CN103505140A - Glass cleaning device - Google Patents
Glass cleaning device Download PDFInfo
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- CN103505140A CN103505140A CN201210216759.4A CN201210216759A CN103505140A CN 103505140 A CN103505140 A CN 103505140A CN 201210216759 A CN201210216759 A CN 201210216759A CN 103505140 A CN103505140 A CN 103505140A
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Abstract
The invention belongs to the technical field of intelligent robots, and particularly relates to a glass cleaning device. The glass cleaning device comprises a walking unit, a cleaning unit, an adsorbing unit, a driving unit and a control unit, wherein the walking unit and the cleaning unit are arranged at the bottom of the glass cleaning device, and the control unit is connected with the driving unit. The glass cleaning device further comprises an acceleration sensing unit connected with the control unit, wherein the control unit controls the driving unit to drive the glass cleaning device to stop walking or execute the turning motion according to an acceleration signal value sent by the acceleration sensing unit. The glass cleaning device can timely detect a window frame and other obstacles and flexibly avoid the obstacles in the glass cleaning process, and the phenomenon that the glass cleaning device is stuck on the glass frame can not occur.
Description
Technical field
The invention belongs to intelligent robot technology field, specifically, relate to a kind of glass cleaning device.
Background technology
General existing window wiping robot is for the detection that has frame Glazed fence, by hitting plate and microswitch is differentiated mostly, when window wiping robot does not arrive glass edge, window wiping robot is normally advanced: when window wiping robot arrives glass frame, hit plate and be pushed, trigger microswitch simultaneously, think that window wiping robot has arrived glass edge, window wiping robot retreats, and with this, controls the working range of window wiping robot.But make to exist in this way following defect: due to hit plate or microswitch easily the reason such as stuck cause not having signal or window wiping robot not to receive signal, may there is the stuck phenomenon on glass frame of window wiping robot.
Summary of the invention
Technical problem to be solved by this invention is for the deficiencies in the prior art, first a kind of glass cleaning device is provided, can in cleaning glass window process, can detect in time the barriers such as window frame and nimbly elude, there will not be the stuck phenomenon on glass frame of glass cleaning device.
Technical problem to be solved of the present invention is achieved by the following technical solution:
Comprise walking unit, cleaning unit, driver element and a control module, walking unit and cleaning unit are arranged on the bottom of glass cleaning device, and control module is connected with driver element; Described glass cleaning device also comprises the acceleration sensing unit being connected with control module, and the acceleration signal value that control module sends according to acceleration sensing unit is controlled drive unit drives glass cleaning device and stopped walking or carry out go to action.
Walking unit can adopt following two kinds of selections: when described walking unit is crawler belt or wheel, glass cleaning device rolls while advancing, and described acceleration sensing unit is linear acceleration transducer.When described walking unit is the rotatable vacuum chuck turntable that is arranged on glass cleaning device bottom, when described glass cleaning device is advanced by alternately rotating described vacuum chuck turntable twisting, described acceleration sensing unit is angular acceleration transducer.
Further, described vacuum chuck turntable comprises support and sucker, and described sucker is annular flexible glue sucker, and described support is provided with groove, and described flexible glue sucker is embedded in groove and is located by elastic washer.
Described cleaning unit is installed on support, or described cleaning unit is installed in the hollow region of described sucker.
Described vacuum chuck turntable connects the body of glass cleaning device by connector.
Further, described connector is bearing, and described bearing comprises inner ring and outer ring, is provided with ball and makes the inner ring can be with respect to outer ring rotating between described inner ring and outer ring, described outer ring is fixedly connected with the body of glass cleaning device, and described inner ring is fixedly connected with vacuum chuck turntable.
Described driver element connects described vacuum chuck turntable by transmission mechanism; Described transmission mechanism is travelling gear or Timing Belt.
When judging described acceleration signal value, control module is more than or equal to threshold value built-in in control module, or when acceleration signal value exceeds threshold signal scope built-in in control module, control drive unit drives glass cleaning device and stop walking or carry out go to action.
Describedly clean the windows that to put be split type, comprise driving machine and follower, driving machine comprises walking unit, driver element, acceleration sensing unit and control module, driving machine and follower are built-in with respectively first and second magnet, make both can mutually be adsorbed on the inside and outside both sides of glass, under the suction of first and second magnet, follower and driving machine produce servo-actuated.
Walking unit comprises left and right sides crawler belt and the Athey wheel that is positioned at driving machine, and crawler belt comprises a plurality of track unit joints; Or walking unit also can only adopt wheel.
Described glass cleaning device can be also monomer-type, comprises walking unit, driver element, sensing unit and control module, and walking unit can be to comprise being positioned at clean the windows Zhi left and right sides crawler belt and Athey wheel, and crawler belt comprises a plurality of track unit joints; Or walking unit also can only adopt wheel.
Compared with prior art, beneficial effect of the present invention is:
Level of intelligence of the present invention is high, in cleaning glass window process, can detect in time the barriers such as window frame and nimbly elude, and reduce the friction of glass cleaning device and glass frame, there will not be the stuck phenomenon on glass frame of glass cleaning device, be conducive to the walking of glass cleaning device.
Accompanying drawing explanation
Fig. 1 is that glass cleaning device of the present invention twisting does not knock frame schematic diagram while advancing;
Fig. 2 is that glass cleaning device of the present invention twisting knocks frame schematic diagram while advancing;
Fig. 3 does not knock frame schematic diagram while being glass cleaning device straight ahead of the present invention;
Fig. 4 is that glass cleaning device of the present invention twisting knocks frame schematic diagram while advancing;
Fig. 5 is that glass cleaning device of the present invention is controlled schematic diagram;
Fig. 6 is glass cleaning device embodiment mono-cross-sectional view of the present invention;
Fig. 7 is that glass cleaning device embodiment mono-of the present invention looks up structural representation.
Reference numeral:
1. absorbing unit 2. walking unit 3. cleaning unit 4. driver elements
5. control module 6. acceleration sensing unit 7. glass cleaning device 8. glass frames
9. support 10. sucker 11. vavuum pump 12. exhaust tubes
13 travelling gear 14. groove 15. elastic washer 16. bodies
17. vacuum chuck turntables
The specific embodiment
Glass cleaning device of the present invention comprises walking unit 2, cleaning unit 3, driver element 4 and control module 5, and walking unit 2 and cleaning unit 3 are arranged on the bottom of glass cleaning device 7, and control module 5 is connected with driver element 4.Described glass cleaning device 7 also comprises the acceleration sensing unit 6 being connected with control module 5, and the acceleration signal value that control module 5 sends according to acceleration sensing unit 6 is controlled driver element 4 and driven glass cleaning device 7 to stop walking or carry out go to action.When need are wiped vertical glass surface, glass cleaning device also comprises absorbing unit 1, and the body of glass cleaning device is adsorbed on glass surface by absorbing unit 1.
embodiment mono-
In the present embodiment, walking unit 2 is vacuum chuck turntable 17, and glass cleaning device 7 is advanced by alternately rotating vacuum chuck turntable realization twisting.Glass cleaning device 7 comprises body 16, and body 16 is provided with control module 5, driver element 4 and cleaning unit 3.Wherein, vacuum chuck turntable is connected to body 16 by connector, and this connector can be the rotary middle spindle that bearing or body arrange, and makes the vacuum chuck turntable rotatable bottom that is arranged on body 16 in many ways.As vacuum chuck turntable can directly be set on its rotary middle spindle, this rotary middle spindle is installed in organism bottom, drives vacuum chuck turntable to rotate with respect to body.Vacuum chuck turntable is made " work " font, is set on rotary middle spindle, and Timing Belt is set in " work " type groove of vacuum chuck turntable, and driver element 4 drives vacuum chuck turntable to rotate by Timing Belt, as vacuum chuck turntable can also be connected on body by bearing.Wherein, bearing comprises inner ring and outer ring, is provided with ball and makes the inner ring can be with respect to outer ring rotating between inner ring and outer ring.Outer ring is fixedly connected with the body 16 of glass cleaning device 7, and inner ring is fixedly connected with vacuum chuck turntable.
Simple vacuum chuck turntable only has sucker 10, and sucker 10 is connected to body 16 by its rotary middle spindle, and the material of this scheme sucker 10 is had relatively high expectations.Vavuum pump 11 is connected with sucker 10 by exhaust tube 12, and when vavuum pump 11 is started working, vavuum pump 11 is in the interior generation negative pressure of sucker 10, and sucker 10 produces suction, and glass cleaning device 7 is adsorbed on glass.
As shown in Figure 6, in the present embodiment, vacuum chuck turntable 17 comprises support 9 and sucker 10, and sucker 10 connects vavuum pump 11 by exhaust tube 12.Sucker 10 is annular flexible glue sucker, and sucker 10 is arranged on the bottom of support 9.In the bottom of support 9, be provided with annular groove 14, flexible glue sucker is embedded in the interior location of groove 14 by elastic washer 15.Sucker 10 time produces deformation in work, and elastic washer 15 can absorb deformation, and being adsorbed on of making that sucker 10 fits is more on glass.Cleaning unit 3 is fixed in the hollow region of support 9 or described sucker 10, and cleaning unit 3 can be cloths for cleaning or scouring pad etc.Describe in detail below glass cleaning device of the present invention how to realize twisting advance.
In general, driver element 4 is motor, but the present invention is not as limit.Motor output end is connected with reducing gear, after the power of motor output slows down by reducing gear, passes to support 9.The final-stage gear of reducing gear drives travelling gear 13, and travelling gear 13 is connected to by bearing in the body 16 of glass cleaning device 7, and travelling gear 13 is fixedly connected with support 9.
Specifically, the glass cleaning device course of work is as follows:
Step 1: glass cleaning device is placed into glass surface, presses the button startup, vavuum pump 11 is started working, the sucker 10 laying respectively on A end and A ' end vacuum chuck turntable 17 is adsorbed on glass surface simultaneously, and the size of both suction and the mode of absorption are identical all the time.
Step 2: control module 5 is controlled respectively the size and Orientation of power output on a pair of vacuum chuck turntable 17 of A end and A ' end, drive the rotation or static centered by the vertical axes perpendicular to glass surface in turn of a pair of vacuum chuck turntable 17, make both alternately become speed end or low speed end, make to form speed discrepancy between the two.
Specifically, speed discrepancy is that control module 5 is controlled driver elements outputting powers are to vacuum chuck turntable 17 respectively, and the vacuum chuck turntable 17 that speed discrepancy is one end rotates with respect to glass surface, and the vacuum chuck turntable 17 of the other end is static and form with respect to glass surface; Or the vacuum chuck turntable 17 that speed discrepancy is one end is with respect to glass surface high speed rotating, the vacuum chuck turntable 17 of the other end slowly runs with respect to glass surface and forms.
Step 3: control module 5 is controlled and made the rotating speed of A end lower than the rotating speed of A ' end, and body 16 twists forward around A end under the drive of A ' end vacuum chuck turntable 17;
Step 4: body 16 is when A end rotates to certain angle, such as this angle can be arbitrarily angled between 10 °-30 °, control module 5 is controlled the rotating speed of A ' end lower than the rotating speed of A end, and body 16 twists forward around A ' end under the drive of A end vacuum chuck turntable 17;
Step 5: as described in step 3 and step 4, the driver element 4 of A end and A ' end hockets and transports speed discrepancy control, realizes the walking of glass cleaning device on glass surface.In sum, so alternately control the rotating speed of A end and A ' end, make both alternately become speed end or low speed end, form speed discrepancy, thereby body 16 rotating speed Gao one end are twisted centered by rotating speed Di one end, and realize the walking of glass cleaning device.
In the present embodiment, acceleration sensing unit 6 is angular acceleration transducer, is applicable to the glass cleaning device 7 of twisting walking, and the glass cleaning device 7 of twisting walking can straight line moving.
As shown in Figure 1, during glass cleaning device 7 operation, during it is often turned round and moves a step, if glass cleaning device 7 does not knock frame, ideally, and glass cleaning device uniform rotation, to record accekeration be 0 to angular acceleration transducer.Or when glass cleaning device normally twists, its rotation speed change is little, and angular acceleration values is in less number range.
As shown in Figure 2, if glass cleaning device 7 is in the process of twisting, glass cleaning device knocks frame, the angular speed of glass cleaning device twisting is undergone mutation, angular acceleration transducer sends signal to control module 5, and control module 5 confirms that glass cleaning device 7 has arrived frame, and control module 5 is controlled driver element 4 and driven walking unit 2 to stop walking or carry out go to action, as rotated or retreating, thereby dodge glass frame.
Specifically, in the process that the glass cleaning device that twisting is advanced rotates at body, there is an angular velocity omega 1, glass cleaning device knocks after glass frame, angular speed becomes ω 2=0, according to formula α=Δ ω/Δ t=(ω 2-ω 1)/Δ t of angular acceleration, wherein Δ t is preset value, and the α calculating according to this formula takes absolute value and obtains acceleration value.Owing to knocking frame moment, angular acceleration numerical value is larger, and during built-in threshold alpha 0 in being more than or equal to control module, α >=α 0, judges and knocked frame.
Except arranging acceleration rate threshold, an acceleration rate threshold scope [α 1, and α 1] also can be set.When glass cleaning device normally twists walking, angular velocity omega 1 remains unchanged substantially, and its angular acceleration fluctuates near numerical value 0.When knocking frame or other barrier, angular speed is reduced to 0 very soon, and its angular acceleration is undergone mutation.Accordingly, when α ﹤-α 1 or α ﹥ α 1, control module judges and knocks frame or other barrier, controls glass cleaning device and stops walking or change direction of travel.
embodiment bis-
In the present embodiment, walking unit 2 is crawler belt or wheel, and glass cleaning device 7 rolls and advances, and acceleration sensing unit 6 is linear acceleration transducer, is applicable to the glass cleaning device 7 of straight-line rolling walking, and the glass cleaning device 7 of straight line moving can not twist walking.
As shown in Figure 3, when the normal operation of glass cleaning device 7, the fuselage speed of glass cleaning device 7 does not change or changes very little, and it is 0 or in very little number range that linear acceleration transducer records accekeration; As shown in Figure 4, when glass cleaning device 7 is run into glass frame 8, fuselage speed changes, linear acceleration transducer records acceleration signal value and sends to control module 5, when control module 5 judgement acceleration signal value are more than or equal to threshold value built-in in control module 5, or when acceleration is more than threshold signal scope, control module 5 confirms that glass cleaning device 7 has arrived frame, control module 5 is controlled driver element 4 and is driven walking unit 2 retreat or stop walking, thereby avoids colliding glass frame.
In the present embodiment, describedly clean the windows that to put 7 can be split type, comprise driving machine and follower, driving machine comprises walking unit, driver element, linear velocity sensing unit and control module, driving machine and follower are built-in with respectively first and second magnet, make both can mutually be adsorbed on the inside and outside both sides of glass, under the suction of first and second magnet, follower and driving machine produce servo-actuated.Walking unit comprises left and right sides crawler belt and the Athey wheel that is positioned at driving machine, and crawler belt comprises a plurality of track unit joints; Or walking unit also can only adopt wheel.
Described glass cleaning device can be also monomer-type, comprises walking unit, driver element, sensing unit and control module, and walking unit can be to comprise being positioned at clean the windows Zhi left and right sides crawler belt and Athey wheel, and crawler belt comprises a plurality of track unit joints; Or walking unit also can only adopt wheel.
Claims (10)
1. a glass cleaning device, comprise walking unit (2), cleaning unit (3), driver element (4) and control module (5), walking unit (2) and cleaning unit (3) are arranged on the bottom of glass cleaning device (7), control module (5) is connected with driver element (4), it is characterized in that: described glass cleaning device (7) also comprises the acceleration sensing unit (6) being connected with control module (5), the acceleration signal value that control module (5) sends according to acceleration sensing unit (6), controlling driver element (4) drives glass cleaning device (7) to stop walking or carries out go to action.
2. glass cleaning device as claimed in claim 1, is characterized in that: when described walking unit (2) is crawler belt or wheel, glass cleaning device (7) rolls while advancing, and described acceleration sensing unit (6) is linear acceleration transducer.
3. glass cleaning device as claimed in claim 1, it is characterized in that: when described walking unit (2) is the rotatable vacuum chuck turntable that is arranged on glass cleaning device (7) bottom, when described glass cleaning device (7) is advanced by alternately rotating described vacuum chuck turntable twisting, described acceleration sensing unit (6) is angular acceleration transducer.
4. glass cleaning device as claimed in claim 3, is characterized in that: described vacuum chuck turntable comprises support and sucker, and described sucker is annular flexible glue sucker, and described support is provided with groove, and described flexible glue sucker is embedded in groove and is located by elastic washer.
5. glass cleaning device as claimed in claim 4, it is characterized in that: described cleaning unit (3) is installed on support, or described cleaning unit (3) is installed in the hollow region of described sucker.
6. glass cleaning device as claimed in claim 3, is characterized in that: described vacuum chuck turntable connects the body (16) of glass cleaning device (7) by connector.
7. glass cleaning device as claimed in claim 6, it is characterized in that: described connector is bearing, described bearing comprises inner ring and outer ring, between described inner ring and outer ring, being provided with ball makes the inner ring can be with respect to outer ring rotating, described outer ring is fixedly connected with the body of glass cleaning device, and described inner ring is fixedly connected with vacuum chuck turntable.
8. glass cleaning device as claimed in claim 3, is characterized in that: described driver element (4) connects described vacuum chuck turntable by transmission mechanism.
9. glass cleaning device as claimed in claim 8, is characterized in that: described transmission mechanism is travelling gear or Timing Belt.
10. glass cleaning device as claimed in claim 2 or claim 3, it is characterized in that: when control module (5) judges described acceleration signal value, be more than or equal to threshold value built-in in control module, or when acceleration signal value exceeds threshold signal scope built-in in control module, control driver element (4) and drive glass cleaning device (7) to stop walking or carry out go to action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210216759.4A CN103505140B (en) | 2012-06-28 | 2012-06-28 | Glass cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210216759.4A CN103505140B (en) | 2012-06-28 | 2012-06-28 | Glass cleaning device |
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| CN103505140A true CN103505140A (en) | 2014-01-15 |
| CN103505140B CN103505140B (en) | 2016-12-21 |
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Cited By (10)
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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 |
| CN105147184A (en) * | 2015-10-08 | 2015-12-16 | 深圳市宝乐机器人技术有限公司 | Traveling device of window cleaning robot |
| CN106102538A (en) * | 2014-03-11 | 2016-11-09 | 艾薇波特公司 | Sweeping robot and its control method |
| WO2017079888A1 (en) * | 2015-11-10 | 2017-05-18 | 深圳市赛亿科技开发有限公司 | Window cleaning robot |
| CN108185896A (en) * | 2017-12-21 | 2018-06-22 | 罗积川 | Cleaner and its controlling of path thereof |
| WO2020244367A1 (en) * | 2019-06-04 | 2020-12-10 | 罗积川 | Wiping device and wiping method |
| CN112641366A (en) * | 2020-04-15 | 2021-04-13 | 安徽大汉机器人集团有限公司 | Window cleaning machine |
| CN113017516A (en) * | 2021-04-07 | 2021-06-25 | 济南富和建材有限公司 | Indoor eminence removes clean equipment on wall |
| CN114468828A (en) * | 2022-01-29 | 2022-05-13 | 衡南艾迪智能科技中心 | Cleaning robot and motion control method thereof |
| CN114812463A (en) * | 2022-06-27 | 2022-07-29 | 山西嘉世达机器人技术有限公司 | Method for detecting arrival edge of cleaning machine, detection device, cleaning machine and medium |
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| CN106102538B (en) * | 2014-03-11 | 2019-08-13 | 艾薇波特公司 | Sweeping robot and its control method |
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| WO2020244367A1 (en) * | 2019-06-04 | 2020-12-10 | 罗积川 | Wiping device and wiping method |
| CN112641366A (en) * | 2020-04-15 | 2021-04-13 | 安徽大汉机器人集团有限公司 | Window cleaning machine |
| CN113017516A (en) * | 2021-04-07 | 2021-06-25 | 济南富和建材有限公司 | Indoor eminence removes clean equipment on wall |
| CN113017516B (en) * | 2021-04-07 | 2022-04-15 | 杭州智邀科技有限公司 | Indoor eminence removes clean equipment on wall |
| CN114468828A (en) * | 2022-01-29 | 2022-05-13 | 衡南艾迪智能科技中心 | Cleaning robot and motion control method thereof |
| CN114812463A (en) * | 2022-06-27 | 2022-07-29 | 山西嘉世达机器人技术有限公司 | Method for detecting arrival edge of cleaning machine, detection device, cleaning machine and medium |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: Wuzhong District, Suzhou, West Lake stone road, No. 108 Applicant before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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