WO2019104870A1 - 擦窗机器人及擦窗机器人的安全检测方法 - Google Patents
擦窗机器人及擦窗机器人的安全检测方法 Download PDFInfo
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- WO2019104870A1 WO2019104870A1 PCT/CN2018/075231 CN2018075231W WO2019104870A1 WO 2019104870 A1 WO2019104870 A1 WO 2019104870A1 CN 2018075231 W CN2018075231 W CN 2018075231W WO 2019104870 A1 WO2019104870 A1 WO 2019104870A1
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- Prior art keywords
- safety
- window cleaning
- cleaning robot
- protection device
- suction cup
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Classifications
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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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- 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
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Definitions
- the invention belongs to the technical field of intelligent cleaning equipment, and relates to a safety detection method for a window cleaning robot and a window cleaning robot.
- the existing window cleaning robots are performed on a vertical glass surface when performing work, and will run to an untouchable height.
- the current window cleaning robot needs to add a safety device (including a fixed safety buckle and a safety rope for connecting the window cleaning robot) before the work, and the window cleaning robot is connected to the safety device to It is determined that the safety device can provide protection when the window cleaning robot is dropped.
- the safety device can provide protection when the window cleaning robot is dropped.
- the user completely relies on the product manual to complete the operation.
- the existing window cleaning robot itself has no way to detect and judge whether an effective protection connection is completed with the safety device.
- the invention patent of the Chinese Patent Publication No. CN206218048U discloses a window cleaning robot, and specifically discloses the control of the operation of the window cleaning robot by the suction information of the suction cup (safety device) capable of detecting the safety of the window cleaning robot.
- the technical solution described above can control the operation of the window cleaning robot by detecting the adsorption state of the suction cup, in actual use, the user can place the suction cup in an arbitrary position without connecting the suction cup to the window cleaning robot, which may result in rubbing.
- Window robots cannot be secured during operation. Therefore, only detecting the adsorption state of the suction cup does not completely eliminate the safety hazard, and also needs to detect the connection relationship between the safety device and the window cleaning robot.
- a window cleaning robot with safety detection comprising:
- a safety protection device disposed near the body and connected to the body for preventing the body from falling;
- the detecting device is configured to detect a connection state between the body and the safety protection device.
- the window cleaning robot with safety detection includes: a body, a safety protection device and a detection device; wherein:
- the body is provided with a processing module for controlling the robot to execute a preset program/action for controlling the robot to walk or stand on the window to perform the window cleaning work;
- a safety protection device disposed near the body and connected to the body through a connecting member for preventing the body from falling;
- the detecting device is disposed on the body and the safety protection device for detecting the connection state of the body and the safety protection device, and outputting the connection state signal to the processing module.
- the safety protection device includes a suction cup that is coupled to the body by a connecting member.
- the suction cup has a flared soft plastic disk body.
- a handle is further disposed at an edge of the tray of the suction cup.
- the connecting member includes a first connecting portion and a second connecting portion, the first connecting portion is connected to the body, and the second connecting portion is connected to the suction cup.
- first connecting portion is screwed to the body, and the second connecting portion is screwed to the suction cup.
- the connecting member is a connecting member integrally provided with the body.
- the suction cup is provided with a gas pressure detector, and the air pressure detector is connected with the processing module and outputs the air pressure information when the suction cup is in an adsorption state.
- the safety protection device includes a connecting cord, one end of the connecting rope is connected to the body, and the other end is connected to a fixing fixedly disposed around the body.
- the connecting member is a rope body, and both ends of the rope body are provided with a rope sleeve, one end is sleeve-connected with the body through the rope sleeve, and the other end is sleeve-connected with the suction cup through the rope sleeve.
- the detecting device is disposed on the body and/or the security device.
- the detecting device includes a receiving portion and a connecting portion, the receiving portion is disposed on the body, and the connecting portion is disposed on the safety protection device, when the connecting portion approaches or contacts the receiving portion, The receiving unit outputs a connection state of the body and the security protection device.
- the receiving portion is connected to the body by a ferrule or a thread or a clamping manner; the connecting portion is connected to the safety protection device by a ferrule or a thread or a clamping manner.
- the detecting device includes a receiving portion and a connecting portion, the receiving portion is disposed on the safety protection device, and the connecting portion is disposed on the body, when the connecting portion approaches or contacts the receiving portion
- the receiving unit outputs a connection state of the body and the security protection device.
- the receiving portion and the safety protection device are connected by a ferrule or a thread or a clamping manner
- the connecting portion is connected to the body by a ferrule or a thread or a clamping manner.
- the detecting device includes a magnetic sensor including a first magnetic element and a second magnetic element, the first magnetic element is disposed on the body, and the second magnetic element is disposed on the security protection
- the device outputs a magnetic induction intensity signal recognized by the window cleaning robot when the first magnetic element and the second magnetic element are close to each other.
- the detecting device is a tension sensor, and one end of the tension sensor is a receiving portion disposed on the body, and the other end of the tension sensor is a connecting portion with the connecting member.
- a detecting device for a window cleaning robot comprising a magnetic sensor, the magnetic sensor comprising a first magnetic element and a second magnetic element, the first magnetic element being disposed on a body of the window cleaning robot, the second The magnetic element is disposed on the safety protection device of the window cleaning robot, and outputs a magnetic induction intensity signal recognized by the window cleaning robot when the first magnetic element and the second magnetic element are close to each other.
- a safety protection device for a window cleaning robot comprising a suction cup connected to the body by a connecting member, the suction cup is provided with a gas pressure detector, the gas pressure detector and a processing module on the body The signal is connected, and the air pressure information when the suction cup is in an adsorption state is output.
- the present invention also provides a security detection method for a window cleaning robot, comprising the following steps:
- the detecting device detects the connection state of the body and the safety protection device before the window cleaning robot performs the cleaning work, and outputs a connection state signal;
- the processing module on the body accepts the connection status signal and controls the window cleaning robot to execute the preset program.
- the safety protection device includes a suction cup that is connected to the body of the window cleaning robot through a connecting member.
- the suction cup has a flared soft plastic disk body.
- a handle is further disposed at an edge of the tray of the suction cup.
- the connecting member includes a first connecting portion and a second connecting portion, connecting the first connecting portion with the body, and the second connecting portion and the suction cup connection.
- first connecting portion is screwed to the body, and the second connecting portion is screwed to the suction cup.
- the connecting member is integrally provided with the body, and the body is connected to the safety protection device through the integrally provided connecting member.
- the suction cup detects the air pressure information when the suction cup is in the adsorption state by the air pressure detector, and outputs the air pressure information to the processing module on the body for monitoring.
- the safety protection device includes a connecting cord, one end of the connecting rope is connected to the body, and the other end is connected to a fixing fixedly disposed around the body.
- a rope sleeve is disposed at both ends of the connecting rope, one end is sleeve-connected with the body through the rope sleeve, and the other end is sleeve-connected with a fixing fixedly disposed around the body through the rope sleeve.
- the detecting device includes a detachably connected receiving portion and a connecting portion, the receiving portion is disposed on the body of the window cleaning robot, and the connecting portion is disposed on the safety protection device when the connection When the portion approaches or contacts the receiving portion, the receiving portion outputs a connection state of the body and the safety protection device to the processing module.
- the detecting device includes a detachably connected receiving portion and a connecting portion, the receiving portion is disposed on the security protecting device, and the connecting portion is disposed on the body of the window cleaning robot when the connecting When the portion approaches or contacts the receiving portion, the receiving portion outputs a connection state of the body and the safety protection device to the processing module.
- the window cleaning robot with safety detection connects the body of the window cleaning robot and the safety protection device through a connecting member, and the detecting device is respectively disposed on the body and the safety protection device, according to the detecting body and When the safety protection device is close to the detection signal output, it is judged whether the main body and the Anqian protection device are reliably connected, so that the work safety of the window cleaning robot can be further improved, and the accident of the robot falling during the window cleaning process is prevented.
- the detecting device is simultaneously connected with the window cleaning robot body and the safety protection device, the safety hazard existing in the prior art detecting device only detecting the suction state of the suction cup is avoided, and the safety factor is high.
- FIG. 1 is a schematic structural view of a window cleaning robot according to Embodiment 1 of the present invention.
- FIG. 2 is a schematic cross-sectional structural view of the connecting member and the safety protection device of FIG. 1;
- FIG. 3 is a schematic structural view of a window cleaning robot according to Embodiment 2 of the present invention.
- FIG. 4 is a schematic cross-sectional view of the connecting member and the safety protection device of FIG. 3.
- a window cleaning robot with safety detection has a body 100 constituting an outer shape of a window cleaning robot.
- the body 100 can be stationary or moved on a cleaning surface, and a control robot is disposed in the body 100.
- a processing module (not shown) of the preset program/action, the processing module can receive or send a signal, and at the same time, the body 100 is further provided with a start switch 101, an external power connection line 102 and a detecting device (in the figure) Not shown), the detecting device detects whether the body 100 has an effective connection state with the safety device before the cleaning window robot performs the cleaning work, and the detecting device outputs a signal to the processing module for the connection state, and the processing module selects the window cleaning robot according to the signal.
- a fixed device is set as a safety protection device (300, 310) within or outside the range of motion of the body 100, and the gravity of the window cleaning robot can be taken when the window cleaning robot is dropped, preventing the body from continuing to fall to the person. Or other property causing damage.
- the safety protection device (300, 310) can also define the range of movement of the window cleaning robot to move the window cleaning robot within an effective connection range with the safety protection device (300, 310).
- the safety protection device (300, 310) in the process of using the window cleaning robot, it is necessary to first set the safety protection device (300, 310) as a safety device in a safe position, where the safety protection device (300, 310) It can be a guardrail or a fastener (projection) fixed to the wall, and the window cleaning robot can be connected to the safety protection device (300, 310) through the connecting member (200, 211).
- the connecting member 200 is integrally provided with the body 100.
- a safety protection device 300 is disposed around the body 100.
- the user should use the connecting member 200 to connect the body 100 and the safety protection device.
- the 300 is connected, and then the user opens the window cleaning robot through the power button 101 on the body 100.
- the processing module of the wiping robot starts detecting whether the detecting device receives the signal that the connector 200 and the security device 300 are connected.
- the detection device includes a receiving portion 303 disposed on the safety protection device 300, and a connection portion 203 disposed at one end of the connector 200.
- connection portion 203 and the receiving portion 303 When the user completes the connection between the connector 200 and the security device 300, the connection portion 203 and the receiving portion 303 generate a signal to the processing module when approaching or contacting, and the processing module receives the signal to indicate the connector 200 and the security device.
- the 300 has been securely connected and can begin to perform window cleaning. If the processing module does not receive a signal, the processing module stops the window cleaning robot from moving or alarming.
- the receiving portion of the detecting device may be disposed on the body 100, and the connecting portion is disposed at the connecting end of the connecting member 200 and the body 100.
- the processing module receives To the signal that the connector 200 is securely coupled to the body 100, the processing module signals that the window cleaning robot begins performing the window cleaning operation. If the processing module does not receive a signal, the processing module stops the window cleaning robot from moving or alarming.
- the security device may be an absorbing object that can be detached from the building, such as a suction cup (300, 310).
- a suction cup 300, 310
- real-time suction cups 300, 310) are also required. The adsorption state is monitored to determine whether the suction cup (300, 310) is firmly adsorbed, whether it will fall off automatically due to insufficient adsorption strength during the working process, or the window cleaning robot is pulled and falls off due to insufficient adsorption strength.
- the suction cups (300, 310) have flared soft rubber discs (301, 311), and the disc bodies (300, 310) can be adsorbed by pressing the disc bodies (301, 311).
- the surface forms a negative pressure zone.
- the suction cups (300, 310) are provided with air pressure detectors (302, 312), and the air pressure detectors (302, 312) are connected to the processing module and output the air pressure when the suction cups (300, 310) are in an adsorption state.
- the use safety of the window cleaning robot can be effectively improved.
- the suction cups (300, 310) When the suction cups (300, 310) are attracted to the glass surface, it is also necessary to connect the window cleaning robot with the suction cups (300, 310) through the connecting members (200, 211), so as to provide real-time protection to the window cleaning robot, avoiding installation only.
- the suction cups (300, 310) are not connected to the window cleaning robot, so that the window cleaning robot is liable to fall during the movement.
- the connecting member 200 since the connecting member 200 also needs to be connected with the suction cups (300, 310), only detecting the adsorption state of the suction cups (300, 310) does not satisfy the safety guarantee for the window cleaning robot. It is necessary to detect the connection state of the connecting member 200 and the suction cups (300, 310) to prevent the user from connecting the connecting member 200 to the suction cups (300, 310) securely, so as to be provided on the suction cups (300, 310).
- the sensor detects whether the connector 200 is connected to the suction cup (300, 310), and transmits the connection state information to the processing module, and the processing module determines whether the window cleaning robot can perform the cleaning work according to the connection state information.
- the suction cup as a safety protection device needs a strong adsorption force, and after the cleaning work is completed, the suction cup needs to be removed, and the suction cup is difficult to be removed due to the high adsorption strength. Therefore, it is proposed in the present application that the handles (304, 313) are also provided at the edges of the trays (301, 311) of the suction cups (300, 310), and the user can hold them when the suction cups (300, 310) need to be moved.
- the detecting device includes a magnetic sensor including a first magnetic element 303 and a second magnetic element 203, the first magnetic element 303 is disposed on the suction cup (safety protection device) 300, and the second magnetic element 203 is disposed on Connected to the connector 200 on the body 100, when the first magnetic component 303 and the second magnetic component 203 are close to each other, the connection information of the intensity change is output to the processing module.
- the first magnetic component of the magnetic sensor can be respectively disposed on the body 100 or the suction cup 300, and the second magnetic component is disposed on the connecting component 200, so that the connection between the two ends of the connecting component 200 can be effectively performed. The status is detected.
- the connecting member 200 when the connecting member 200 is connected to the body 100 or the suction cup 300, the connecting member 200 generates continuous connection state information of the change in the intensity of the induction during the approach of the second magnetic member 203 toward the first magnetic member 303, and the processing is processed.
- the module can determine whether the connector 200 is safely connected with the body 100 of the window cleaning robot and the suction cup 300 according to the changed connection state information, so as to ensure that the window cleaning robot can be safely secured during the cleaning work.
- both ends of the connecting member 211 are directly connected to the body 100 and the suction cup 310, which can be screwed to achieve quick disassembly of the connecting member 211.
- the detecting device can be respectively disposed on the body 100 and the suction cup 310.
- the connecting member 200 can adopt a rope body having a certain extension.
- the two ends of the rope body are respectively a first connecting portion and a second connecting portion.
- the first connecting portion is connected with the body 100, and the second connecting portion and the suction cup are connected. (300, 310) connection.
- the connection between the connector 200 and the body 100 and the suction cups (300, 310) may be a threaded connection, or any end of the rope body may be provided with a sleeve to sleeve the body 100 or the suction cups (300, 310).
- the connector 200 can be a safety cord.
- the detecting device includes a detachably connected receiving portion and a connecting portion, the receiving portion is disposed on the body 100 to receive the trigger of the connecting portion and output connection state information to the processing module, and the connecting portion is disposed on the connecting member ( Any end of 200, 211).
- the detecting device may collect or generate a connection state information to output to the processing module.
- the receiving portion and the connecting portion may be detachably connected to each other by a ferrule or a screw connection or a clamping.
- the detecting device may also be a tension sensor.
- One end of the tension sensor is a receiving portion disposed on the body 100, and the other end of the tension sensor is a connecting portion with the connecting member (200, 211) when the connecting member (200) 211)
- the user can obtain a pulling force signal by pulling the connecting member (200, 211), and the processing module determines whether the body 100 is connected with the connecting member according to whether the tension signal is received. 211) Complete the connection.
- connection state information exemplified may be an electric signal including a tensile force or a clamping force received by the receiving portion or the connecting portion, or may be a signal indicating a change in the magnetic induction intensity at the time of magnetic induction detection.
- a method for performing security detection by using the above-mentioned window cleaning robot with safety detection is further provided, which specifically includes the following steps:
- the detecting device detects the connection state of the body and the safety protection device before the window cleaning robot performs the cleaning work, and outputs a connection state signal;
- the processing module on the body accepts the connection status signal and controls the window cleaning robot to execute the preset program.
- the safety protection device selects a suction cup 310, and the suction cup 310 is connected to the body 100 of the window cleaning robot through a connecting member 211;
- the suction cup 310 has a flared soft plastic disk body 311; a handle is also disposed at the edge of the disk body 311 of the suction cup 310.
- the connecting member 211 connecting the suction cup 310 and the body 100 of the window cleaning robot may be a structure integrally provided with the body 100, or may be a separate connecting member.
- the connecting member is preferably separately provided.
- the connecting member 211, the separately provided connecting member includes a first connecting portion and a second connecting portion, connecting the first connecting portion with the body 100, and connecting the second connecting portion with the suction cup 310
- the first connecting portion and the body may be screwed, and the second connecting portion and the suction cup may also be screwed, and the first connecting portion and the body may also be selected in other connectable manners.
- the second connecting portion is connected to the suction cup.
- the suction cup 310 can detect the air pressure information when the suction cup is in the adsorption state by the air pressure detector, and output the air pressure information to the processing module on the body 100 for monitoring. To determine whether the suction cup is firmly adsorbed, it will fall off automatically due to insufficient adsorption strength during the working process, or it may be pulled off due to insufficient adsorption strength.
- the detecting device includes a detachably connected receiving portion and a connecting portion, the receiving portion is disposed on the body 100 of the window cleaning robot, and the connecting portion is disposed on the safety protection device
- the receiving portion may be further disposed on the security protection device, and the connecting portion is disposed on the body of the window cleaning robot, when the connecting portion approaches or contacts the receiving
- the processing module on the body of the window cleaning robot receives the connection status signal, the window cleaning robot is controlled to execute a preset program.
- the safety protection device may further select a connecting rope, one end of the connecting rope is connected to the body 100, and the other end may be fixed to a fixed object disposed around the body.
- the connection for example, the fixture may be a guard rail or a fastener fixed to the cavity, etc.; preferably, the connecting rope may be a connecting rope provided with a rope sleeve at both ends, and one end of the connecting rope passes through the rope sleeve and the The main body is sleeve-connected, and the other end is sleeve-connected with a fixing fixedly disposed around the main body through a rope sleeve.
Abstract
一种具有安全检测的擦窗机器人及擦窗机器人的安全检测方法，包括：本体（100），用于在窗户上行走以执行擦窗工作；安全保护装置（300、310），设置于本体（100）附近并与本体（100）连接，用于防止本体（100）跌落；检测装置，用于检测本体（100）与安全保护装置（300、310）的连接状态。具有安全检测的擦窗机器人及擦窗机器人的安全检测方法通过检测擦窗机器人是否已经与擦窗机器人周围的安全保护装置（300、310）设置有安全连接，以提高擦窗机器人的工作安全性，防止擦窗过程中机器人掉落出现事故。
Description
本发明属于智能清洁设备技术领域，涉及一种擦窗机器人及擦窗机器人的安全检测方法。
目前，现有的擦窗机器人在执行作业时，都在竖直玻璃面上进行，并且会运行到人手不可触摸的高处。为防止其掉落，现在的擦窗机器人在工作前，需要增加一个安全装置（包括可固定的安全扣和用于连接擦窗机器人的安全绳），将擦窗机器人连接在安全装置上，以确定安全装置可以在擦窗机器人掉落时提供保护。然而使用者在实际使用中完全是靠产品使用说明书来完成操作，至于使用者是否按照要求使用安全装置，现有擦窗机器人本身是没有办法检测和判断是否与安全装置完成有效的保护连接。
基于上述问题，中国专利公开号CN206218048U的发明专利公开一种擦窗机器人，并具体公开了通过能检测为擦窗机器人提供安全保护的吸盘（安全装置）吸附信息对擦窗机器人的运行进行控制。其所述的技术方案虽然可以通过检测吸盘的吸附状态来控制擦窗机器人的运行，但是在实际使用中，用户可以将吸盘置于任意位置，而不将吸盘与擦窗机器人连接，会导致擦窗机器人在运行中不能得到安全保护。所以，仅对吸盘的吸附状态进行检测并不能完全排除安全隐患，还需要对安全装置与擦窗机器人之间的连接关系进行检测。
现有技术中，仅对擦窗机器人的吸盘的吸附状态进行检测并不能完全排除擦窗机器人工作过程中的安全隐患。
本发明的目的在于提供一种具有安全检测的擦窗机器人以解决背景技术中的问题，本发明的技术方案如下：
一种具有安全检测的擦窗机器人，包括：
本体，用于在窗户上行走以执行擦窗工作；
安全保护装置，设置于本体附近并与本体连接，用于防止本体跌落；
检测装置，用于检测本体与安全保护装置的连接状态。
进一步地，所述的具有安全检测的擦窗机器人，包括：本体、安全保护装置和检测装置；其中：
所述本体内设置有控制机器人执行预设程序/动作的处理模块，用于控制机器人在窗户上行走或静止以执行擦窗工作；
安全保护装置，设置于本体附近并与本体通过连接件连接，用于防止本体跌落；
检测装置，设置于本体和安全保护装置上，用于检测本体与安全保护装置的连接状态，并将连接状态信号输出至处理模块。
进一步地，所述安全保护装置包括吸盘，所述吸盘通过连接件与所述本体连接。
进一步地，所述吸盘具有扩口状的软胶盘体。
进一步地，所述吸盘的盘体边缘处还设置有提手。
进一步地，所述连接件包括第一连接部和第二连接部，所述第一连接部与所述本体连接，所述第二连接部与所述吸盘连接。
进一步地，所述第一连接部与所述本体通过螺纹连接，所述第二连接部与所述吸盘通过螺纹连接。
进一步地，所述连接件为与本体一体设置的连接件。
进一步地，所述吸盘上设有气压检测器，所述气压检测器与所述处理模块信号连接并输出所述吸盘呈吸附状态时的气压信息。
进一步地，所述安全保护装置包括连接绳，所述连接绳的一端与所述本体连接，另一端与固定设置于所述本体周围的固定物连接。
进一步地，所述连接件为绳体，所述绳体的两端均设置有绳套，一端与所述本体通过绳套进行套接连接，另一端通过绳套与吸盘套接连接。
进一步地，所述检测装置设置于所述本体和/或所述安全保护装置上。
进一步地，检测装置包括接收部和连接部，所述接收部设置于所述本体上，所述连接部设置于所述安全保护装置上，当所述连接部接近或接触所述接收部时，所述接收部输出所述本体与所述安全保护装置的连接状态。
进一步地，所述接受部与本体通过卡套或螺纹或夹持方式连接；所述连接部与所述安全保护装置通过卡套或螺纹或夹持方式连接。
进一步地，所述检测装置包括接收部和连接部，所述接收部设置于所述安全保护装置上，所述连接部设置于所述本体上，当所述连接部接近或接触所述接收部时，所述接收部输出所述本体与所述安全保护装置的连接状态。
进一步地，所述接受部与所述安全保护装置通过卡套或螺纹或夹持方式连接，所述连接部与本体通过卡套或螺纹或夹持方式连接。
进一步地，所述检测装置包括磁感应器，所述磁感应器包括第一磁元件和第二磁元件，所述第一磁元件设置于所述本体，所述第二磁元件设置于所述安全保护装置上，在所述第一磁元件与所述第二磁元件相互接近时输出被擦窗机器人识别的磁感强度信号。
进一步地，所述检测装置为拉力传感器，所述拉力传感器的一端为设置于本体上到的接受部，所述拉力传感器的另一端为与连接件的连接部。
一种用于擦窗机器人的检测装置，包括磁感应器，所述磁感应器包括第一磁元件和第二磁元件，所述第一磁元件设置于所述擦窗机器人的本体，所述第二磁元件设置于所述擦窗机器人的安全保护装置上，在所述第一磁元件与所述第二磁元件相互接近时输出被擦窗机器人识别的磁感强度信号。
一种用于擦窗机器人的安全保护装置，包括吸盘，所述吸盘通过连接件与所述本体连接，所述吸盘上设有气压检测器，所述气压检测器与所述本体上的处理模块信号连接，并输出所述吸盘呈吸附状态时的气压信息。
进一步地，本发明还提供了一种用于擦窗机器人的安全检测方法，包括如下步骤：
（1）将安全保护装置设置于本体附近，并与擦窗机器人的本体通过连接件连接；
（2）将检测装置与擦窗机器人的本体和安全保护装置连接；
（3）启动本体上的开关，检测装置在擦窗机器人执行清洁工作前对本体和安全保护装置的连接状态进行检测，输出连接状态信号；
（4）本体上的处理模块接受连接状态信号，并控制擦窗机器人执行预设程序。
进一步地，所述安全保护装置包括吸盘，所述吸盘通过连接件与所述擦窗机器人的本体连接。
进一步地，所述吸盘具有扩口状的软胶盘体。
进一步地，所述吸盘的盘体边缘处还设置有提手。
进一步地，所述步骤（1）中，所述连接件包括第一连接部和第二连接部，将所述第一连接部与所述本体连接，将所述第二连接部与所述吸盘连接。
进一步地，所述第一连接部与所述本体通过螺纹连接，所述第二连接部与所述吸盘通过螺纹连接。
进一步地，所述连接件与本体一体设置，所述本体通过一体设置的连接件与安全保护装置连接。
进一步地，所述吸盘通过气压检测器检测吸盘呈吸附状态时的气压信息，并将所述气压信息输出至本体上的处理模块进行监测。
进一步地，所述安全保护装置包括连接绳，所述连接绳的一端与所述本体连接，另一端与固定设置于所述本体周围的固定物连接。
进一步地，在所述连接绳的两端设置绳套，一端与所述本体通过绳套进行套接连接，另一端通过绳套与固定设置于所述本体周围的固定物进行套接连接。
进一步地，所述检测装置包括可拆卸连接的接收部和连接部，所述接收部设置于所述擦窗机器人的本体上，所述连接部设置于所述安全保护装置上，当所述连接部接近或接触所述接收部时，所述接收部输出所述本体与所述安全保护装置的连接状态至处理模块。
进一步地，所述检测装置包括可拆卸连接的接收部和连接部，所述接收部设置于所述安全保护装置上，所述连接部设置于所述擦窗机器人的本体上，当所述连接部接近或接触所述接收部时，所述接收部输出所述本体与所述安全保护装置的连接状态至处理模块。
（1）通过检测擦窗机器人是否已经与擦窗机器人周围的安全保护装置设置有安全连接，以提高擦窗机器人的工作安全性，防止擦窗过程中机器人掉落出现事故。
（2）本发明所述具有安全检测的擦窗机器人，将擦窗机器人本体与所述安全保护装置通过连接件连接，并通过将检测装置分别设置于本体和安全保护装置上，根据检测本体与安全保护装置靠近时输出的检测信号，判断本体与安倩保护装置是否可靠连接，这样可以进一步提高擦窗机器人的工作安全性，防止擦窗过程中机器人掉落出现事故。同时，由于检测装置同时与擦窗机器人本体和安全保护装置连接，避免了现有技术中检测装置只检测吸盘吸附状态时存在的安全隐患，具有安全系数高的优点。
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单的介绍，显而易见地，下面描述中的附图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为本发明中实施例一的擦窗机器人的结构示意图;
图2为图1中连接件与安全保护装置的截面结构示意图；
图3为本发明中实施例二的擦窗机器人的结构示意图；
图4为图3中连接件与安全保护装置的截面结构示意图。
下面将结合附图和具体实施例对本发明技术方案进行清楚、完整地描述，显然，这里所描述的实施例仅仅是发明的一部分实施例，而不是全部的实施例。基于本发明描述的具体实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明权利要求所限定的保护范围内。
如图1至图4所示，一种具有安全检测的擦窗机器人，其具有：构成擦窗机器人外形的本体100，本体100可在清洁表面静止或移动，且本体100内设有控制机器人执行预设程序/动作的处理模块（图中未示出），该处理模块可以接收或发出信号，同时，在本体100上还设有启动开关101、外置电源连接线102和检测装置（图中未示出），检测装置在测擦窗机器人执行清洁工作前对本体100是否与安全装置存在有效连接状态进行检测，检测装置针对连接状态输出一个信号到处理模块，处理模块依据信号选择擦窗机器人可执行的下一预设程序。并且，在本体100运动范围内或运动范围外设定有一个固定的装置作为安全保护装置（300、310），可以在擦窗机器人掉落时承受擦窗机器人的重力，防止本体继续下坠对人或其他财产造成损害。当然安全保护装置（300、310）还可以限定擦窗机器人的移动范围，使擦窗机器人在与安全保护装置（300、310）有效的连接范围内运动。
具体的，如图1和图3所示，在使用擦窗机器人的过程中，需要先将作为安全装置的安全保护装置（300、310）设置在安全位置，这里的安全保护装置（300、310）可以是护栏或固定在墙体上的紧固件（突起物），能通过连接件（200、211）将擦窗机器人与安全保护装置（300、310）连接起来。
实施例一
如图1和图2所示，连接件200与本体100一体设置，在本体100周围设置有安全保护装置300，为安全使用擦窗机器人，使用者应使用连接件200将本体100与安全保护装置300连接起来，然后使用者通过本体100上的开机键101开启擦窗机器人，擦擦机器人的处理模块开始检测检测装置是否收到连接件200与安全保护装置300完成连接的信号。为便于检测到连接件200与安全保护装置300完成连接状态的信号，检测装置包括设置于安全保护装置300上的接收部303，以及设置于连接件200一端的连接部203连接。
当使用者将连接件200与安全保护装置300完成连接时，连接部203与接收部303在接近或接触时产生一个信号至处理模块，处理模块接收到该信号则表示连接件200与安全保护装置300已经安全连接上，可以开始执行擦窗清洁工作。处理模块若没有接收到信号，处理模块则让擦窗机器人停止不动或报警。
在一些实施例中，检测装置的接收部可以设置在本体100上，而连接部设置在连接件200与本体100的连接端，当使用者将连接部连接到本体100上时，处理模块会收到连接件200与本体100安全连接上的信号，处理模块则发出信号让擦窗机器人开始执行擦窗清洁工作。处理模块若没有接收到信号，处理模块则让擦窗机器人停止不动或报警。
在一些实施例中，安全保护装置可以是能从建筑物上拆卸的吸附物体，如吸盘（300、310），为保障擦窗机器人工作时的安全，还需要实时对吸盘（300、310）的吸附状态进行监测，以确定吸盘（300、310）是否吸附牢固，会不会在工作过程中因吸附强度不够而自动脱落，或因吸附强度不够导致擦窗机器人下坠时被拉扯而脱落。
如图2和图4所示，吸盘（300、310）具有扩口状的软胶盘体（301、311），通过按压盘体（301、311）可以使盘体（300、310）与吸附表面形成负压区。由此，在吸盘（300、310）上设有气压检测器（302、312），气压检测器（302、312），与处理模块信号连接并输出吸盘（300、310）呈吸附状态时的气压信息，以及时在吸盘（300、310）吸附强度不够时及时报警或停止擦窗工作。结合以本体100与连接件200的连接状态检测，可以有效提高擦窗机器人的使用安全性。
当吸盘（300、310）吸附于玻璃表面时，还需要通过连接件（200、211）将擦窗机器人与吸盘（300、310）连接起来，才能对擦窗机器人提供实时的保护，避免仅安装吸盘（300、310）而没有连接擦窗机器人，使擦窗机器人在运动过程容易发生掉落。
基于上述实施例，由于连接件200还需要与吸盘（300、310）进行连接，所以仅对吸盘（300、310）的吸附状态做检测并不能满足对擦窗机器人的安全保障，为此，还需要对连接件200与吸盘（300、310）的连接状态进行检测，以避免使用者未将连接件200安全连接在吸盘（300、310）上，是以在吸盘（300、310）上设有传感器以检测连接件200是否与吸盘（300、310）完成连接，并将连接状态信息向处理模块发送，由处理模块根据连接状态信息判定擦窗机器人是否可以执行清洁工作。
由于需要对掉落时的擦窗机器人提供安全保护，作为安全保护装置的吸盘需要强有力的吸附力，在清洁工作完成后，还需要对吸盘进行拆除，因吸附强度高，吸盘很难拆除，所以在本申请中提出：吸盘（300、310）的盘体（301、311）的边缘处还设有提手（304、313），需要移动吸盘（300、310）时，使用者可以拿住提手（304、313）向外远离吸附面一方使力，即可使盘体（301、311）一部分脱离吸附面，造成负压区的负压消失，进而使吸盘（300、310）脱离吸附面更容易。
如图2所示，检测装置包括磁感应器，磁感应器包括第一磁元件303和第二磁元件203，第一磁元件303设置于吸盘（安全保护装置）300上，第二磁元件203设置于连接在本体100上的连接件200上，在第一磁元件303与第二磁元件203相互接近时以向处理模块输出强度变化的连接信息。可以理解的是，本领域技术人员可以将磁感应器的第一磁元件分别设于本体100或吸盘300上，第二磁元件设置于连接件200上，这样可以有效的对连接件200两端的连接状态进行检测。更有利的是，当连接件200连接在本体100或吸盘300上时，连接件200在第二磁元件203向第一磁元件303靠近过程中会产生连续的感应强度变化的连接状态信息，处理模块可以根据变化的连接状态信息判定连接件200是否与擦窗机器人的本体100以及吸盘300完成安全连接，以确保擦窗机器人在清洁工作过程中能得到安全保障。
实施例二
如图3所示，连接件211的两端直接与本体100和吸盘310连接，其可以采用螺纹连接的方式以实现连接件211的快速拆卸。而且，检测装置可以分别设置在本体100和吸盘310上，当处理模块接收到本体与吸盘上输出的关于连接的信号时，处理模块则判定擦窗机器人可以安全执行清洁工作，若只有其中一个信号，处理模块则停止清洁工作或报警，直到异常状态被解除。
基于上述的实施例，连接件200可以采用具有一定延伸性的绳体，绳体两端分别为第一连接部和第二连接部，第一连接部与本体100连接，第二连接部与吸盘（300、310）连接。值得说明的是连接件200与本体100和吸盘（300、310）连接方式可以是螺纹连接，或将绳体的任意端设置绳套对本体100或吸盘（300、310）进行套接。作为优先，连接件200可以是安全绳。
此外，在一些实施例中，检测装置包括可拆卸连接的接收部和连接部，接收部设置于本体100上以接受连接部的触发并向处理模块输出连接状态信息，连接部设置于连接件（200、211）的任意端。当接收部和连接部相互接触并达到预定位置时，可以使检测装置采集或生成一个连接状态信息向处理模块输出。为便于拆装，接收部和连接部可以是相互卡套或螺纹连接或夹持等可拆卸的方式连接。
在一些实施例中，检测装置还可以是拉力传感器，拉力传感器的一端为设置于本体100上的接收部，拉力传感器的另一端为与连接件（200、211）连接部，当连接件（200、211）与连接部完成连接时，使用者通过扯动连接件（200、211）可以使拉力传感器获取到一个拉力信号，处理模块根据是否接收到拉力信号判定本体100是否与连接件（200、211）完成连接。
上述的实施例中，所例举的连接状态信息可以是包含接收部或连接部承受的拉力或夹持力的电信号，还可以是磁感检测时的磁感强度变化的信号。
实施例三
本实施例中，进一步提供了采用上述具有安全检测的擦窗机器人进行安全检测的方法，具体包括如下步骤：
（1）将安全保护装置设置于本体附近，并与擦窗机器人的本体通过连接件连接；
（2）将检测装置与擦窗机器人的本体和安全保护装置连接；
（3）启动本体上的开关，检测装置在擦窗机器人执行清洁工作前对本体和安全保护装置的连接状态进行检测，输出连接状态信号；
（4）本体上的处理模块接受连接状态信号，并控制擦窗机器人执行预设程序。
优选地，本实施方式中，如图3所示，所述安全保护装置选择吸盘310，所述吸盘310通过连接件211与所述擦窗机器人的本体100连接；本实施方式中进一步地优选所述吸盘310具有扩口状的软胶盘体311；所述吸盘310的盘体311边缘处还设置有提手。
进一步地，本实施方式中，连接吸盘310与擦窗机器人的本体100的连接件211可以为与本体100一体设置的结构，也可以是单独的连接件，本实施方式中优选连接件为单独设置的连接件211，所述单独设置的连接件包括第一连接部和第二连接部，将所述第一连接部与所述本体100连接，将所述第二连接部与所述吸盘310连接；当然所述第一连接部与所述本体可以通过螺纹连接，所述第二连接部与所述吸盘也可以通过螺纹连接，其亦可以选择其它可连接的方式将第一连接部与本体、第二连接部与吸盘相连接。
进一步地，本实施方式中，所述吸盘310可以通过气压检测器检测吸盘呈吸附状态时的气压信息，并将所述气压信息输出至本体100上的处理模块进行监测。以确定吸盘是否吸附牢固，会不会在工作过程中因吸附强度不够而自动脱落，或因吸附强度不够导致擦窗机器人下坠时被拉扯而脱落。
进一步地，本实施方式中，所述检测装置包括可拆卸连接的接收部和连接部，所述接收部设置于所述擦窗机器人的本体100上，所述连接部设置于所述安全保护装置上，当然作为可选的方式，所述接收部还可以设置于所述安全保护装置上，所述连接部设置于所述擦窗机器人的本体上，当所述连接部接近或接触所述接收部时，所述接收部输出所述本体与所述安全保护装置的连接状态至处理模块。擦窗机器人的本体上的处理模块接受到连接状态信号后，控制擦窗机器人执行预设程序。
作为上述实施方式的变形，本实施方式中，所述安全保护装置还可以选择连接绳，所述连接绳的一端与所述本体100连接，另一端可以与固定设置于所述本体周围的固定物连接，例如固定物可以为护栏或固定在腔体上的紧固件等；优选地，所述连接绳可以为两端设置绳套的连接绳，所述连接绳的一端通过绳套与所述本体进行套接连接，另一端通过绳套与固定设置于所述本体周围的固定物进行套接连接。
以上所揭露的仅为本发明技术方案的实施例而已，不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。
Claims (10)
- 一种具有安全检测的擦窗机器人，其特征在于，包括：本体，用于在窗户上行走以执行擦窗工作；安全保护装置，设置于本体附近并与本体连接，用于防止本体跌落；检测装置，用于检测本体与安全保护装置的连接状态。
- 根据权利要求1所述的具有安全检测的擦窗机器人，其特征在于，包括：本体、安全保护装置和检测装置；其中：所述本体内设置有控制机器人执行预设程序/动作的处理模块，用于控制机器人在窗户上行走或静止以执行擦窗工作；安全保护装置，设置于本体附近并与本体通过连接件连接，用于防止本体跌落；检测装置，设置于本体和安全保护装置上，用于检测本体与安全保护装置的连接状态，并将连接状态信号输出至处理模块。
- 根据权利要求1或2所述的具有安全检测的擦窗机器人，其特征在于，所述安全保护装置包括吸盘，所述吸盘通过连接件与所述本体连接。
- 根据权利要求3所述的具有安全检测的擦窗机器人，其特征在于，所述吸盘具有扩口状的软胶盘体。
- 根据权利要求3或4所述的具有安全检测的擦窗机器人，其特征在于，所述吸盘的盘体边缘处还设置有提手。
- 根据权利要求3所述的具有安全检测的擦窗机器人，其特征在于，所述连接件包括第一连接部和第二连接部，所述第一连接部与所述本体连接，所述第二连接部与所述吸盘连接。
- 根据权利要求6所述的具有安全检测的擦窗机器人，其特征在于，所述第一连接部与所述本体通过螺纹连接，所述第二连接部与所述吸盘通过螺纹连接。
- 根据权利要求2或3或4或5所述的具有安全检测的擦窗机器人，其特征在于，所述连接件为与本体一体设置的连接件。
- 根据权利要求3所述的具有安全检测的擦窗机器人，其特征在于，所述吸盘上设有气压检测器，所述气压检测器与所述处理模块信号连接并输出所述吸盘呈吸附状态时的气压信息。
- 根据权利要求1所述的具有安全检测的擦窗机器人，其特征在于，所述安全保护装置包括连接绳，所述连接绳的一端与所述本体连接，另一端与固定设置于所述本体周围的固定物连接。11. 根据权利要求3所述的具有安全检测的擦窗机器人，其特征在于，所述连接件为绳体，所述绳体的两端均设置有绳套，一端与所述本体通过绳套进行套接连接，另一端通过绳套与吸盘套接连接。12.根据权利要求1所述的具有安全检测的擦窗机器人，其特征在于，所述检测装置设置于所述本体和/或所述安全保护装置上。13.根据权利要求12所述的具有安全检测的擦窗机器人，其特征在于，检测装置包括接收部和连接部，所述接收部设置于所述本体上，所述连接部设置于所述安全保护装置上，当所述连接部接近或接触所述接收部时，所述接收部输出所述本体与所述安全保护装置的连接状态。14. 根据权利要求13所述的具有安全检测的擦窗机器人，其特征在于，所述接受部与本体通过卡套或螺纹或夹持方式连接；所述连接部与所述安全保护装置通过卡套或螺纹或夹持方式连接。15. 根据权利要求12所述的具有安全检测的擦窗机器人，其特征在于，所述检测装置包括接收部和连接部，所述接收部设置于所述安全保护装置上，所述连接部设置于所述本体上，当所述连接部接近或接触所述接收部时，所述接收部输出所述本体与所述安全保护装置的连接状态。16. 根据权利要求15所述的具有安全检测的擦窗机器人，其特征在于，所述接受部与所述安全保护装置通过卡套或螺纹或夹持方式连接，所述连接部与本体通过卡套或螺纹或夹持方式连接。17.根据权利要求1~16任一所述的具有安全检测的擦窗机器人，其特征在于，所述检测装置包括磁感应器，所述磁感应器包括第一磁元件和第二磁元件，所述第一磁元件设置于所述本体，所述第二磁元件设置于所述安全保护装置上，在所述第一磁元件与所述第二磁元件相互接近时输出被擦窗机器人识别的磁感强度信号。18. 根据权利要求1~16任一所述的具有安全检测的擦窗机器人，其特征在于，所述检测装置为拉力传感器，所述拉力传感器的一端为设置于本体上到的接受部，所述拉力传感器的另一端为与连接件的连接部。19. 一种用于擦窗机器人的检测装置，其特征在于，包括磁感应器，所述磁感应器包括第一磁元件和第二磁元件，所述第一磁元件设置于所述擦窗机器人的本体，所述第二磁元件设置于所述擦窗机器人的安全保护装置上，在所述第一磁元件与所述第二磁元件相互接近时输出被擦窗机器人识别的磁感强度信号。20.一种用于擦窗机器人的安全保护装置，其特征在于，包括吸盘，所述吸盘通过连接件与所述本体连接，所述吸盘上设有气压检测器，所述气压检测器与所述本体上的处理模块信号连接，并输出所述吸盘呈吸附状态时的气压信息。21.一种用于擦窗机器人的安全检测方法，其特征在于，包括如下步骤：（1）将安全保护装置设置于本体附近，并与擦窗机器人的本体通过连接件连接；（2）将检测装置与擦窗机器人的本体和安全保护装置连接；（3）启动本体上的开关，检测装置在擦窗机器人执行清洁工作前对本体和安全保护装置的连接状态进行检测，输出连接状态信号；（4）本体上的处理模块接受连接状态信号，并控制擦窗机器人执行预设程序。22.根据权利要求21所述的安全检测方法，其特征在于，所述安全保护装置包括吸盘，所述吸盘通过连接件与所述擦窗机器人的本体连接。23. 根据权利要求21所述的安全检测方法，其特征在于，所述吸盘具有扩口状的软胶盘体。24. 根据权利要求22或23所述的安全检测方法，其特征在于，所述吸盘的盘体边缘处还设置有提手。25. 根据权利要求22所述的安全检测方法，其特征在于，所述步骤（1）中，所述连接件包括第一连接部和第二连接部，将所述第一连接部与所述本体连接，将所述第二连接部与所述吸盘连接。26. 根据权利要求25所述的安全检测方法，其特征在于，所述第一连接部与所述本体通过螺纹连接，所述第二连接部与所述吸盘通过螺纹连接。27. 根据权利要求21或22或23或24所述的安全检测方法，其特征在于，所述连接件与本体一体设置，所述本体通过一体设置的连接件与安全保护装置连接。28. 根据权利要求22所述的安全检测方法，其特征在于，所述吸盘通过气压检测器检测吸盘呈吸附状态时的气压信息，并将所述气压信息输出至本体上的处理模块进行监测。29. 根据权利要求21所述的安全检测方法，其特征在于，所述安全保护装置包括连接绳，所述连接绳的一端与所述本体连接，另一端与固定设置于所述本体周围的固定物连接。30. 根据权利要求29所述的安全检测方法，其特征在于，在所述连接绳的两端设置绳套，一端与所述本体通过绳套进行套接连接，另一端通过绳套与固定设置于所述本体周围的固定物进行套接连接。31.根据权利要求21所述的安全检测方法，其特征在于，所述检测装置包括可拆卸连接的接收部和连接部，所述接收部设置于所述擦窗机器人的本体上，所述连接部设置于所述安全保护装置上，当所述连接部接近或接触所述接收部时，所述接收部输出所述本体与所述安全保护装置的连接状态至处理模块。32.根据权利要求21所述的安全检测方法，其特征在于，所述检测装置包括可拆卸连接的接收部和连接部，所述接收部设置于所述安全保护装置上，所述连接部设置于所述擦窗机器人的本体上，当所述连接部接近或接触所述接收部时，所述接收部输出所述本体与所述安全保护装置的连接状态至处理模块。
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