CN102591333B - Window wiping robot control system and control method thereof - Google Patents
Window wiping robot control system and control method thereof Download PDFInfo
- Publication number
- CN102591333B CN102591333B CN201110020001.9A CN201110020001A CN102591333B CN 102591333 B CN102591333 B CN 102591333B CN 201110020001 A CN201110020001 A CN 201110020001A CN 102591333 B CN102591333 B CN 102591333B
- Authority
- CN
- China
- Prior art keywords
- follower
- driving machine
- module
- cleaning
- processing module
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Landscapes
- Cleaning In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention provides a window wiping robot control system and a control method thereof. The window wiping robot comprises a driver and a follower, wherein the driver comprises a drive module and a first walking module. The control system comprises a driver processing module, a driver sensing module, a follower processing module and a follower sensing module; the driver processing module is further in wireless connection with the follower processing module which sends status messages of the follower obtained on the basis of messages detected by the follower sensing module to the driver processing module, and the driver processing module sends control messages obtained by controlling the work of the follower to the follower processing module. The window wiping robot control system and the control method thereof has the advantage of achieving an intellectualized window wiping robot capable of automatically completing the window wiping work, and efficiently cleaning windows.
Description
Technical field
The present invention relates to a kind of glass-cleaning robot field, especially relate to control system and the control method thereof of glass-cleaning robot.
Background technology
In daily life, people generally clean with rag in the time of cleaning glass.In the time of the glass to structural glass and window outside, conventionally clean with rod-type glass cleaning wiper.But during with rod-type glass cleaning wiper cleaning glass, arm is easily tired, and at the glass of wiping examination window outside, especially for skyscraper, still very dangerous.
For as above problem, there is at present a kind of window-cleaning device.It is ZL200820080547.7 that the concrete technical scheme of this window-cleaning device is asked for an interview the patent No., and name is called " window-cleaning device ".As shown in Figure 1, this window-cleaning device comprises handle 1a, plastic plate 2a and rag 4a.Handle 1 is fixed on the one side of plastic plate 2a, and rag 4a is fixed on the another side of plastic plate 2a, between plastic plate 2a and rag 4a, is fixed with magnet plate 3a.In the time of needs cleaning glass window, two window-cleaning devices are clamped to the glass for the treatment of wiping, and user wipes examination inner layer glass in indoor holds handle, due to magnetic action, the window-cleaning device of the inside can drive the window-cleaning device motion of outside while movement, thereby by the glass of outside also wiped clean.
But this window-cleaning device still needs artificially to handle, operator need to climb up and climb down, very arduous.
Summary of the invention
The technical problem to be solved in the present invention is, for the deficiencies in the prior art, provide a kind of control system and control method thereof of glass-cleaning robot, for improving the intellectuality of glass-cleaning robot, realize the automatic erasing to glass, make glass-cleaning robot effectively complete the cleaning of glass.
For solving the problems of the technologies described above, the invention provides a kind of control system of glass-cleaning robot, described glass-cleaning robot comprises driving machine and follower, in described driving machine and described follower, is respectively equipped with opposite polarity magnet, moves so that described follower is followed described driving machine; Described follower comprises cleaning module; Described driving machine comprises driver module, the first walking module, and described control system comprises driving machine processing module, driving machine sensing module, follower processing module and follower sensing module;
Wherein, described driving machine sensing module and described driving machine processing module are positioned on described driving machine, and described follower sensing module and described follower processing module are positioned on described follower;
Described driving machine processing module is connected with described driver module with described driving machine sensing module respectively, and described driver module is connected with described the first walking module;
Described follower processing module is connected with described cleaning module with described follower sensing module respectively, controls the work of described cleaning module;
Described driving machine processing module also with the wireless connections of described follower processing module, the status information of the described follower that described follower processing module obtains the information sensing according to described follower sensing module sends to described driving machine processing module, and the control information of controlling described follower work is sent to described follower processing module by described driving machine processing module.
The present invention also provides a kind of control method based on aforesaid glass-cleaning robot control system, described glass-cleaning robot comprises driving machine and follower, in described driving machine and described follower, be respectively equipped with opposite polarity magnet, move so that described follower is followed described driving machine; Described follower comprises cleaning module; Described control method comprises the following steps:
Step 1, described driving machine drive described follower to move, and send control information to described follower;
Step 2, described follower, according to described control information, are controlled the work of cleaning module.
By glass-cleaning robot control system provided by the invention and control method thereof, realize a kind of intelligentized glass-cleaning robot, can automatically complete the wiping work of glass, can effectively carry out the cleaning of glass.
By specific embodiments and the drawings, technical scheme of the present invention is described in detail below.
Brief description of the drawings
Fig. 1 is the structural representation of a kind of window-cleaning device of the prior art;
Fig. 2 is the structural principle schematic diagram of the present invention's one glass-cleaning robot;
Fig. 3 is the theory diagram of the glass-cleaning robot in the specific embodiment of the invention one;
Fig. 4-6 are the structural representation of the automatic type glass-cleaning robot in the specific embodiment of the invention one.
Embodiment
Fig. 2 is the signal principle assumption diagram that represents the present invention's one glass-cleaning robot 1, and Fig. 3 is the theory diagram of the glass-cleaning robot in the specific embodiment of the invention one.In conjunction with Fig. 2 and Fig. 3, glass-cleaning robot 1 comprises driving machine 10 and follower 20, and both are all the individual members that are provided with electric weight supply module for driving machine 10 and follower 20.The bottom of driving machine 10 comprises the walking module 14 for walking on the surface at glass 2, and the bottom of follower 20 comprises supporting roller 28, makes follower 20 on the surface of glass 2, can follow driving machine 10 and walks.Driving machine 10 and follower 20 are adsorbed on the two sides of glass 2 driving machine and follower by built-in separately magnet mutually, the magnetic attraction being built between the magnet in driving machine 10 and follower 20 should be enough large, make when driving machine 10 is in the time that glass 2 laterosurtrusions are moving, follower 20 can be followed driving machine 10 and be moved on the relevant position of glass 2 opposite sides.
In the time of cleaning glass 2, driving machine 10 is mobile on 2 one surfaces of glass, by the attraction of magnetic force, drives follower 20 to move together with identical track on another surface of glass.
Driving machine 10 comprises driving machine processing module 11, driver module 12, driving machine sensing module 13 and walking module 14, driving machine processing module 11 is connected with driver module 12 and driving machine sensing module 13, driver module 12, for driving walking module 14, can walk driving machine 10 on of a glass surface.
As shown in Figure 3, follower 20 comprises follower processing module 21, follower sensing module 23 and cleaning module 24, described follower sensing module 23 is connected with follower processing module 21, for sending to follower processing module 21 the various transducing signals that detect.Meanwhile, follower processing module 21 is also connected to cleaning module 24 to control the operation of cleaning module.Cleaning module 24 comprises one in disc brush and scraping article or all.In addition, cleaning module 24 also comprises liquid-jet device and the corresponding drive motor for spraying cleaning solution.Cleaning module is realized operation under the Power supply of electric weight supply module.
Wireless connections between driving machine 10 and follower 20.Particularly, driving machine processing module 11 is wirelessly connected to follower processing module 21, so that carry out the wireless transmission of control information and follower status information between them.; the status information of the follower that follower processing module 11 obtains the information sensing according to follower sensing module 23 sends to driving machine processing module 11, and the control information of controlling follower work is sent to follower processing module 21 by driving machine processing module 11.Will illustrate as follows.
In addition, in order to realize more convenient ground processing module, driving machine 10 and follower 20 also can comprise respectively driving machine signal transmission module 15 and follower signal transmission module 25, driving machine signal transmission module 15 is connected to driving machine processing module 11, and follower transport module 25 is connected to follower processing module 21.In an embodiment of the present invention, driving machine 10 and follower 20, its driving machine signal transmission module 15 and follower signal transmission module 25, and the wireless signal of transmission between driving machine processing module 11 and follower processing module 21 can be all common infrared signal, Bluetooth signal, radio signal etc., it can be also other wireless signal that can realize wireless transmission.In addition, driving machine 10 can also have display unit and alarm unit.
Particularly, in the time starting glass-cleaning robot 1, open driving machine 10 and follower 20 electric weight supply module separately.Driving machine processing module 11 is controlled driver module 12, controls described walking module 14 move by described driver module 12, and follower 20 is followed described driving machine 10 and moved.Driving machine processing module 11 is sent unlatching control information to follower processing module 21, and described follower processing module 21 receives after this unlatching control information, controls cleaning module 24 and starts working.
In the cleaning process of glass, driving machine processing module 11 receives the status information of follower 20 from follower processing module 21, according to the state of described follower 20, controls the work of follower.And, receive self status information from driving machine processing module 11 from driving machine sensing module 13, send control information to driver module 12 and follower processing module 21, to control the walking of glass-cleaning robot 1 and the clean operation of cleaning module 24.
So, be arranged on driving machine processing module 11 in driving machine 10 and driving machine sensing module 13 and the control system that is arranged on follower processing module 21 in follower 20 and follower sensing module 23 and has formed glass-cleaning robot 1.
Particularly, the cleaning mode of glass-cleaning robot 1 can be set in driving machine processing module 11, subsequently, driving machine processing module 11 is sent control information according to the status information of the cleaning mode, the driving machine receiving and the follower that arrange to driver module 12 and follower processing module 21, to control the walking manner of walking module 14 and the clean operation of control cleaning module 24.
Below by the clean operation of the glass-cleaning robot 1 of detailed description specific embodiments of the invention.As shown in Figure 3, after glass-cleaning robot 1 start work, the driving machine processing module 11 of driving machine 10 sends startup command to driver module 12 and follower processing module 21.So driver module 12 is controlled walking module 14 and is walked in an enterprising every trade in surface of glass.Follower processing module 21 is according to the start-up command receiving, in moving with driving machine or start in real time as required cleaning module 24 to start the cleaning of glass 2.Specifically, follower processing module 21 drives corresponding motor, drives liquid-jet device hydrojet, and drives disc brush to rotate, and drives described scraping article to decline or rises.For example, glass-cleaning robot 1 just starts to start cleaning module 24 finding behind suitable position, now, follower 20 is first followed driving machine 10 and is moved, in the time reaching appropriate position (as windowpane corner), just start cleaning module 24, as for the position that starts cleaning module 24, can determine by other conditions, for example, driving machine 10 or follower 20 have been received primary collision signal (limit that at least reaches windowpane is described), the condition with this as startup cleaning module 24.
Described driving machine sensing module 13 and described follower sensing module 23 comprise respectively the first sensor subelement of the front-end and back-end that are positioned at described driving machine and follower, whether run into barrier for detection of front and the rear of described driving machine and follower.The two effect is identical, only describes as an example of follower example at this.Be arranged on the first sensor subelement 231 that follower sensing module 23 in follower 20 comprises the front-end and back-end that are positioned at follower 20, whether first sensor subelement 231 runs into barrier for detection of front or the rear of follower 20.In the present invention, the front-end and back-end of described follower 20 refer to along direction of travel, and the forward one end of follower 20 is front end, and the one end after leaning on is rear end.Follower 20 can be followed driving machine 10 and advanced or retreat, and the direction of travel of the direction of travel while retreating when advancing is contrary, and therefore, what be arranged on that the first sensor subelement 231 of front-end and back-end detects is all the barrier in the front of direction of travel.
For example, in the time that follower 20 advances or retreats, once first sensor subelement 231 detects the front of follower 20 or rear and run into barrier, the obstacle information detecting is transferred to follower processing module 21 by first sensor subelement 231, subsequently, follower processing module 21 is processed obstacle information, such as, follower processing module 21 is identified obstacle information, to differentiate the position of the relative follower 20 of barrier,, front or rear.Then, follower processing module 21 sends to driving machine 10 using Obstacle Position information as the status information of follower 20 by follower wireless signal transmission module 25, the driving machine processing module 11 of driving machine 10 turns to according to received status information, until no longer receive in the given time obstacle information, still receive obstacle information if exceed the schedule time, driving machine 10 sends to follower 20 information of quitting work.Follower 20, according to the received instruction that quits work, is controlled cleaning unit and is quit work.
In addition, as shown in Figure 3, follower sensing module 23 can also comprise the second sensor subunits 232 that is positioned at follower 20 both sides.Similar with first sensor subelement 231, whether the second sensor subunits 232 runs into barrier for detection of left side or the right side of follower 20.Once the second sensor subunits 232 detects that the left side of follower 20 or right side exist barrier, the second sensor subunits 232 sends obstacle information to follower processing module 21, subsequently, follower processing module 21 is processed obstacle information, such as, follower processing module 21 is identified obstacle information, to differentiate the position of the relative follower 20 of barrier,, left side or right side.Then, follower processing module 21 will send to driving machine 10 as the follower status information of follower 20 corresponding to Obstacle Position information by follower wireless signal transmission module 22, and the driving machine processing module 11 of driving machine 10 is turned or sends stop signal to follower 20 according to received status information.For example, driving machine 10, according to the position of the relative follower 20 of barrier, changes direction of travel, until no longer receive in the given time obstacle information.Or for example, according to obstacle information, driving machine 10 will send the information of quitting work to follower 20.Follower 20, according to the received instruction that quits work, is controlled cleaning unit 24 and is quit work.Driving machine 10 can also send to status information the judgement of telepilot end for user simultaneously.
Certainly,, in the time of glass cleaning device cleaning glass 2, first sensor subelement 231 and the second sensor subunits 232 also can be for judging the relative position relation of follower 20 and window.For example, in the time that a side of follower 20 is pressed close to window limit, first sensor subelement 231 or the second sensor subunits 232 detect the relative position relation between window limit and follower 20, and follower 20 and the relative position information of window are sent to follower processing module 21, subsequently, follower processing module 21 sends to driving machine 10 using position relationship as status signal by follower wireless signal transmission module 25, the driving machine processing module 11 of driving machine 10 judges according to received status information whether cleaning completes, or need to turn to etc. for determining whether.In the time that driving machine 10 is judged cleaning and completed, driving machine 10 instruction that will quit work sends to follower 20.Follower 20, according to the received instruction that quits work, is controlled cleaning unit and is quit work.
In specific embodiments of the invention, first sensor subelement 231 or the second sensor subunits 232 can be touch sensor or non-contacting sensor.For touch sensor, can use crash sensor, stroke sensor etc.For non-contacting sensor, can use infrared sensor, ultrasonic sensor, laser positioning sensor etc.
And as shown in Figure 3, follower sensing module 23 can also comprise for detection of the whether abnormal detecting element 233 of rotation for the supporting roller of walking on follower 20.In the case of wetting in the surface of glass 2, the supporting roller of follower 20 may skid and occur rotating extremely on the surface of glass 2, can not effectively move forward and backward or turn.Again for example, supporting roller can not normal rotation owing to blocking, and causes follower 20 can not follow driving machine 10 and moves together.This may all can affect the surperficial effect of follower cleaning glass 2.Occur when abnormal at supporting roller, the rotation information of the supporting roller detecting is sent to follower processing module 21 by detecting element 233, subsequently, follower 20 sends to driving machine 10 using rotation information as status information, the driving machine processing module 11 of driving machine 10 is made corresponding measure according to received signal status information.For example, occur that at supporting roller when abnormal, driving machine 10 will send the information of quitting work to follower 20, follower 20 is controlled cleaning module and is stopped cleaning, and sends alerting signal.User can receive above-mentioned alerting signal by telepilot, also can directly find above-mentioned alerting signal by the sense organ of oneself.
In specific embodiments of the invention, detecting element 233 can be magnetic induction part, photovalve etc.
In addition, as shown in Figure 3, follower sensing module 23 can also comprise the various sensors for detection of other status information of follower 20.For example for detection of the electric weight detecting element 234 of the status information of the electric weight supply module on follower 20, for detection of detecting element 235 of the status information of the cleaning module on follower 20 etc.
For the electric weight detecting element 234 of the status information of the electric weight supply module for detection of on follower 20, it can detect information about power of electric weight supply module etc.Information about power is transferred to follower signal processing module 21 by electric weight detecting element 234.According to information about power, follower signal processing module 21 is judged this information about power corresponding to the concrete state such as " Full Charge Capacity ", " middle electric weight ", " electric weight deficiency ", and this concrete state is sent to driving machine 10 as the status information of follower 20.Described driving machine 10 judges according to described information about power whether the work of described follower 20 can go on, if can not, drive described follower 20 to stop mobile, send control information as out-of-work instruction to described follower, send alerting signal simultaneously; Described follower 20, according to described out-of-work instruction, is controlled cleaning module 24 and is quit work.
For the detecting element 235 of the status information for detection of cleaning module, it can detect disc brush in cleaning module or/and scraping article, and the status information of liquid-jet device and respective drive motor separately etc.This information state is by obtaining for current sensor, thereby this sensor obtains disc brush state or/and brush bar state and liquid-jet device state for detection of the electric current of the as above respective drive motor in follower.For instance, comprise two disc brushes when detecting cleaning module, position is in the front scraping article of two disc brush front and rears respectively, when rear scraping article and liquid-jet device device, according to disc brush status information, scraping article status information or liquid-jet device status information, follower signal processing module 21 is judged above-mentioned status information corresponding to " working properly ", " disc brush 1 does not turn ", " disc brush 2 does not turn ", " all disc brushes do not turn ", " front scraping article does not rise ", the concrete state such as " front scraping article does not rise " or " liquid-jet device cannot be worked ", and this concrete state is sent to driving machine 10 as the status information of follower 20, described driving machine 10 judges according to the status information of cleaning module 24 whether described cleaning module 24 breaks down, if there is fault, drive described follower 20 to stop mobile, send control information as out-of-work instruction to described follower 20, send alerting signal or/and show failure message simultaneously, described follower 20, according to described out-of-work instruction, is controlled cleaning module 24 and is quit work.Whether for liquid-jet device, follower sensor assembly 23 also comprises photoelectric sensor, and this sensor is positioned on liquid-jet device, be finished for detection of cleaning solution.Follower signal processing module 21 has no signal when output according to photoelectric sensor, thus judgement " whether cleaning solution is finished ", and status information using this concrete state as follower 20 sends with on driving machine 10.
Although above-mentioned description has provided follower signal processing module 21 detection signal that receives self-sensing device is processed, and obtain corresponding concrete status information.But follower signal processing module 21 also can not processed above-mentioned detection signal, and directly detection signal is sent to driving machine 10.In this case, driving machine 10 is processed received detection signal by driving machine signal processing module 11, to obtain corresponding concrete status information.
But once driving machine 10 is not received any status information of follower 20 in the given time, driving machine 10 will stop mobile, and send to follower 20 information of quitting work, and sending alerting signal, follower 20 is received this information that quits work, and controls cleaning module and quits work.
It is actual detected value that described driving machine receives described follower status information, or is the information of the concrete state implication of expression that obtains after actual detected value being processed through follower.
In addition, driving machine 10 also can comprise the sensor of the above-mentioned status information for detection of driving machine 10.The sensor of driving machine 10 is sent to the driving machine message processing module 11 being connected with sensor for operational processes by the status information detecting, the sensor of its principle of work and follower 20 is substantially similar.Such as: driving machine sensing module 13 comprises the sensor for detection of driver module 12, and in the time that driver module 12 is motor, the sensor that detects driver module 12 is the current sensor that can detect current of electric.
Alerting signal in superincumbent explanation can be audible ringing signal, visual alarm, electric alarm signal etc.
Fig. 4-6th, a concrete structure schematic diagram of glass-cleaning robot of the present invention.Glass cleaning device 1 in the present embodiment is made up of driving machine 10 and follower 20, and both are separate piece.While using glass-cleaning robot 1 of the present invention, driving machine 10 and follower 20 are placed in respectively to the both sides of glass 2.
In the housing 19 of driving machine 10, be provided with driver module (not shown), the first walking module 14, magnet 6 and driving machine energy module (not shown).In the present embodiment, the first walking module 14 is crawler belt.
In follower 20 housings 29, being provided with the second walking module is supporting roller 28, magnet 61 and cleaning module (not shown).
From explanation above, can find out, glass-cleaning robot 1 passes through control system, drive follower to work by driving machine, and fortuitous event by oneself, and can give user with information indicating, so can not observe directly or be unaware of in above-mentioned unexpected situation, therefore user, can automatically take appropriate measures, can effectively carry out the cleaning of glass.
Claims (25)
1. a control system for glass-cleaning robot, described glass-cleaning robot comprises driving machine and follower, in described driving machine and described follower, is respectively equipped with opposite polarity magnet, moves so that described follower is followed described driving machine; Described follower comprises cleaning module;
It is characterized in that, described driving machine comprises driver module, the first walking module, and described control system comprises driving machine processing module, driving machine sensing module, follower processing module and follower sensing module;
Wherein, described driving machine sensing module and described driving machine processing module are positioned on described driving machine, and described follower sensing module and described follower processing module are positioned on described follower;
Described driving machine processing module is connected with described driver module with described driving machine sensing module respectively, and described driver module is connected with described the first walking module;
Described follower processing module is connected with described cleaning module with described follower sensing module respectively, controls the work of described cleaning module;
Described driving machine processing module also with the wireless connections of described follower processing module, the status information of the described follower that described follower processing module obtains the information sensing according to described follower sensing module sends to described driving machine processing module, and the control information of controlling described follower work is sent to described follower processing module by described driving machine processing module.
2. the control system of glass-cleaning robot as claimed in claim 1, it is characterized in that, comprise the driving machine signal transmission module and the follower signal transmission module that lay respectively on described driving machine and described follower, described driving machine signal transmission module is connected with described driving machine processing module, and described follower signal transmission module is connected with described follower processing module.
3. the control system of glass-cleaning robot as claimed in claim 2, it is characterized in that, described driving machine signal transmission module and described follower signal transmission module are radio signal transmission unit or Bluetooth signal transmission unit or infrared signal transmission unit, and described driving machine processing module and described follower processing module are carried out the transmission of information by wireless system or bluetooth approach or infrared mode.
4. the control system of glass-cleaning robot as claimed in claim 1, it is characterized in that, described driving machine sensing module and described follower sensing module comprise respectively the first sensor subelement at the forward and backward two ends that are positioned at described driving machine and follower, whether run into barrier for detection of front and the rear of described driving machine and follower.
5. the control system of glass-cleaning robot as claimed in claim 4, is characterized in that, described first sensor subelement comprises touch sensor or non-contacting sensor.
6. the control system of glass-cleaning robot as claimed in claim 1, it is characterized in that, described driving machine sensing module and described follower sensing module comprise respectively the second sensor subunits that is positioned at described driving machine and follower two sides, whether run into barrier for detection of the side of described driving machine and follower.
7. the control system of glass-cleaning robot as claimed in claim 6, is characterized in that, described the second sensor subunits bag touch sensor or non-contacting sensor.
8. the control system of the glass-cleaning robot as described in claim 5 or 7, is characterized in that, described touch sensor is crash sensor or travel switch, and described non-contacting sensor is infrared sensor or sonac.
9. the control system of glass-cleaning robot as claimed in claim 1, it is characterized in that, described driving machine sensing module comprises the sensor for detection of described driver module, in the time that described driver module is motor, the sensor of described detection driver module is the current sensor that can detect current of electric.
10. the control system of glass-cleaning robot according to claim 1, is characterized in that, described follower has supporting roller, and described follower sensing module comprises the detecting element being positioned on supporting roller, for detection of the rotary state of supporting roller.
The control system of 11. glass-cleaning robots according to claim 1, it is characterized in that, described cleaning module comprises disc brush or/and scraping article, with liquid-jet device and drive motor separately, described follower sensing module comprises for detection of the electric current of described drive motor and obtains disc brush state or/and scrape bar state and the current sensor of liquid-jet device state.
The control system of 12. glass-cleaning robots according to claim 11, is characterized in that, described follower sensing module comprises and is positioned at the photoelectric sensor whether being finished for detection of cleaning solution on liquid-jet device.
13. 1 kinds of control methods based on glass-cleaning robot control system claimed in claim 1, described glass-cleaning robot comprises driving machine and follower, in described driving machine and described follower, be respectively equipped with opposite polarity magnet, move so that described follower is followed described driving machine; Described follower comprises cleaning module; It is characterized in that, described control method comprises the following steps:
Step 1, described driving machine drive described follower to move, and send control information to described follower;
Step 2, described follower, according to described control information, are controlled the work of cleaning module.
14. control methods according to claim 13, it is characterized in that, in the time that described driving machine detects the electric weight deficiency of driving machine electric weight supply module, in step 1, it is mobile that described driving machine drives described follower to stop, and the control information sending to described follower is out-of-work instruction; In step 2, described follower, according to described out-of-work instruction, is controlled cleaning module and is quit work.
15. control methods according to claim 13, it is characterized in that, in the time that described driving machine is not received any status information of described follower in the given time, drive described follower to stop mobile, send control information as out-of-work instruction to described follower, send alerting signal simultaneously.
16. control methods according to claim 13, it is characterized in that, in the time that described driving machine judges that cleaning has completed, in step 1, it is mobile that described driving machine drives described follower to stop, and sends control information as out-of-work instruction to described follower; In step 2, described follower, according to described out-of-work instruction, is controlled cleaning module and is quit work.
17. control methods according to claim 13, it is characterized in that, described cleaning module comprises disc brush or scraping article, and liquid-jet device and drive motor separately thereof, in described step 1, in the time that described control information comprises enabled instruction, in step 2, described follower, according to described enabled instruction, drives corresponding motor, drive liquid-jet device hydrojet, and drive disc brush to rotate or drive rising or the decline of described scraping article.
18. control methods according to claim 13, is characterized in that, in step 1, also comprise that described follower sends to the status information sensing the step of described driving machine in real time or in the given time.
19. control methods according to claim 18, is characterized in that, in step 1, described driving machine is determined the described control information sending to described follower according to the status information of described follower.
20. control methods according to claim 19, it is characterized in that, in step 1, the status information of the described follower travel mechanism detecting is sent to described driving machine by described follower, described driving machine judges that according to the status information of described machine travel mechanism whether the walking of described follower is normal, if undesired, drives described follower to stop mobile, send control information as out-of-work instruction to described follower, send alerting signal simultaneously; In step 2, described follower, according to described out-of-work instruction, is controlled cleaning module and is quit work.
21. control methods according to claim 19, is characterized in that, in step 1, the information about power of the electric weight supply module of the described follower detecting is sent to described driving machine by described follower; Described driving machine judges according to described information about power whether the work of described follower can go on, if can not, drive described follower to stop mobile, send control information as out-of-work instruction to described follower, send alerting signal simultaneously; In step 2, described follower, according to described out-of-work instruction, is controlled cleaning module and is quit work.
22. control methods according to claim 19, is characterized in that, in step 1, the status information of the described follower cleaning module detecting is sent to described driving machine by described follower; Described driving machine judges according to the status information of cleaning module whether described cleaning module breaks down, and if there is fault, drives described follower to stop mobile, sends control information as out-of-work instruction to described follower, sends alerting signal simultaneously; In step 2, described follower, according to described out-of-work instruction, is controlled cleaning module and is quit work.
23. control methods according to claim 22, is characterized in that, in step 1, show the concrete failure message of described cleaning module.
24. control methods according to claim 19, is characterized in that, in step 1, the obstacle information of the described follower detecting is sent to described driving machine by described follower; Described driving machine, according to the obstacle information of described follower, changes direction of travel, until no longer receive in the given time described follower obstacle information.
25. according to the arbitrary described control method of claim 13-24, it is characterized in that, it is actual detected value that described driving machine receives described follower status information, or is the information of the concrete state implication of expression that obtains after actual detected value being processed through follower.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110020001.9A CN102591333B (en) | 2011-01-05 | 2011-01-05 | Window wiping robot control system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110020001.9A CN102591333B (en) | 2011-01-05 | 2011-01-05 | Window wiping robot control system and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102591333A CN102591333A (en) | 2012-07-18 |
| CN102591333B true CN102591333B (en) | 2014-09-03 |
Family
ID=46480155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110020001.9A Active CN102591333B (en) | 2011-01-05 | 2011-01-05 | Window wiping robot control system and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102591333B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107569165A (en) * | 2017-07-28 | 2018-01-12 | 深圳市普森斯科技有限公司 | Window wiping robot and wiping window method with magnetic-adsorption structure |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103735220A (en) * | 2013-12-14 | 2014-04-23 | 浙江大学 | Automatic glass cleaning method and device |
| CN106444737A (en) * | 2016-05-22 | 2017-02-22 | 武汉市享昱科技有限公司 | Control system of obstacle-crossing wall surface cleaning robot |
| CN106695886A (en) * | 2017-02-17 | 2017-05-24 | 常州索拉克林智能科技有限公司 | Photovoltaic intelligent operation and maintenance robot |
| CN109567663A (en) * | 2019-01-29 | 2019-04-05 | 呼格吉乐图 | A kind of track automatic glass cleaning device |
| CN112548985B (en) * | 2020-12-18 | 2024-04-23 | 北京博清科技有限公司 | Magnetic attraction robot system and magnetic attraction robot control method |
| CN114680704A (en) * | 2020-12-31 | 2022-07-01 | 广州科语机器人有限公司 | Window cleaning machine operation control method, device, equipment and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1413809A (en) * | 2001-10-24 | 2003-04-30 | 吴志明 | Control method for building environmental protection robot and robot using the method |
| WO2007027044A1 (en) * | 2005-08-30 | 2007-03-08 | Dong Jun Jung | Automatic cleaning apparatus for glass window |
| CN201572040U (en) * | 2009-10-09 | 2010-09-08 | 泰怡凯电器(苏州)有限公司 | Self-moving land disposal robot |
| CN201602713U (en) * | 2009-10-09 | 2010-10-13 | 泰怡凯电器(苏州)有限公司 | Self-moving land disposal robot |
-
2011
- 2011-01-05 CN CN201110020001.9A patent/CN102591333B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1413809A (en) * | 2001-10-24 | 2003-04-30 | 吴志明 | Control method for building environmental protection robot and robot using the method |
| WO2007027044A1 (en) * | 2005-08-30 | 2007-03-08 | Dong Jun Jung | Automatic cleaning apparatus for glass window |
| CN201572040U (en) * | 2009-10-09 | 2010-09-08 | 泰怡凯电器(苏州)有限公司 | Self-moving land disposal robot |
| CN201602713U (en) * | 2009-10-09 | 2010-10-13 | 泰怡凯电器(苏州)有限公司 | Self-moving land disposal robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107569165A (en) * | 2017-07-28 | 2018-01-12 | 深圳市普森斯科技有限公司 | Window wiping robot and wiping window method with magnetic-adsorption structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102591333A (en) | 2012-07-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102591333B (en) | Window wiping robot control system and control method thereof | |
| US20200288936A1 (en) | Mobile robotic cleaner | |
| CN102591338B (en) | Control system of glass-cleaning robot, and control method thereof | |
| CN111565613A (en) | Cleaning robot, control method thereof and cleaning robot system | |
| US7133746B2 (en) | Autonomous machine for docking with a docking station and method for docking | |
| CN104055463A (en) | Robot cleaner and control method thereof | |
| EP1640841B1 (en) | System for automatically exchanging cleaning tools of robot cleaner and method therefor | |
| CN201974697U (en) | Control system of glass cleaning robot | |
| JP6598510B2 (en) | Autonomous traveling device wheel cleaning system, autonomous traveling device control method, and control program | |
| TWI580387B (en) | Robot | |
| KR20130050558A (en) | Window cleanning apparatus with capability of adjusting magnetic attractive force | |
| KR20150014113A (en) | Cleaning robot and method for controlling the same | |
| CN102591337A (en) | Information interaction system and method of glass cleaner | |
| JPH09251318A (en) | Level difference sensor | |
| CN102830700B (en) | Control system and control method of movement of glass cleaning robot at right angle area | |
| CN105832252A (en) | Autonomous mobile robot and control method thereof | |
| CN104188600A (en) | Collision detection method and device applied to robotic floor cleaner | |
| CN102591334B (en) | Facing control system and facing control method for glass wiping robot | |
| CN201974695U (en) | Information interaction system of glass cleaning device | |
| JP2023127590A (en) | Autonomous travel work device | |
| CN102736625A (en) | Glass-cleaning robot | |
| CN102591340B (en) | Movement control method of glass wiping robot | |
| CN102973200B (en) | Glass cleaning device and dodge barrier method | |
| TW201406338A (en) | Floor cleaning apparatus and power saving method thereof | |
| CN103622640A (en) | Movable device, intelligent robot and method for detecting obstacles and movement state of outer wheel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: ECOVACS ROBOTICS (SUZHOU) CO., LTD. Free format text: FORMER NAME: TAIYIKAI ELECTRIC APPLIANCE (SUZHOU) CO., LTD. Owner name: ECOVACS ROBOT CO., LTD. Free format text: FORMER NAME: ECOVACS ROBOTICS (SUZHOU) CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: TEK ELECTRICAL (SUZHOU) Co.,Ltd. |
|
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. |