning robot to obtain the window cleaning robot a working environment air volume; and sensing the speed information of the window cleaning robot.
- the step of planning a window cleaning route according to the sensing data and adjusting the vacuum suction value comprises: receiving and processing from the sensing data; planning a window cleaning path according to the processing result And generating a suction adjustment signal to adjust the vacuum suction value according to the processing result; and generating a motor control signal according to the planned window cleaning path.
- the window cleaning robot and the operation method thereof provided by the invention can clean the window efficiently and safely, adaptively adjust the vacuum suction value, and save energy and electricity.
- FIG. 1 is a block diagram of a window cleaning robot that adaptively adjusts suction according to an embodiment of the present invention.
- FIG. 2 is a block diagram of the control module of Figure 1.
- FIG. 3 is a block diagram of the sensing module of Figure 1.
- FIG. 4 is a flow chart showing a method of operating a window cleaning robot that adaptively adjusts suction according to an embodiment of the present invention.
- FIG. 1 is a block diagram of a window cleaning robot 100 that adaptively adjusts suction in accordance with an embodiment of the present invention.
- the window cleaning robot 100 can include a vacuum suction module 102 for generating vacuum suction to cause the window cleaning robot to be attracted to the window.
- the window cleaning robot 100 may further include a sensing module 108 for acquiring sensing data of the window cleaning robot 100, the sensing data including window size information, current position information, speed information, air volume information, wherein the window The size information and the current position information are acquired using a laser ranging method (for example, a laser range finder placed on top of the machine).
- a laser ranging method for example, a laser range finder placed on top of the machine.
- the window cleaning robot 100 may further include a control module 106 for planning a window cleaning route based on the sensing data and adjusting a vacuum suction value of the vacuum suction module.
- the control module 106 can be configured to generate a suction adjustment signal to increase the vacuum suction when it is detected that the operating environment air volume indicated by the air volume information is increased.
- the control module 106 can be configured to generate a suction adjustment signal to reduce the vacuum suction when it is detected that the operating environment air volume indicated by the air volume information is reduced.
- the window cleaning robot 100 can also include a motor module 104 for operating in accordance with the planned window cleaning route.
- the control module 106 can include: a sensing data processing unit 202 for receiving and processing the sensing data from the sensing module; a window cleaning path planning unit 204, for The processing result of the sensing data processing unit is used to plan the window cleaning path; the bottom motor control unit 206 is configured to generate a motor control signal according to the planned window cleaning path; the vacuum suction adjusting unit 208 is configured to The processing of the data processing unit results in a suction adjustment signal to adjust the vacuum suction value.
- FIG. 3 is a block diagram of the sensing module 108 of FIG.
- the sensing module 108 can include a laser ranging unit 302 for measuring the distance between the window cleaning robot 100 and the edge of each window to obtain the window size information and the current position information.
- An air volume detecting unit 304 configured to sense the air volume information of the window cleaning robot to obtain the working environment air volume of the window cleaning robot, and a turbine detecting unit 306, configured to sense the window cleaning robot The speed information.
- FIG. 4 is a flow chart of a method 400 of operating a window cleaning robot that adaptively adjusts suction in accordance with an embodiment of the present invention.
- the operating method 400 of the window cleaning robot may include the following steps:
- Step 410 Generate vacuum suction to cause the window cleaning robot to adsorb on the window.
- Step 420 Acquire sensor data of the window cleaning robot, the sensor data includes window size information, current position information, speed information, and air volume information, wherein the window size information and the current position information are measured by using laser Get from the method.
- step 420 may include: laser measuring the distance between the window cleaning robot and the edge of each side of the window to obtain the window size information and the current position information; sensing the air volume of the window cleaning robot Information to obtain the working environment air volume of the window cleaning robot; and sensing the speed information of the window cleaning robot.
- Step 430 Plan a window cleaning route according to the sensing data and adjust the vacuum suction value.
- step 430 can include generating a suction adjustment signal to increase the vacuum suction when it is detected that the operating environment air volume indicated by the air volume information is increased. In another embodiment, step 430 can include generating a suction adjustment signal to reduce the vacuum suction when it is detected that the working environment air volume indicated by the air volume information is reduced.
- step 430 can include: receiving and processing the sensory data; planning a window cleaning path according to the processing result; generating a suction adjustment signal to adjust the vacuum suction value according to the processing result; A motor control signal is generated in accordance with the planned window cleaning path.
- Step 440 Operate according to the planned window cleaning route.
- the window cleaning robot and the operating method thereof provided by the invention can clean the window efficiently and safely, adaptively adjust the vacuum suction value, and save energy and electricity.
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Abstract
一种自适应调节吸力的擦窗机器人（100），包括：真空吸力模块（102），用于产生真空吸力使所述擦窗机器人（100）吸附于窗户上；传感模块（108），用于获取所述擦窗机器人（100）的传感数据，传感数据包括窗户尺寸信息、当前位置信息、速度信息、风量信息，其中所述窗户尺寸信息和所述当前位置信息是利用激光测距方法获取；控制模块（106），用于根据所述传感数据来规划擦窗路线并且调节所述真空吸力模块（102）的真空吸力值并且调节所述真空吸力模块（102）的真空吸力值；以及电机模块（104），用于根据所述规划的擦窗路线而运作。该擦窗机器人（100）及其操作方法能够高效安全地擦干净窗户，自适应调节真空吸力值，更节能省电。
Description
本发明涉及机器人路线规划领域，并且特别涉及一种自适应调节吸力的擦窗机器人及其操作方法。
当今，智能机器人越来越普及。随着机器人的小型化和低成本化，也逐渐进入普通用户的家庭生活中。例如，根据机器人的功能，通常可分为清扫机器人、擦窗机器人、服务机器人、看护机器人等。然而，擦窗机器人可能无法准确高效并且安全地完成擦窗作业，尤其是高空大风作业情况下。
因此，需要一种改进的擦窗机器人及其操作方法。
发明内容
为实现本目的，本发明提供一种自适应调节吸力的擦窗机器人，包括：真空吸力模块，用于产生真空吸力使所述擦窗机器人吸附于窗户上；传感模块，用于获取所述擦窗机器人的传感数据，所述传感数据包括窗户尺寸信息、当前位置信息、速度信息、风量信息，其中所述窗户尺寸信息和所述当前位置信息是利用激光测距方法获取；控制模块，用于根据所述传感数据来规划擦窗路线并且调节所述真空吸力模块的真空吸力值；以及电机模块，用于根据所述规划的擦窗路线而运作。
在一个实施例中，所述控制模块配置为当检测到所述风量信息指示的工作环境风量增大时，产生吸力调整信号以增大所述真空吸力。
在一个实施例中，所述控制模块配置为当检测到所述风量信息指示的工作
环境风量减小时，产生吸力调整信号以减小所述真空吸力。
在一个实施例中，所述传感模块包括：激光测距单元，用于激光测量所述擦窗机器人与窗户各面边缘的距离而得到所述窗户尺寸信息和所述当前位置信息；风量检测单元，用于感测所述擦窗机器人的所述风量信息以得到所述擦窗机器人的工作环境风量；以及轮机检测单元，用于感测所述擦窗机器人的所述速度信息。
在一个实施例中，所述控制模块包括：传感数据处理单元，用于接收并且处理来自所述传感模块的所述传感数据；擦窗路径规划单元，用于根据所述传感数据处理单元的处理结果来规划擦窗路径；真空吸力调节单元，用于根据所述传感数据处理单元的处理结果来产生吸力调整信号以调节所述真空吸力值；以及底层电机控制单元，用于根据所述规划的擦窗路径来产生电机控制信号。
本发明还提供一种自适应调节吸力的擦窗机器人的操作方法，包括：产生真空吸力使所述擦窗机器人吸附于窗户上；获取所述擦窗机器人的传感数据，所述传感数据包括窗户尺寸信息、当前位置信息、速度信息、风量信息，其中所述窗户尺寸信息和所述当前位置信息是利用激光测距方法获取；根据所述传感数据来规划擦窗路线并且调节所述真空吸力值；以及根据所述规划的擦窗路线而运作。
在一个实施例中，所述根据所述传感数据来规划擦窗路线并且调节所述真空吸力值的步骤包括：当检测到所述风量信息指示的工作环境风量增大时，产生吸力调整信号以增大所述真空吸力。
在一个实施例中，所述根据所述传感数据来规划擦窗路线并且调节所述真空吸力值的步骤包括：当检测到所述风量信息指示的工作环境风量减小时，产生吸力调整信号以减小所述真空吸力。
在一个实施例中，所述获取所述擦窗机器人的传感数据的步骤包括：激光测量所述擦窗机器人与窗户各面边缘的距离而得到所述窗户尺寸信息和所述当前位置信息；感测所述擦窗机器人的所述风量信息以得到所述擦窗机器人的所
述工作环境风量；以及感测所述擦窗机器人的所述速度信息。
在一个实施例中，所述根据所述传感数据来规划擦窗路线并且调节所述真空吸力值的步骤包括：接收并且处理来自所述传感数据；根据所述处理结果来规划擦窗路径；根据所述处理结果来产生吸力调整信号以调节所述真空吸力值；以及根据所述规划的擦窗路径来产生电机控制信号。
本发明所提供的擦窗机器人及其操作方法能够高效安全地擦干净窗户，自适应调节真空吸力值，更节能省电。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1所示是根据本发明实施例的自适应调节吸力的擦窗机器人的框图。
图2所示是图1中的控制模块的框图。
图3所示是图1中的传感模块的框图。
图4所示是根据本发明实施例的自适应调节吸力的擦窗机器人的操作方法的流程图。
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
图1所示是根据本发明实施例的自适应调节吸力的擦窗机器人100的框图。
如图1所示，擦窗机器人100可包括真空吸力模块102，用于产生真空吸力使所述擦窗机器人吸附于窗户上。
擦窗机器人100还可以包括传感模块108，用于获取所述擦窗机器人100的传感数据，所述传感数据包括窗户尺寸信息、当前位置信息、速度信息、风量信息，其中所述窗户尺寸信息和所述当前位置信息是利用激光测距方法(例如，置于机器顶部的激光测距仪)获取。
擦窗机器人100还可以包括控制模块106，用于根据所述传感数据来规划擦窗路线并且调节所述真空吸力模块的真空吸力值。在一个实施例中，所述控制模块106可配置为当检测到所述风量信息指示的工作环境风量增大时，产生吸力调整信号以增大所述真空吸力。在另一个实施例中，所述控制模块106可配置为当检测到所述风量信息指示的工作环境风量减小时，产生吸力调整信号以减小所述真空吸力。
擦窗机器人100还可以包括电机模块104，用于根据所述规划的擦窗路线而运作。
图2所示是图1中的控制模块106的框图。在一个实施例中，所述控制模块106可包括：传感数据处理单元202，用于接收并且处理来自所述传感模块的所述传感数据；擦窗路径规划单元204，用于根据所述传感数据处理单元的处理结果来规划擦窗路径；底层电机控制单元206，用于根据所述规划的擦窗路径来产生电机控制信号；真空吸力调节单元208，用于根据所述传感数据处理单元的处理结果来产生吸力调整信号以调节所述真空吸力值。
图3所示是图1中的传感模块108的框图。
在一个实施例中，所述传感模块108可包括：激光测距单元302，用于测量所述擦窗机器人100与窗户各面边缘的距离而得到所述窗户尺寸信息和所述当前位置信息；风量检测单元304，用于感测所述擦窗机器人的所述风量信息以得到所述擦窗机器人的所述工作环境风量；以及轮机检测单元306，用于感测所述擦窗机器人的所述速度信息。
图4所示是根据本发明实施例的自适应调节吸力的擦窗机器人的操作方法400的流程图。
如图4所示，擦窗机器人的操作方法400可包括以下步骤：
步骤410：产生真空吸力使所述擦窗机器人吸附于窗户上。
步骤420：获取所述擦窗机器人的传感数据，所述传感数据包括窗户尺寸信息、当前位置信息、速度信息、风量信息，其中所述窗户尺寸信息和所述当前位置信息是利用激光测距方法获取。
在一个实施例中，步骤420可包括：激光测量所述擦窗机器人与窗户各面边缘的距离而得到所述窗户尺寸信息和所述当前位置信息；感测所述擦窗机器人的所述风量信息以得到所述擦窗机器人的所述工作环境风量；以及感测所述擦窗机器人的所述速度信息。
步骤430：根据所述传感数据来规划擦窗路线并且调节所述真空吸力值。
在一个实施例中，步骤430可包括：当检测到所述风量信息指示的工作环境风量增大时，产生吸力调整信号以增大所述真空吸力。在另一个实施例中，步骤430可包括：当检测到所述风量信息指示的工作环境风量减小时，产生吸力调整信号以减小所述真空吸力。
在一个实施例中，步骤430可包括：接收并且处理所述传感数据；根据所述处理结果来规划擦窗路径；根据所述处理结果来产生吸力调整信号以调节所述真空吸力值；以及根据所述规划的擦窗路径来产生电机控制信号。
步骤440：根据所述规划的擦窗路线而运作。
有利地，本发明所提供的擦窗机器人及其操作方法能够高效安全地擦干净窗户，自适应调节真空吸力值，更节能省电。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。
Claims (10)
- 一种自适应调节吸力的擦窗机器人，包括：真空吸力模块，用于产生真空吸力使所述擦窗机器人吸附于窗户上；传感模块，用于获取所述擦窗机器人的传感数据，所述传感数据包括窗户尺寸信息、当前位置信息、速度信息、风量信息，其中所述窗户尺寸信息和所述当前位置信息是利用激光测距方法获取；控制模块，用于根据所述传感数据来规划擦窗路线并且调节所述真空吸力模块的真空吸力值；以及电机模块，用于根据所述规划的擦窗路线而运作。
- 如权利要求1所述的擦窗机器人，其特征在于，所述控制模块配置为当检测到所述风量信息指示的工作环境风量增大时，产生吸力调整信号以增大所述真空吸力。
- 如权利要求1所述的擦窗机器人，其特征在于，所述控制模块配置为当检测到所述风量信息指示的工作环境风量减小时，产生吸力调整信号以减小所述真空吸力。
- 如权利要求1所述的擦窗机器人，其特征在于，所述传感模块包括：激光测距单元，用于激光测量所述擦窗机器人与窗户各面边缘的距离而得到所述窗户尺寸信息和所述当前位置信息；风量检测单元，用于感测所述擦窗机器人的所述风量信息以得到所述擦窗机器人的工作环境风量；以及轮机检测单元，用于感测所述擦窗机器人的所述速度信息。
- 如权利要求1所述的擦窗机器人，其特征在于，所述控制模块包括：传感数据处理单元，用于接收并且处理来自所述传感模块的所述传感数据；擦窗路径规划单元，用于根据所述传感数据处理单元的处理结果来规划擦窗路径；真空吸力调节单元，用于根据所述传感数据处理单元的处理结果来产生吸力调整信号以调节所述真空吸力值；以及底层电机控制单元，用于根据所述规划的擦窗路径来产生电机控制信号。
- 一种自适应调节吸力的擦窗机器人的操作方法，包括：产生真空吸力使所述擦窗机器人吸附于窗户上；获取所述擦窗机器人的传感数据，所述传感数据包括窗户尺寸信息、当前位置信息、速度信息、风量信息，其中所述窗户尺寸信息和所述当前位置信息是利用激光测距方法获取；根据所述传感数据来规划擦窗路线并且调节所述真空吸力值；以及根据所述规划的擦窗路线而运作。
- 如权利要求6所述的擦窗机器人的操作方法，所述根据所述传感数据来规划擦窗路线并且调节所述真空吸力值的步骤包括：当检测到所述风量信息指示的工作环境风量增大时，产生吸力调整信号以增大所述真空吸力。
- 如权利要求7所述的擦窗机器人的操作方法，其特征在于，所述根据所述传感数据来规划擦窗路线并且调节所述真空吸力值的步骤包括：当检测到所述风量信息指示的工作环境风量减小时，产生吸力调整信号以减小所述真空吸力。
- 如权利要求8所述的擦窗机器人的操作方法，其特征在于，所述获取所述擦窗机器人的传感数据的步骤包括：激光测量所述擦窗机器人与窗户各面边缘的距离而得到所述窗户尺寸信息和所述当前位置信息；感测所述擦窗机器人的所述风量信息以得到所述擦窗机器人的所述工作环境风量；以及感测所述擦窗机器人的所述速度信息。
- 如权利要求6所述的擦窗机器人的操作方法，其特征在于，所述根据所述传感数据来规划擦窗路线并且调节所述真空吸力值的步骤包括：接收并且处理来自所述传感数据；根据所述处理结果来规划擦窗路径；根据所述处理结果来产生吸力调整信号以调节所述真空吸力值；以及根据所述规划的擦窗路径来产生电机控制信号。
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