CN102591338A - Control system of glass-cleaning robot, and control method thereof - Google Patents
Control system of glass-cleaning robot, and control method thereof Download PDFInfo
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- CN102591338A CN102591338A CN2011100200199A CN201110020019A CN102591338A CN 102591338 A CN102591338 A CN 102591338A CN 2011100200199 A CN2011100200199 A CN 2011100200199A CN 201110020019 A CN201110020019 A CN 201110020019A CN 102591338 A CN102591338 A CN 102591338A
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Abstract
The invention provides a control system of a glass-cleaning robot, and the control method thereof. The glass-cleaning robot includes a driver and a follower, and magnets opposite in polarity are arranged in the driver and the follower respectively to enable the follower to move along with the driver; the follower includes a cleaning module; the glass-cleaning robot is characterized by further including a remote control signal emitting device; the driver includes a driver processing module, a remote control signal receiving device, a driving module and a first walking module connected with the driving module; and the driver processing module is connected with the remote control signal receiving device and the driving module, and is used for processing signals emitted by the remote control signal emitting device and received by the remote control signal receiving device. Through the control system and control method of the glass-cleaning robot, which are provided by the invention, the glass-cleaning robot can be controlled by people for work, glass can be cleaned more easily and conveniently, the glass-cleaning robot is safe and reliable, and the efficiency of cleaning the glass can be improved.
Description
Technical field
The present invention relates to a kind of intelligent robot technology field, specifically, relate to a kind of machine people's that cleans the windows control system and control method thereof.
Background technology
In daily life, people generally clean with rag when cleaning glass.To the glass outside structural glass and the window time, clean with the rod-type cleaning glass usually.Yet, when wiping cleaning glass with the rod-type cleaning glass, the arm easy fatigue, and at the glass of wiping examination window outside, especially for skyscraper, very dangerous.It is thus clear that cleaning exterior window is a great problem in family and even city, its not only dangerous but also be difficult for wiping complete, wipe clean.
To the problems referred to above; Prior art provides electronic glass cleaner; This window-cleaning device is through clamping the window-cleaning device of two carry magnets in the glass of treating wiping; When the work of indoor window-cleaning device, the window-cleaning device of outside since magnetic action follow indoor window-cleaning device and move, thereby the surfaces externally and internally of the glass of wiping simultaneously.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.When needs wiping glass; Two window-cleaning devices are clamped the glass of treating wiping, and the user wipes the examination inner layer glass in indoor holds handle, because magnetic action; The window-cleaning device of the inside can drive the window-cleaning device motion of outside when moving, thereby with the glass of outside also wiped clean.
Though this window-cleaning device can be laborsaving; But owing to lack enough dirigibilities, need the zone of wiping to have only a fraction of glass greatly, still need carry out wiping full wafer glass for area; Spend the long time thus, and produced more power consumption.In addition,, during like similar paster of crossing over glass surface and so on protruding, may cause window-cleaning device to break away from glass surface, make window-cleaning device be prone to the danger that exists the high-altitude to fall when this window-cleaning device across obstacle.
Summary of the invention
The technical matters that the present invention will solve is; A kind of machine people's that cleans the windows control system and control method thereof are provided, can realize that the people carries out work for controlling the machine people that cleans the windows, and makes wiping glass more easy and convenient; Safe and reliable, and can improve the efficient that cleans the windows.
For solving the problems of the technologies described above; The invention provides a kind of machine people's that cleans the windows control system; The said machine people that cleans the windows comprises driving machine and follower, in said driving machine and said follower, is respectively equipped with opposite polarity magnet, moves so that said follower is followed said driving machine; Said follower comprises cleaning module; Also comprise remote control signal transmission device, said driving machine comprises driving machine processing module, remote control signal receiver, driver module and connected first walking module; Said driving machine processing module is connected with said driver module with said remote control signal receiver, handles the signal by the remote control signal transmission device emission that remote control signal receiver receives.
The present invention also provides a kind of control method of the aforementioned machine people control system that cleans the windows, and driving machine drives follower and moves, in moving process, and the cleaning module work in the control follower; Said control method also comprises following process: when said driving machine receives the remote signal of remote control signal transmission device emission, carry out corresponding action according to said remote signal.
Particularly, said remote signal can be the walking instruction of startup, halt instruction, various walking modes, operational order of cleaning module or the like.
Through control system of the present invention and control method, can control the machine people's that cleans the windows work artificially, make wiping glass more easy and convenient, safe and reliable, and can improve the efficient that cleans the windows.
Below through specific embodiment and accompanying drawing technical scheme of the present invention is at length explained.
Description of drawings
Fig. 1 is the structural representation of a kind of window-cleaning device of the prior art;
Fig. 2 is the structure principle chart of clean the windows described in one embodiment of the invention machine people and control system thereof;
Fig. 3 is the structure principle chart of clean the windows in another embodiment of the present invention machine people and control system thereof;
Fig. 4-6 is the structural representation of the device that cleans the windows in the present invention's one specific embodiment.
Embodiment
Fig. 2 is the schematic diagram of the structure of clean the windows described in one embodiment of the invention machine people and control system thereof.As shown in Figure 2, the machine people 1 that cleans the windows of the present invention is made up of driving machine 10 and follower 20, and both are separate piece.Machine people's the control system of cleaning the windows is made up of remote control signal transmission device 30 and driving machine processing module 11, remote control signal receiver 12 on the driving machine.
Respectively be provided with a strong magnets in driving machine 10 and the follower 20; The polarity of two strong magnets is opposite; Use the machine man-hour that cleans the windows of the present invention; Driving machine 10 and follower 20 are placed the both sides of glass respectively, because two strong magnets are adsorbed each other, the gravity that makes driving machine 10 and follower 20 can overcome self is adsorbed on the glass 3.And when driving machine 10 moved, under magnetic action, driving machine 10 drove follower 20 same moved further.
Also be provided with driving machine processing module 11, remote control signal receiver 12, driving machine signal transmission module 13, driving machine sensing module 14, driver module 15, first walking module 16 and alarm module 17 in the housing of driving machine 10.Be provided with follower processing module 21, follower signal transmission module 22, follower sensing module 23, cleaning module 24 and supporting roller 25 in the housing of follower 20.
The driver module 15 of driving machine 10 is connected with driving machine processing module 11, receives the drive signal that driving machine processing module 11 is sent.Driver module 15 also is connected with first walking module 16.After driver module 15 receives the drive signal of driving machine processing module 11, drive 16 walkings of first walking module, thereby driving machine 10 is moved on glass.
Driving machine signal transmission module 13 and follower signal transmission module 22 mutual transmission information.Driving machine signal transmission module 13 is connected with driving machine processing module 11.Follower signal transmission module 22 is connected with follower processing module 21.Driving machine signal transmission module 13 is radio signal transmission unit or Bluetooth signal transmission unit or infrared signal transmission unit with follower signal transmission module 22, thereby driving machine processing module 11 and follower processing module 21 are carried out the transmission of information through wireless system or bluetooth approach or infrared mode.When driving machine 10 and follower 20 are started working; Driving machine processing module 11 is sent working signal to follower signal transmission module 22 through driving machine signal transmission module 13; Follower processing module 22 is handled this signal, and control follower 20 begins the work of cleaning the windows.In addition; Follower 20 in the process that cleans the windows with self various status informations such as barrier state, supporting roller state, the electric weight of power supply and state of cleaning module etc.; At set intervals or real-time send to driving machine signal transmission module 13 by follower signal transmission module 22; Judge counter-measure by driving machine processing module 11, again decision information is sent to follower processing module 21 through driving machine signal transmission module 13 and follower signal transmission module 22.Follower processing module 21 is carried out corresponding order according to this decision information.
Driving machine sensing module 14 also comprises the sensor that is used to detect driver module 15, and when driver module 15 was motor, the sensor of said detection driver module 15 was for detecting the current sensor of current of electric.Also have supporting roller 25 on the follower 20, follower sensing module 23 also comprises the detecting element that is positioned on the supporting roller 25, like magnetic induction part or photovalve.
The cleaning module 24 of follower comprises that the dish brush is or/and scraping article and liquid-jet device.When the cleaning module 24 of follower was connected with the corresponding driving motor, follower sensing module 23 comprised that the electric current that is used to detect drive motor obtains to coil the brush state or/and scrape bar state and the current sensor of liquid-jet device state.In addition, follower sensing module 23 also comprises being positioned at and is used to detect the photoelectric sensor whether cleaning solution uses up on the liquid-jet device.
Remote control signal transmission device 30 may be embodied as a telepilot; It comprises button, first signal processing unit and first signal transmitting unit; First signal processing unit links to each other with button, and the information of button is handled and sent via first signal transmitting unit.The signal of remote control signal transmission device 30 emissions is infrared signal, radio signal or Bluetooth signal etc.Remote control signal receiver 30 is connected with driving machine processing module 11, and receives the signal by remote control signal transmission device 30 emissions.Remote control signal receiver 12 comprises secondary signal receiving element and secondary signal processing unit; The secondary signal receiving element is in order to receive the remote signal that remote control signal transmission device 30 sends; The secondary signal processing unit is in order to handling remote signal, and sends to driving machine processing module 11 and handle.
In the present invention, said driving machine drives follower and moves, in moving process, and the cleaning module work in the control follower; When said driving machine receives the remote signal of telepilot emission, carry out corresponding action according to said remote signal.
Particularly, can send the walking instruction to driving machine through telepilot.Said walking instruction can be the walking instruction corresponding to various patterns, as just/oppositely keep straight on, the predetermined length of just/oppositely keeping straight on, just/U-turn, just/oppositely by the predetermined angular turning etc.For example, can the remote manual control window wiping robot fix a point cleaning or remote-controlled robot avoiding obstacles etc. of user to the appointed place.Clean very much like bulk glass, but there is a dirt window-glass center, the user can pass through the remote driving machine, makes follower follow and arrives the wiping of window-glass center execution fixed point.And for example near the window edge place one barrier is arranged, the user can the remote control driving machine, makes follower follow and turn to avoid this barrier.
Robot detects whether run into barrier in moving process under the effect of telepilot, if run into barrier, said driving machine will be reported to the police to notify the user.Wherein, the information that runs into barrier can be detected by driving machine and obtain, and also can be detected by follower to obtain.For example; The first sensor subelement of the front-end and back-end through being positioned at said driving machine and follower; Whether the place ahead and the rear that can detect said driving machine and follower run into barrier; Through being positioned at second sensor subunits of said driving machine and follower side, whether the side that can detect said driving machine and follower runs into barrier.Obtained by the follower detection if run into the information of barrier, then by the follower processing module this information is sent to driving machine through the follower signal transmission module, said driving machine receives this information through the driving machine signal transmission module.
Can make driving machine adopt variety of way to report to the police, as carrying out voice suggestion, or carry out luminous the warning by a luminescence unit through display unit (liquid crystal display or charactron show) demonstration, voice unit.
Robot is under the effect of telepilot, and when in moving process, running into barrier, said driving machine will be reported to the police with after notifying the user, can also adopt following dual mode to carry out next step work:
First kind, send remote signal by the user through telepilot and avoid described barrier to driving machine, promptly send turn command and give said driving machine through said telepilot; Said driving machine changes moving direction according to said turn command; At this moment, check whether driving machine reports to the police,, then continue to send turn command and give said driving machine,,, keep current moving direction to move if no longer report to the police up to no longer reporting to the police through said telepilot if still report to the police.Second kind, robot avoids described barrier automatically, up to no longer reporting to the police.
Be absorbed in undying barrier for fear of robot and avoid action, in avoiding the moving process of said barrier,, then stop to move, and the control cleaning module quits work if still detect barrier in the given time.This kind benefit is the self-protection function that window wiping robot can be provided.For example; When some naughty children pass through telepilot controlling and driving machine erratic motion; Still moved on by remote control after running into barrier like follower, then follower can feed back obstacle signal to driving machine, and driving machine is received and sent that red warning lamp is reported to the police, audio alert " is run into barrier " behind the obstacle information etc.; When surpassing preset time, driving machine and follower will quit work.Thereby avoided damage to robot.
In like manner, when being worked by remote in robot, said follower sends to said driving machine with the duty of detected cleaning module; If the duty of said cleaning module is unusual; Then said driving machine is reported to the police, and when said driving machine is reported to the police, sends the instruction that quits work through said telepilot and gives said driving machine; Said driving machine sends to said follower with this instruction that quits work, and is quit work by said follower control cleaning module.
In the aforementioned embodiment; The said follower that cleans the windows the machine people has follower processing module, sensing module etc.; Certainly, the machine people that cleans the windows of the present invention also can not have above-mentioned processing module, sensing module etc., for example; As shown in Figure 3, the said driving machine 10b that cleans the windows machine people 1b only has driving machine processing module 11b, remote control signal receiver 12b, walking module 16b and driver module 15b thereof.The said machine people 1b that cleans the windows according to this control signal control and driving module 15b, drives walking module 16b walking by driver module 15b through the control signal that remote control signal receiver 12b receives telepilot 30b.Start and stop about the work of the cleaning module 24b on the follower 20b; Can control through an inductive switch 4b; As, when follower 20b followed driving machine 10b walking, this inductive switch 4b was touched; With this power supply 5b that connects cleaning module 24b work, cleaning module 24b is started working.When follower 20b follows driving machine 10b and stops, breaking off the power supply 5b of cleaning module 24b, cleaning module 24b quits work.
A kind of concrete structure of machine people clean the windows in the previous embodiment shown in Fig. 4-6, and the device 1 that cleans the windows in the present embodiment is made up of driving machine 10 and follower 20, and both are separate piece.Use of the present invention cleaning the windows during machine people 1, driving machine 10 and follower 20 are placed the both sides of glass 2 respectively.Be provided with driver module (not shown), first walking module 16, magnet 6 and driving machine energy module (not shown) in the housing 19 of driving machine 10.In the present embodiment, first walking module 16 is a crawler belt.
Being provided with second walking module in follower 20 housings 29 is supporting roller 25, magnet 61 and cleaning module (not shown).
Through above embodiment, can control the machine people's that cleans the windows work artificially, make wiping glass more easy and convenient, safe and reliable, and can improve the efficient that cleans the windows.
Claims (10)
1. control system of machine people that cleans the windows, the said machine people that cleans the windows comprises driving machine and follower, in said driving machine and said follower, is respectively equipped with opposite polarity magnet, moves so that said follower is followed said driving machine; Said follower comprises cleaning module;
It is characterized in that, also comprise remote control signal transmission device, said driving machine comprises driving machine processing module, remote control signal receiver, driver module and connected first walking module;
Said driving machine processing module is connected with said driver module with said remote control signal receiver, handles the signal by the remote control signal transmission device emission that remote control signal receiver receives.
2. the machine people's that cleans the windows as claimed in claim 1 control system is characterized in that said follower comprises the follower processing module; Also comprise the driving machine signal transmission module and the follower signal transmission module that lay respectively on said driving machine and the said follower; Said driving machine signal transmission module is connected with said driving machine processing module, and said follower signal transmission module is connected with said follower processing module;
Wherein, Said driving machine signal transmission module and said follower signal transmission module are radio signal transmission unit or Bluetooth signal transmission unit or infrared signal transmission unit, and said driving machine processing module and said follower processing module are carried out the transmission of information through wireless system or bluetooth approach or infrared mode.
3. the machine people's that cleans the windows as claimed in claim 1 control system; It is characterized in that; Also comprise the driving machine sensing module and the follower sensing module that lay respectively on said driving machine and the said follower; Said driving machine sensing module is connected with said driving machine processing module, and said follower sensing module is connected with said follower processing module;
Said driving machine sensing module and said follower sensing module comprise the first sensor subelement of the front-end and back-end that are positioned at said driving machine and follower respectively, and whether the place ahead and the rear that are used to detect said driving machine and follower run into barrier;
Said first sensor subelement comprises touch sensor or non-contacting sensor;
Said driving machine sensing module and said follower sensing module comprise second sensor subunits that is positioned at said driving machine and follower side respectively, and whether the side that is used to detect said driving machine and follower runs into barrier;
Said second sensor subunits bag touch sensor or the non-contacting sensor;
Said touch sensor is crash sensor or travel switch, and said non-contacting sensor is infrared sensor or sonac.
4. the machine people's that cleans the windows as claimed in claim 3 control system; It is characterized in that; Said driving machine sensing module also comprises the sensor that is used to detect said driver module; When said driver module was motor, the sensor of said detection driver module was for detecting the current sensor of current of electric;
Perhaps, said follower has supporting roller, and said follower sensing module also comprises the detecting element that is positioned on the supporting roller, in order to detect the rotary state of said supporting roller;
Perhaps; Said cleaning module comprises that the dish brush is or/and scraping article; With liquid-jet device and separately drive motor, said follower sensing module comprises that the electric current that is used to detect said drive motor obtains to coil the brush state or/and scrape bar state and the current sensor of liquid-jet device state;
Perhaps, said follower sensing module comprises being positioned at and is used to detect the photoelectric sensor whether cleaning solution uses up on the liquid-jet device.
5. the machine people's that cleans the windows as claimed in claim 1 control system; It is characterized in that; Said remote control signal transmission device comprises button, first signal processing unit and first signal transmitting unit; Said first signal processing unit links to each other with said button, and the information of said button is handled and sent via said first signal transmitting unit;
Said remote control signal receiver comprises secondary signal receiving element and secondary signal processing unit; Said secondary signal receiving element is in order to receive the remote signal that said remote control signal transmission device sends; Said secondary signal processing unit is in order to handling said remote signal, and sends to said driving machine processing module;
Said remote control signal transmission device emission infrared signal, radio signal or Bluetooth signal.
6. the machine people's that cleans the windows as claimed in claim 1 control system is characterized in that said driving machine also comprises alarm module, and said alarm module is connected with said driving machine processing module; Said alarm module comprises display unit, voice unit and/or luminescence unit.
7. control method based on the described machine people control system that cleans the windows of claim 1, driving machine drives follower and moves, in moving process, the cleaning module work in the control follower; It is characterized in that said control method also comprises following process:
When said driving machine receives the remote signal of remote control signal transmission device emission, carry out corresponding action according to said remote signal.
8. control method as claimed in claim 7 is characterized in that, if remote signal is a walking instruction, said driving machine drives said follower and moves according to the requirement of said walking instruction;
Said walking instruction is concrete walking mode, said walking mode just comprising/oppositely keep straight on, the predetermined length of just/oppositely keeping straight on, just/U-turn, just/oppositely turn by predetermined angular.
9. like claim 7 or 8 described control methods, it is characterized in that further comprising the steps of: in moving process, detect whether run into barrier, if run into barrier, said driving machine is reported to the police;
Perhaps, in moving process,, obstacle information is sent to driving machine by follower if follower detects barrier;
Perhaps, if in moving process, run into barrier, said driving machine moves to avoid described barrier, and up to detecting less than barrier, driving machine is no longer reported to the police;
Perhaps, if in moving process, run into barrier, specifically avoid described barrier through following steps:
Step 1 is sent turn command by said remote control signal transmission device and is given said driving machine;
Step 2, said driving machine changes moving direction according to said turn command;
Whether step 3 detects driving machine and reports to the police, if still report to the police, then turns to step 1, if no longer report to the police, keeps current moving direction to move;
Perhaps, in avoiding the moving process of said barrier,, then stop to move, and the control cleaning module quits work if still detect barrier in the given time.
10. control method as claimed in claim 7 is characterized in that, if remote signal is the operational order of cleaning module, said driving machine sends to said follower with this operational order, by the work of said follower according to operational order control cleaning module;
Said follower sends to said driving machine with the duty of detected cleaning module, if the duty of said cleaning module is unusual, then said driving machine is reported to the police;
When said driving machine warning, said remote control signal transmission device sends the instruction that quits work and gives said driving machine, and said driving machine sends to said follower with this instruction that quits work, and controls cleaning module by said follower and quits work.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110020019.9A CN102591338B (en) | 2011-01-05 | 2011-01-05 | Control system of glass-cleaning robot, and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110020019.9A CN102591338B (en) | 2011-01-05 | 2011-01-05 | Control system of glass-cleaning robot, and control method thereof |
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| CN102591338A true CN102591338A (en) | 2012-07-18 |
| CN102591338B CN102591338B (en) | 2014-07-30 |
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| CN102962844A (en) * | 2012-11-09 | 2013-03-13 | 沈阳工业大学 | Control system for mechanically-controlled shadow puppet show device |
| CN103844992A (en) * | 2012-12-07 | 2014-06-11 | 科沃斯机器人科技(苏州)有限公司 | Glass wiping robot and operation mode control method thereof |
| CN104216404A (en) * | 2013-05-31 | 2014-12-17 | 科沃斯机器人科技(苏州)有限公司 | Self-moving device and control method thereof |
| CN104416582A (en) * | 2013-08-20 | 2015-03-18 | 库卡实验仪器有限公司 | Method for controlling a robot |
| CN104905728A (en) * | 2015-06-17 | 2015-09-16 | 上海缘盟自动化技术有限公司 | Swing type self-walking window-cleaning robot and control method thereof |
| CN105054861A (en) * | 2015-08-25 | 2015-11-18 | 上海电力学院 | Remote control type glass cleaning robot |
| CN105278530A (en) * | 2015-09-16 | 2016-01-27 | 成都四威高科技产业园有限公司 | Magnetic stripe signal fault tolerance and error correction processing method and system |
| CN106502241A (en) * | 2015-09-07 | 2017-03-15 | 北醒（北京）光子科技有限公司 | A kind of sweeping robot intelligent barrier avoiding and alignment system |
| CN106859474A (en) * | 2017-04-20 | 2017-06-20 | 洛阳圣瑞智能机器人有限公司 | A kind of intelligent glass-cleaning robot active surface of magnetic suck |
| CN107346135A (en) * | 2016-05-06 | 2017-11-14 | 新疆西北星信息技术有限责任公司 | A kind of hazardous materials transportation robot, laser navigation autonomous transport system and method |
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| CN102962844A (en) * | 2012-11-09 | 2013-03-13 | 沈阳工业大学 | Control system for mechanically-controlled shadow puppet show device |
| CN102962844B (en) * | 2012-11-09 | 2017-08-25 | 沈阳工业大学 | A kind of shadow puppet performance apparatus control system by being mechanically operated by |
| CN103844992B (en) * | 2012-12-07 | 2016-08-31 | 科沃斯机器人有限公司 | Glass-cleaning robot and the control method of work pattern thereof |
| CN103844992A (en) * | 2012-12-07 | 2014-06-11 | 科沃斯机器人科技(苏州)有限公司 | Glass wiping robot and operation mode control method thereof |
| CN104216404A (en) * | 2013-05-31 | 2014-12-17 | 科沃斯机器人科技(苏州)有限公司 | Self-moving device and control method thereof |
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| CN104905728A (en) * | 2015-06-17 | 2015-09-16 | 上海缘盟自动化技术有限公司 | Swing type self-walking window-cleaning robot and control method thereof |
| CN104905728B (en) * | 2015-06-17 | 2017-09-26 | 上海缘盟自动化技术有限公司 | Swing type is from window wiping robot and its control method of walking |
| CN105054861A (en) * | 2015-08-25 | 2015-11-18 | 上海电力学院 | Remote control type glass cleaning robot |
| CN106502241A (en) * | 2015-09-07 | 2017-03-15 | 北醒（北京）光子科技有限公司 | A kind of sweeping robot intelligent barrier avoiding and alignment system |
| CN105278530A (en) * | 2015-09-16 | 2016-01-27 | 成都四威高科技产业园有限公司 | Magnetic stripe signal fault tolerance and error correction processing method and system |
| CN105278530B (en) * | 2015-09-16 | 2017-12-29 | 成都四威高科技产业园有限公司 | A kind of fault-tolerant correction processing method of magnetic stripe signal and system |
| CN107346135A (en) * | 2016-05-06 | 2017-11-14 | 新疆西北星信息技术有限责任公司 | A kind of hazardous materials transportation robot, laser navigation autonomous transport system and method |
| CN106859474A (en) * | 2017-04-20 | 2017-06-20 | 洛阳圣瑞智能机器人有限公司 | A kind of intelligent glass-cleaning robot active surface of magnetic suck |
| CN106859474B (en) * | 2017-04-20 | 2022-02-08 | 洛阳圣瑞智能机器人有限公司 | Intelligent glass wiping robot active surface with magnetic adsorption function |
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