CN106054890B - It is a kind of for cleaning the control method of the obstacle crossing type robot of external wall - Google Patents
It is a kind of for cleaning the control method of the obstacle crossing type robot of external wall Download PDFInfo
- Publication number
- CN106054890B CN106054890B CN201610506001.2A CN201610506001A CN106054890B CN 106054890 B CN106054890 B CN 106054890B CN 201610506001 A CN201610506001 A CN 201610506001A CN 106054890 B CN106054890 B CN 106054890B
- Authority
- CN
- China
- Prior art keywords
- adsorption element
- obstacle
- end adsorption
- robot
- rear end
- 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
- 238000000034 method Methods 0.000 title claims abstract description 87
- 238000004140 cleaning Methods 0.000 title claims abstract description 58
- 238000001179 sorption measurement Methods 0.000 claims abstract description 225
- 230000008602 contraction Effects 0.000 claims abstract description 32
- 230000004888 barrier function Effects 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims description 27
- 230000008569 process Effects 0.000 claims description 25
- 238000010521 absorption reaction Methods 0.000 claims description 15
- 239000003463 adsorbent Substances 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 10
- 238000001514 detection method Methods 0.000 abstract description 9
- 230000001681 protective effect Effects 0.000 description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 18
- 238000010586 diagram Methods 0.000 description 9
- 230000007704 transition Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000004064 recycling Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of for cleaning the control method of the obstacle crossing type robot of external wall, the control method is controlled front end adsorption element by the obstacle signal detected first and rotates and lift leaping over obstacles and obstacle-surmounting travelling gear walking, while carrying out timing to the walking of obstacle-surmounting travelling gear；Then the contraction of bottom adsorption element is controlled by timing result to avoid obstacle or stretch out to adsorb exterior wall.The present invention is used to clean the control method of the obstacle crossing type robot of external wall, it can be acted according to the position control robot ambulation of barrier to realize the smooth leaping over obstacles of robot, to improve robot obstacle climbing ability and flexibility and robot high-altitude cleaning stability, reliability and safety.The control method for the obstacle crossing type robot that the present invention is used to clean external wall makes robot have the function of cleannes detection, robot body walking in a horizontal state state-detection and the exterior wall edge of exterior wall, so that the robot has the function of intelligent cleaning.
Description
Technical field
The present invention relates to clean robot technical fields, more specifically to a kind of for cleaning getting over for external wall
The control method of Zhang Shi robot.
Background technique
In city, the exterior wall of high buildings and large mansions generally can use ceramic paster exterior wall or glass curtain wall, need periodically into
Row cleaning is to keep whole beauty.Currently, personnel, which are generally hung in external wall, using rope carries out cleaning operation, industry claims
Be " spider-man ".Carrying out external wall clean " spider-man " is breakneck work, and " spider-man " is in cleaning operation mistake
It is only hung in the air with rope in journey, not only working environment is extremely dangerous, and inefficiency.Especially to ceramic paster exterior wall
Cleaning, the heavy workload of cleaning and danger, " spider-man " complete also extremely difficult.Therefore it is badly in need of substituting people using machine
The cleaning of work progress high building wall.
Also occur on the market at this stage it is various climb wall clean robot, but there are obstacle climbing ability is limited and flexibility mostly
The problem of difference leads to not reach all metope progress cleaning operations, still needs to clean personnel and carry out high-altitude cleaning work.
Meanwhile the existing wall clean robot of climbing used relies on cable traction to overcome self gravity, clean robot motion direction mostly
It is limited to cause flexibility poor, also there are problems that the stability of high-altitude cleaning and safety.Moreover, because high building wall is clear
It is more demanding to the condition of height and obstacle detouring to wash operation, therefore, occurs climbing wall cleaner to external wall cleaning at present
The device National People's Congress has that obstacle climbing ability is limited more, leads to not to reach all metopes carrying out cleaning operation.At this stage, how efficiently to control
Robot processed walks to improve its obstacle climbing ability and flexibility to reach effective cleaning effect and in travel in high sky
Stability and safety are the major issues that existing clean robot needs to solve.
Meanwhile existing clean robot only has obstacle detouring and clean function, is unable to reach the clean effect of intelligent measurement
Fruit, to substantially reduce the practicability and usability of clean robot.
Summary of the invention
It is an object of the invention to overcome shortcoming and deficiency in the prior art, provide a kind of for cleaning external wall
The control method of obstacle crossing type robot, the control method can be acted according to the position control robot ambulation of barrier to realize machine
The smooth leaping over obstacles of device people, thus improve robot obstacle climbing ability and flexibility and robot high-altitude cleaning stabilization
Property, reliability and safety.Further object is to provide a kind of for cleaning the obstacle crossing type robot of external wall
Control method, so that robot has the function of intelligent cleaning.
In order to achieve the above object, the technical scheme is that: one kind is for cleaning external wall
Obstacle crossing type robot control method, it is characterised in that: barrier getting over mechanism and cleaning mechanism are set on robot body；It is described
Barrier getting over mechanism includes the obstacle-surmounting travelling gear being arranged on robot body and the adsorbent equipment of creeping with air valve；It is described to get over
Barrier running gear is evenly distributed on the two sides of robot body；The adsorbent equipment of creeping includes that front end adsorption element and bottom are inhaled
Attached component；Bottom adsorption element includes middle-end adsorption element and rear end adsorption element；
The control method is controlled front end adsorption element by the obstacle signal detected first and rotates and lift across barrier
Hinder and walk with obstacle-surmounting travelling gear, while timing is carried out to the walking of obstacle-surmounting travelling gear；Then bottom is controlled by timing result
Adsorption element contraction in portion's avoids obstacle or stretches out absorption exterior wall.
In the above scheme, control method of the invention can be according to the position of barrier, by controlling front end adsorption element
Rotation and lift, the walking of the contraction of bottom adsorption element or stretching and obstacle-surmounting travelling gear, come reach front end adsorption element,
Matching coordinative work between bottom adsorption element and obstacle-surmounting travelling gear, can not only realize the smooth leaping over obstacles of robot, and
And it can guarantee stability, reliability and safety of the robot when high-altitude exterior wall is walked and is cleaned.
Specifically, the front end adsorption element that controlled first by the obstacle signal detected rotates and lifts leap
Obstacle and obstacle-surmounting travelling gear walking, while timing is carried out to the walking of obstacle-surmounting travelling gear；Then it is controlled by timing result
Obstacle is avoided in adsorption element contraction in bottom or stretching absorption exterior wall refers to: the following steps are included:
The first step sets the time T of front end adsorption element leaping over obstacles0, middle-end adsorption element contraction time T1, middle-end
The stretching time T of adsorption element2, rear end adsorption element contraction time T3With the stretching time T of rear end adsorption element4；
Second step is controlled front end adsorption element by the obstacle signal detected and rotates and lift leaping over obstacles and obstacle detouring
Running gear walking, and front end is controlled to the real-time timing of front end adsorption element leaping over obstacles progress from when detecting obstacle signal
Whether adsorption element adsorbs exterior wall；In front end during adsorption element leaping over obstacles and when obstacle-surmounting travelling gear is walked, control
The work of the air valve of middle-end adsorption element and rear end adsorption element, middle-end adsorption element and rear end adsorption element are adsorbed on exterior wall
On；
Third step carries out timing to the walking process of the obstacle-surmounting travelling gear of front end, to control the receipts of middle-end adsorption element
Contracting is to avoid obstacle；In middle-end adsorption element contraction process, the air valve of front end adsorption element and rear end adsorption element is controlled
Work, front end adsorption element and rear end adsorption element are adsorbed on exterior wall；
4th step continues to carry out timing to the walking process of the obstacle-surmounting travelling gear of front end, to control middle-end adsorption element
Stretching to adsorb exterior wall: work as T2'=T2, then control middle-end adsorption element and stretched out from robot body bottom, and control middle-end suction
The air valve of attached component works, and middle-end adsorption element is adsorbed on exterior wall；Otherwise, the air valve of middle-end adsorption element is closed；Wherein,
T2' for the stretching of middle-end adsorption element the time is calculated in real time；
5th step carries out timing to the walking process of the obstacle-surmounting travelling gear of rear end, to control the receipts of rear end adsorption element
Contracting is to avoid obstacle；In the adsorption element contraction process of rear end, the air valve of front end adsorption element and middle-end adsorption element is controlled
Work, front end adsorption element and middle-end adsorption element are adsorbed on exterior wall；
6th step continues to carry out timing to the walking process of the obstacle-surmounting travelling gear of rear end, to control rear end adsorption element
Stretching to adsorb exterior wall: work as T4'=T4, then control rear end adsorption element and stretched out from robot body bottom, and control rear end suction
The air valve of attached component works, and rear end adsorption element is adsorbed on exterior wall；Otherwise, the air valve of rear end adsorption element is closed；Wherein,
T4' for the stretching of rear end adsorption element the time is calculated in real time.
It is described that the real-time timing of front end adsorption element leaping over obstacles progress is controlled from when detecting obstacle signal in second step
Whether front end adsorption element processed, which adsorbs exterior wall, refers to: working as T0'=T0, then the air valve opening of front end adsorption element, front end absorption are controlled
Component adsorbs exterior wall；Otherwise, the air valve for controlling front end adsorption element is closed；Wherein, T0' it is front end adsorption element leaping over obstacles
The time is calculated in real time.
In third step, the walking process of the obstacle-surmounting travelling gear to front end carries out timing, to control middle-end adsorption section
The contraction of part is referred to avoiding obstacle: working as T1'=T1, then the air valve for controlling middle-end adsorption element is closed, and controls middle-end adsorption section
Part is contracted to robot body bottom to avoid obstacle；Otherwise, the air valve work of middle-end adsorption element, the absorption of middle-end adsorption element
On exterior wall；Wherein, T1' for the contraction of middle-end adsorption element the time is calculated in real time.
In 5th step, timing is carried out to the walking process of the obstacle-surmounting travelling gear of rear end, to control rear end adsorption element
Contraction is referred to avoiding obstacle: working as T3'=T3, then the air valve for controlling rear end adsorption element is closed, and controls rear end adsorption element receipts
Robot body bottom is reduced to avoid obstacle；Otherwise, the air valve work of rear end adsorption element, rear end adsorption element is adsorbed on outer
On wall；Wherein, T3' for the contraction of rear end adsorption element the time is calculated in real time.
In the robot that the present invention uses during obstacle detouring, which can control front end adsorption element, middle-end to inhale
Matching coordinative work between attached component, rear end adsorption element and obstacle-surmounting travelling gear, and front end adsorption element, middle-end are adsorbed
Component and rear end adsorption element, which alternately exchange, to carry out absorption exterior wall and avoids obstacle so that robot obstacle detouring any time all
Can at least two kinds of adsorption element work, that is, be adsorbed on exterior wall, to greatly improve robot in high-altitude
Carry out clean stability, reliability and safety.
The contraction time of the middle-end adsorption elementWherein, S1It walks for front end adsorption element and the obstacle detouring of front end
The distance between device；The V1For the at the uniform velocity speed of travel of obstacle-surmounting travelling gear.
The contraction time of the rear end adsorption elementWherein, S3It walks for front end adsorption element and the obstacle detouring of rear end
The distance between device；The V3For the at the uniform velocity speed of travel of obstacle-surmounting travelling gear.
Before the first step, further include that the cleannes of External Wall are detected: setting predetermined cleannes numerical value as A0, work as A0′
≥A0When, slow down the speed of travel of obstacle-surmounting travelling gear, realizes the cleaning time for extending cleaning mechanism；Otherwise, obstacle detouring walking dress
Set normal speed walking；Wherein, A0' be real-time detection cleannes numerical value.
It further include that robot body, whether walking in a horizontal state state is examined using gyro sensor after the 6th step
It surveys: if robot body direction of travel has deviation, differential adjustment being carried out to the left and right motor of obstacle-surmounting travelling gear, realizes machine
The correction of human body's horizontal direction；Otherwise, robot body is walked by original direction.
It further include that External Wall edge is detected after the 6th step: if testing result is exterior wall edge, to obstacle detouring row
The left and right motor of walking apparatus carries out differential adjustment, realizes that robot body turns to walking；Otherwise, robot body presses original direction
Walking.
Compared with prior art, the invention has the advantages that with the utility model has the advantages that
1, the control method of obstacle crossing type robot of the present invention for cleaning external wall, can control according to the position of barrier
Robot ambulation movement processed is to realize the smooth leaping over obstacles of robot, so that obstacle climbing ability and the flexibility of robot are improved, with
And robot is in the stability, reliability and safety of high-altitude cleaning.
2, the control method of obstacle crossing type robot of the present invention for cleaning external wall makes robot have exterior wall
Cleannes detection, robot body walking in a horizontal state state-detection and exterior wall edge function so that the robot has intelligence clear
Clean function.
Detailed description of the invention
Fig. 1 is the schematic diagram that the method for the present invention uses obstacle crossing type robot；
Fig. 2 is the schematic internal view that the method for the present invention uses obstacle crossing type robot；
Fig. 3 is the bottom schematic view that the method for the present invention uses obstacle crossing type robot；
Fig. 4 is explosive view of the method for the present invention using obstacle-surmounting travelling gear in obstacle crossing type robot；
Fig. 5 is structure diagram one of the method for the present invention using obstacle-surmounting travelling gear in obstacle crossing type robot；
Fig. 6 is structure diagram two of the method for the present invention using obstacle-surmounting travelling gear in obstacle crossing type robot；
Fig. 7 is structural schematic diagram of the method for the present invention using bottom adsorption element in obstacle crossing type robot；
Fig. 8 is that the method for the present invention uses the water of cleaning mechanism in obstacle crossing type robot to scrape schematic diagram；
Fig. 9 is that the method for the present invention uses the water of cleaning mechanism in obstacle crossing type robot to scrape schematic internal view；
Figure 10 is position view of the method for the present invention using drum apparatus and obstacle-surmounting travelling gear in obstacle crossing type robot；
Figure 11 is the crawling process schematic diagram that the method for the present invention uses obstacle crossing type robot；
Figure 12 is the method for the present invention using obstacle crossing type robot course of work schematic diagram；
Figure 13 is schematic diagram of the method for the present invention using protective shell and retainer two in obstacle crossing type robot；
Figure 14 is the method for the present invention using the protective shell of obstacle crossing type robot and the explosive view of retainer two；
Figure 15 is schematic diagram of the method for the present invention using rope control device in obstacle crossing type robot protection mechanism；
Figure 16 (a) -16 (h) is the method for the present invention using obstacle crossing type robot obstacle detouring procedure chart；
Figure 17 is the control method flow chart of obstacle crossing type robot of the present invention for cleaning external wall；
Wherein, 1 it is robot body, 2 be barrier getting over mechanism, 2.2 is that retainer one, 2.3 is center gear, 2.4 is transition
Gear, 2.5 be driving gear, 2.6 be Athey wheel, 2.7 be crawler belt, 2.8 be that motor one, 2.9 is preceding terminal sucker, 2.10 is company
Bar, 2.11 be front end sucking disk bar, 2.12 be hinge, 2.13 be angle steering engine one, 2.14 be angle steering engine two, 2.15 be cross bar
One, 2.16 be that cross bar two, 2.17 is sucker, 2.18 is gas bar, 2.19 is sucker hinge, 2.20 is gear shaft, 3 is cleaner
Structure, 3.2 be drum apparatus, 3.3 be that water is scraped, 3.4 is support frame, 3.5 is spring, 3.6 be retainer two, 3.7 is scraper plate, 3.8
It is fastener for nut, 3.9,3.10 be locating part, 3.11 be water injector, 4 be protection mechanism, 4.2 is that retainer three, 4.3 is
Protective shell, 4.4 be rope, 4.5 be rope control device, 4.6 be wire guide, 4.7 be guide roller, 4.8 be cross bar, 4.9 be solid
Determine part, 4.10 be mounting hole, 4.11 be exterior wall, 4.12 be flange bolt, 4.13 be shell, 4.14 be roller two, 4.15 be electricity
Machine three, 4.16 is signal receiver, 4.17 be gasket one, 4.18 is that gasket two, 5 is gray-scale sensor, 6 is supersonic sensing
Device, 7 be gyro sensor, 8 be strut, 9 be barrier.
Specific embodiment
The present invention is described in further detail with specific embodiment with reference to the accompanying drawing.
Embodiment
As shown in Fig. 1 to 17, the obstacle crossing type robot that control method of the present invention uses includes: robot body 1, Yi Jijun
The barrier getting over mechanism 2 and cleaning mechanism 3 being mounted on robot body 1 further include sensing for detecting the gray scale of wall gray value
Device 5, the ultrasonic sensor 6 for detecting barrier or wall edge, for whether detecting robot body 1 in horizontal
The gyro sensor 7 of state and the controller being connect respectively with barrier getting over mechanism 2 and 3 signal of cleaning mechanism.Wherein, obstacle detouring machine
Structure 2 includes four obstacle-surmounting travelling gears being arranged on robot body 1 and adsorbent equipment of creeping.Four obstacle-surmounting travelling gears
The two sides of robot body 1 are evenly distributed on, adsorbent equipment of creeping includes two front end adsorption elements and four bottoms adsorption section
Part, wherein two front end adsorption elements are rotatably arranged in the front end of robot body 1, and four bottom adsorption elements can be stretched
It contracts and is rotatably arranged at the bottom of robot body 1.Gray-scale sensor 5 be arranged in the front end of robot body 1 and with control
The connection of device signal, ultrasonic sensor 6 connect with robot body 1 by strut 8 and two front end adsorption elements are arranged in
Front, ultrasonic sensor 6 are connect with controller signals, and gyro sensor 7 be arranged on robot body 1 and with control
The connection of device signal.
The each obstacle-surmounting travelling gear for the robot that control method of the present invention uses wraps for triangle planet gear type Athey wheel
Retainer 1 is included, central gear 2.3, transition gear 2.4, driving gear 2.5 and the shoe being installed on retainer 1
Belt wheel 2.6, crawler belt 2.7 and motor 1, wherein central gear 2.3 connect with motor 1 and nibbles with transition gear 2.4
Connection is closed, driving gear 2.5 is coaxially connected by gear shaft 2.20 with Athey wheel 2.6, and engages connection with transition gear 2.4,
And crawler belt 2.7 is coated on Athey wheel 2.6, transition gear 2.4 is evenly distributed on central gear centered on central gear 2.3
On 2.3 circumference.
And each front end adsorption element includes preceding terminal sucker 2.9, connecting rod 2.10 and front end sucking disk bar 2.11, wherein front end
2.11 one end of sucking disk bar is connect with preceding terminal sucker 2.9, and the other end is hinged by hinge 2.12 and connecting rod 2.10, and connecting rod 2.10 is separate
One end of front end sucking disk bar 2.11 is hinged by hinge 2.12 and robot body 1.Front end adsorption element further includes angle steering engine
One 2.13, angle steering engine 2 2.14, for so that in each front end adsorption element 2.10 synchronization action of connecting rod cross bar 1 with
And for so that in each front end adsorption element 2.11 synchronization action of front end sucking disk bar cross bar 2 2.16, wherein angle steering engine one
2.13 are arranged in the front end of robot body 1, and connect with the hinge joint of connecting rod 2.10 and robot body 1, angle steering engine two
2.14 settings are connect on connecting rod 2.10, and with the hinge joint of connecting rod 2.10 and front end sucking disk bar 11, in this way, angle steering engine one
The rotation of 2.13 drive links 2.10, angle steering engine 2 2.14 drive front end sucking disk bar 2.11 to rotate, and terminal sucker 2.9 can turn before realizing
The front end of robot body 1 is set dynamicly.Cross bar 1 is connect with the connecting rod 2.10 in each front end adsorption element respectively, horizontal
Bar 2 2.16 is connect with the front end sucking disk bar 2.11 in each front end adsorption element respectively, so that two front end adsorption elements can be improved
Synchronism.
The bottom adsorption element for the robot that control method of the present invention uses includes being arranged in 1 bottom middle-end of robot body
With the middle-end adsorption element and rear end adsorption element of rear end, the middle-end adsorption element and rear end adsorption element include sucker
2.17, the gas bar 2.18 and sucker hinge 2.19 for driving sucker 2.17 flexible, wherein sucker 2.17 and gas bar 2.18 connect
It connects, and the bottom of robot body 1 is set by gas bar 2.18, and sucker hinge 2.19 and sucker 2.17 are hinged, in this way, gas
Bar 2.18 drives sucker 2.17 flexible, and sucker 2.17 hingedly realizes that sucker 2.17 is scalable and rotationally sets with sucker hinge 2.19
It sets in the bottom of robot body 1.The present embodiment is connected by tracheae and is controlled sucker 2.17 using external vacuum pump.
The robot cleaner mechanism 3 that control method of the present invention uses include for by exterior wall dust or dirt wipe
Drum apparatus 3.2, water scrape 3.3 and water injector 3.11, wherein water injector 3.11 is mounted on the front end of robot body 1, rolling
Wound packages sets 3.2 underfaces for being mounted on 1 front end two sides obstacle-surmounting travelling gear line of robot body, and water scrapes 3.3 and is mounted on machine
The rear end bottom of human body 1, and including removing device, which can be arranged in water to elastic rotation and scrape on 3.3.
It further includes support frame 3.4 and spring 3.5, support frame 3.4 that the water for the robot that control method of the present invention uses, which scrapes 3.3,
One end is connect with 1 rear end bottom of robot body, and the other end is connect with removing device.And above-mentioned removing device can elastic rotation
Setting is scraped in water to be referred on 3.3: spring 3.5 is arranged between support frame 3.4 and removing device, and removing device passes through spring 3.5
Compression or reset and realize that water, which can be arranged in elastic rotation, to be scraped on 3.3 support frame 3.4.
Wherein, removing device includes retainer 2 3.6 and scraper plate 3.7, is connected inside 3.7 one end of scraper plate and retainer 2 3.6
It connects, the other end stretches out outside retainer 2 3.6.Support frame 3.4 include frame body, frame body one end be provided with for robot body 1
Fixed nut 3.8, the other end are provided with the fastener 3.9 for being connected together with removing device.The cross section of fastener 3.9 is in circle
Arc, the locating part 3.10 that 3.9 both ends of fastener are rotated as removing device.And 3.5 one end of spring is connect with scraper plate 3.7, separately
One end stretches out 2 3.6 outside of retainer and offsets with 3.9 inner wall of the fastener of support frame 3.4.
The drum apparatus 3.2 for the robot that control method of the present invention uses is including roller one and for driving roller one to rotate
Motor two, motor two connect with roller one.The roller one can be sponge rag round brush or roller one can be hard fibre rolling
Brush.Water injector 3.11 of the invention is atomizing sparge pipe, and is mounted on the front end of robot body 1, the water injector
3.11 water outlet mouth down can then be scrubbed, finally by machine after External Wall sprinkled water in this way by drum apparatus 3.2
The water of 1 rear end bottom of device human body scrapes 3.3 and strikes off dirt or sewage.
The drum apparatus 3.2 for the robot that control method of the present invention uses is mounted on the front end walking axle of robot body 1
Underface, collide during robot obstacle detouring with barrier to avoid drum apparatus 3.2.Its principle is such that
As shown in Figure 10, after 1 leaping over obstacles of robot body, the obstacle-surmounting travelling gear of robot is in crossing over blockage, drum apparatus
3.2 remain in the circle of dotted line, i.e. obstacle-surmounting travelling gear in crossing over blockage, can guarantee drum apparatus 3.2 not with barrier
Object is hindered to collide.Meanwhile removing device can be arranged in water to elastic rotation and scrape on 3.3, not only removing device be pressed always
On exterior wall, obstacle crossing type robot can be greatly enhanced to the cleaning effect of high building wall, and in robot during obstacle detouring,
Removing device can press against barrier and realize obstacle detouring, can be avoided barrier and rigid collision occurs to it, to greatly improve more
Hinder obstacle climbing ability and the flexibility of robot.
The robot that control method of the present invention uses further includes the protection mechanism 4 being mounted on robot body 1, the protection
Mechanism 4 include be mounted on robot body 1 retainer 3 4.2, protective shell 4.3, rope 4.4 and for rope 4.4 into
The rope control device 4.5 of row release or recycling, wherein protective shell 4.3 is rotatably arranged on retainer 3 4.2, and is set
It is equipped with wire guide 4.6, rope control device 4.5 is mounted on the roof of building, and 4.4 one end of rope and rope control device 4.5 connect
It connects, the other end passes through wire guide 4.6 and connect with protective shell 4.3.And protective shell 4.3 is provided with accommodating chamber, is provided in accommodating chamber
Guide roller 4.7 and cross bar 4.8, conducting wire, 4.7 are mounted in accommodating chamber by cross bar 4.8.4.4 one end of rope and rope control fill
4.5 connections are set, the other end, which passes through wire guide 4.6 and connect with protective shell 4.3, to be referred to: 4.4 one end of rope and rope control device 4.5
Connection, the other end pass through wire guide 4.6 and connect with the winding realization of guide roller 4.7 with protective shell 4.3.
The protective shell 4.3 for the robot that control method of the present invention uses, which is rotatably arranged on retainer 3 4.2, to be referred to:
It further include fixing piece 4.9,4.9 one end of fixing piece passes through retainer 3 4.2, and 4.3 bottom of protective shell is provided with mounting hole 4.10, pacifies
Dress hole 4.10 is set in one end of fixing piece 4.9, and realization is rotatably arranged on retainer 3 4.2.Protective shell 4.3 can be direct
It is set on fixing piece 4.9, and realizes with the pulling of rope 4.4 and rotated on retainer 3 4.2, so that rope 4.4
Walking of the robot on exterior wall 4.11 is not influenced.The bar portion of fixing piece 4.9 of the invention is passed through from the bottom of retainer 3 4.2
Retainer 3 4.2, the shaft that bar portion is rotated as protective shell 4.3, such fixing piece 4.9 can be used as protective shell 4.3 and be mounted on
Installation part on retainer 3 4.2 also can be used as the shaft of the rotation of protective shell 4.3.And protective shell 4.3 is by two symmetrical shells
Splicing composition, two housing bottoms offer semicircle orifice, and mounting hole 4.10 is spliced by the semicircle orifice of two asymmetric housings bottoms
It is formed.The design can greatly simplify the installation steps of protection mechanism: after installing fixing piece 4.9, directly pass through two shells
Splicing, which can then facilitate, realizes that protective shell 4.3 is set in the bar portion of fixing piece 4.9.
The rope control device 4.5 for the robot that the present embodiment control method uses includes shell 4.13, is wound with rope
4.4 roller 2 4.14, for drive roller 2 4.14 rotate motor 3 4.15 and for receive rope 4.4 discharge information or
The signal receiver 4.16 of the recycling information of rope 4, wherein roller 2 4.14 is arranged on shell 4.13 and connects with motor 3 4.15
It connects, signal receiver 4.16 is connect with motor 3 4.15, controls motor three for receiving the signal of the sending of robot body 1
4.15 forward or reverse.Rope control device 4.5 receives rope release signal or rope recycling by signal receiver 4.16
Signal, to control motor 3 4.15 forward or reverse, thus drive roller 2 4.14 realize forward or reverse to rope 4.4 into
Row release or recycling.When robot is in uplink process, which can be recycled the rope 4.4 of additional length, put
It is just drawn to robot longer height of falling down by rope 4.4, causes to hit floor surface；Equally, robot downlink cleaned
Journey, the releasable rope 4.4 of rope control device 4.5.During withdrawing and discharging rope 4.4, it should ensure that rope 4.4 has
1 meter or so of surplus length, is tightened to prevent rope 4.4, influences robot normal work.
The rope control device 4.5 for the robot that control method of the present invention uses can be discharged or be recycled to rope 4.4,
And protective shell 4.3 is connect with the retainer 3 4.2 for being mounted on robot body 1, thus when robot falls, the protection mechanism
It can be effectively prevent robot falling from high altitude, played a protective role.Meanwhile protective shell 4.3 is rotatably arranged in retainer 3 4.2
On, so that rope 4.4 robot will not be fixed the constraint in direction, to not influence robot in 4.11 uplink of exterior wall
It walks, is conducive to robot External Wall 4.11 and carries out comprehensive cleaning, greatly improve robot to the cleaning quality of high building wall.
As shown in figure 17, the control method for the obstacle crossing type robot that the present invention is used to clean external wall passes through detection first
To obstacle signal to control the rotation of preceding terminal sucker 2.9 in the adsorption element of front end and lift leaping over obstacles and obstacle-surmounting travelling gear
Walking, while timing is carried out to the walking of obstacle-surmounting travelling gear；Then the sucker of bottom adsorption element is controlled by timing result
2.17 contractions avoid obstacle or stretch out absorption exterior wall.
Specifically includes the following steps:
The first step sets the time T of preceding 2.9 leaping over obstacles of terminal sucker in the adsorption element of front end0, middle-end adsorption element suction
2.17 contraction time T of disk1, middle-end adsorption element sucker 2.17 stretch out time T2, rear end adsorption element sucker 2.17 shrink when
Between T3Time T is stretched out with the sucker 2.17 of rear end adsorption element4。
Second step is controlled preceding terminal sucker 2.9 in the adsorption element of front end by the obstacle signal detected and rotates and lift
Leaping over obstacles and obstacle-surmounting travelling gear walking, and from when detecting obstacle signal to terminal sucker 2.9 preceding in the adsorption element of front end across
Obstacle-overpass carries out real-time timing to control whether preceding terminal sucker 2.9 in the adsorption element of front end adsorbs exterior wall: working as T0'=T0, then control
The air valve of preceding terminal sucker 2.9 is opened in the adsorption element of front end, the attached exterior wall of preceding terminal sucker 2.9 in the adsorption element of front end；Otherwise, it controls
The air valve of preceding terminal sucker 2.9 is closed in the adsorption element of front end；Wherein, T0' it is that preceding terminal sucker 2.9 crosses over barrier in the adsorption element of front end
The real-time calculating time hindered.
In front end during adsorption element leaping over obstacles and obstacle-surmounting travelling gear walk when, control middle-end adsorption element and
The air valve of rear end adsorption element works, and the sucker 2.17 of middle-end adsorption element and the sucker 2.17 of rear end adsorption element are adsorbed on
On exterior wall.
Third step carries out timing to the walking process of the obstacle-surmounting travelling gear of front end, to control the suction of middle-end adsorption element
Disk 2.17 is shunk to avoid obstacle: working as T1'=T1, then 2.17 air valve of the sucker closing of middle-end adsorption element is controlled, and in control
The sucker 2.17 of end adsorption element is contracted to 1 bottom of robot body to avoid obstacle；Otherwise, the sucker of middle-end adsorption element
The work of 2.17 air valves, the sucker 2.17 of middle-end adsorption element are adsorbed on exterior wall；Wherein, T1' be middle-end adsorption element sucker
2.17 shrink the calculating time in real time.
In 2.17 contraction process of sucker of middle-end adsorption element, control front end adsorption element and rear end adsorption element
Air valve works, and the sucker 2.17 of preceding terminal sucker 2.9 and rear end adsorption element is adsorbed on exterior wall in the adsorption element of front end.
4th step continues to carry out timing to the walking process of the obstacle-surmounting travelling gear of front end, to control middle-end adsorption element
Sucker 2.17 stretch out to adsorb exterior wall: work as T2'=T2, then the sucker 2.17 of middle-end adsorption element is controlled from 1 bottom of robot body
Portion is stretched out, and controls the air valve work of middle-end adsorption element, and the sucker 2.17 of middle-end adsorption element is adsorbed on exterior wall；It is no
Then, the air valve of middle-end adsorption element is closed；Wherein, T2' for middle-end adsorption element sucker 2.17 stretch out in real time calculate the time.
5th step carries out timing to the walking process of the obstacle-surmounting travelling gear of rear end, to control the suction of rear end adsorption element
Disk 2.17 is shunk to avoid obstacle: working as T3'=T3, then 2.17 air valve of sucker for controlling rear end adsorption element is closed, and controls rear end
The sucker 2.17 of adsorption element is contracted to 1 bottom of robot body to avoid obstacle；Otherwise, the air valve work of rear end adsorption element
Make, the sucker 2.17 of rear end adsorption element is adsorbed on exterior wall；Wherein, T3' for the sucker 2.17 of rear end adsorption element shrink reality
When calculate the time.
In 2.17 contraction process of sucker of rear end adsorption element, control front end adsorption element and middle-end adsorption element
Air valve works, and the sucker 2.17 of preceding terminal sucker 2.9 and middle-end adsorption element is adsorbed on exterior wall in the adsorption element of front end.
6th step continues to carry out timing to the walking process of the obstacle-surmounting travelling gear of rear end, to control rear end adsorption element
Sucker 2.17 stretch out to adsorb exterior wall: work as T4'=T4, then the sucker 2.17 of rear end adsorption element is controlled from 1 bottom of robot body
Portion is stretched out, and controls the air valve work of rear end adsorption element, and the sucker 2.17 of rear end adsorption element is adsorbed on exterior wall；It is no
Then, the air valve of rear end adsorption element is closed；Wherein, T4' for rear end adsorption element sucker 2.17 stretch out in real time calculate the time.
Wherein, in the first step, 2.17 contraction time of sucker of middle-end adsorption elementWherein, S1For front end adsorption section
The distance between part and the obstacle-surmounting travelling gear of front end；V1For the at the uniform velocity speed of travel of obstacle-surmounting travelling gear.Rear end adsorption element
2.17 contraction time of suckerWherein, S3For the distance between front end adsorption element and the obstacle-surmounting travelling gear of rear end；
The V3For the at the uniform velocity speed of travel of obstacle-surmounting travelling gear.
Before the first step, control method of the invention starts cleaning mechanism 3 and barrier getting over mechanism 2 first, and robot is in
It walks clean state.
Before the first step, control method of the invention further includes being carried out using the cleannes of 5 External Wall of gray-scale sensor
Detection: predetermined cleannes numerical value is set as A0, work as A0′≥A0When, slow down the speed of travel of obstacle-surmounting travelling gear, realizes and extend clearly
The cleaning time of clean mechanism 3；Otherwise, obstacle-surmounting travelling gear normal speed is walked；Wherein, A0' be real-time detection cleaning degree
Value.
After the 6th step, control method of the invention further include using gyro sensor 7 to robot body 1 whether
Walking in a horizontal state state is detected: if 1 direction of travel of robot body has deviation, to the left and right motor one of obstacle-surmounting travelling gear
2.8 carry out differential adjustment, realize the correction of 1 horizontal direction of robot body；Otherwise, robot body 1 is walked by original direction.
After the 6th step, control method of the invention further includes being examined using 6 External Wall edge of ultrasonic sensor
It surveys: if testing result is exterior wall edge, differential adjustment being carried out to the left and right motor 1 of obstacle-surmounting travelling gear, realizes machine
Human body 1 turns to walking；Otherwise, robot body 1 is walked by original direction.
The sucker 17 of preceding terminal sucker 9, bottom adsorption element in the barrier getting over mechanism for the robot that control method of the present invention uses
Whether the work of equal air control valve control sucker, that is, control whether to generate vacuum.This is used to clean external wall obstacle crossing type robot
Barrier getting over mechanism work in this way:
1, front end adsorption element: the present invention is hinged by connecting rod 2.10 and front end sucking disk bar 2.11, and with robot sheet
Body 1 is hingedly creeped with realizing that preceding terminal sucker 2.9 flexibly lifts, thus across obstacle easily.And angle steering engine 1 is to use
In the rotational angle of controls connecting rod 2.10, angle steering engine 2 2.14 is the rotational angle for controlling front end sucking disk bar 2.11, from
And further increase flexibility and the obstacle climbing ability of obstacle crossing type robot.
2, bottom adsorption element: during obstacle detouring, robot body 1 can have a certain degree with wall inclination, sucker
2.17 can also have a certain degree with robot body 1, in order to keep 2.17 surface of sucker parallel with wall always, therefore set
Add a sucker hinge 2.19 when counting sucker 2.17, allow sucker 2.17 that can have certain rotational angle, when obstacle detouring with
Keep absorption wall.And the effect of gas bar 2.18 is that sucker 2.17 is made to have Telescopic, during obstacle detouring, in order to ensure
Avoid 2.17 collision obstacle of sucker, sucker 2.17 is retracted to 1 bottom of robot body when not working, when work extends to and obstacle detouring
Running gear is parallel.
3, it obstacle-surmounting travelling gear: drives central gear 2.3 to rotate by motor 1, is engaged by gear and drive transition tooth
Wheel 2.4 and driving gear 2.5 rotate, and driving gear 2.5 drives Athey wheel 2.6 to rotate coaxially around gear shaft 2.20.It is being driven
It drives gear 2.5 to be connected with Athey wheel 2.6 by gear shaft 2.20 in system, is finally reached Athey wheel 2.6 around centre tooth
2.3 rotation of wheel.In normally travel, any two Athey wheel 2.6 contacts wall simultaneously and (keeps in train for obstacle crossing type robot
Frame 1 is not rotated relative to wall, and Athey wheel 2.6 drives crawler belt 2.7 to rotate), to realize that straight line is walked.When robot encounters
When barrier, according to gear drive relationship, retainer 1 drives entire train to rotate around central gear 2.3, center
What gear 2.3 was formed rotates around train and bar contact point, and (i.e. retainer 1 and Athey wheel 2.6 is simultaneously relative to wall
Rotate), the train for driving gear 2.5 to be formed at this time evolves into planetary gear train, completes overturning obstacle movement.
The present invention is such (such as Figure 16 (a) -16 for cleaning the obstacle detouring process of external wall obstacle crossing type robot
(h)):
1, when ultrasonic sensor 6 has detected obstacle, controller controls the robot and enters obstacle detouring operation.Pass through angle
The rotation of terminal sucker 2.9, is extremely higher than barrier before degree steering engine 1 and angle steering engine 2 2.14 control before terminal sucker 2.9 lifts before making
Hinder the height of object.Motor 1 drives central gear 2.3 simultaneously at this time, and robot is moved ahead by obstacle-surmounting travelling gear.To front end
When sucker 2.9 clears the jumps, the rotation of terminal sucker 2.9 before angle steering engine 1 and the control of angle steering engine 2 2.14, before making
Terminal sucker 2.9 is again close to wall, until preceding 2.9 bottom surface of terminal sucker is back to when being overlapped with wall, air control valve is opened, preceding terminal sucker
2.9 absorption walls.During this, the sucker 2.17 of middle-end adsorption element and rear end adsorption element is adsorbed on wall.
2, robot body 1 is moved on by obstacle-surmounting travelling gear.
3, when the obstacle-surmounting travelling gear of front end nearly touches obstacle, air control valve closes the sucker of middle-end adsorption element
2.17, while the gas bar 2.18 of two sucker 2.17 works, driving sucker 2.17 is retracted to the bottom of robot body 1, machine
Human body 1 carries out the leap of barrier by the obstacle-surmounting travelling gear of front end.During this, preceding terminal sucker 2.9 and rear end absorption
The sucker 2.17 of component is adsorbed on wall.After robot body 1 is surmounted obstacles by the obstacle-surmounting travelling gear of front end, middle-end
The sucker 2.17 of adsorption element is back to by the driving elongation of gas bar 2.18 and is overlapped with wall, and air control valve is opened, middle-end adsorption element
Sucker 2.17 adsorb wall.
4, when the obstacle-surmounting travelling gear of rear end nearly touches obstacle, air control valve closes the sucker of rear end adsorption element
2.17, while the gas bar 2.18 of two sucker 2.17 works, driving sucker 2.17 is retracted to the bottom of robot body 1, machine
Human body 1 carries out the leap of barrier by the obstacle-surmounting travelling gear of rear end.During this, preceding terminal sucker 2.9 and middle-end absorption
The sucker 2.17 of component is adsorbed on wall.After robot body 1 is surmounted obstacles by the obstacle-surmounting travelling gear of rear end, rear end
The sucker 2.17 of adsorption element is back to by the driving elongation of gas bar 2.18 and is overlapped with wall, and air control valve is opened, rear end adsorption element
Sucker 2.17 adsorb wall.
Therefore, the present invention be used to clean external wall obstacle crossing type robot can at least 4 in any time of obstacle detouring
A sucker works, and carries out clean stability, reliability and safety in high-altitude to greatly improve robot.
In addition, the robot that control method of the present invention uses is also with the following functions:
1, when wall is dirtier, color can be deeper than clean place, and the height of wall gray value is detected by gray-scale sensor 5
It is low, to judge whether wall cleanliness reaches predetermined value: if the color for detecting wall passes through and slows down more lower than predetermined value
Hinder one 2.8 revolving speed of motor in running gear, realizes and slow down the forward speed of robot to extend cleaning time, to improve wall
Cleaning quality.
2, the ultrasonic wave of ultrasonic sensor 6 encounters impurity or interface and can generate significantly to reflect to form and be reflected into echo,
When barrier occurs in front, ultrasonic wave changes at a distance from wall, and echo is also with changing at this time, with this original
Reason, to realize the detection to front obstacle.When detecting wall edge, application mode is similarly.Robot is passed by ultrasonic wave
The detection wall edge automatically of sensor 6, when detection is at the end or is hanging, robot can intelligent decision carry out, reserve enough
Space turn around, carry out the cleaning of next column.
3, built-in in robot to add a gyro in order to allow the robot to reach straight line walking to guarantee cleaning quality
Instrument sensor 7 can in real time be monitored the horizontality of robot, when robot front end is towards when deflecting away from predetermined value
It waits, gyro sensor 7 can then feed back to controller, and controller carries out the revolving speed of the motor 1 in obstacle-surmounting travelling gear
Adjustment, to ensure that robot keeps straight line walking cleaning.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (9)
1. a kind of for cleaning the control method of the obstacle crossing type robot of external wall, it is characterised in that: on robot body
Barrier getting over mechanism and cleaning mechanism are set；The barrier getting over mechanism includes the obstacle-surmounting travelling gear and band being arranged on robot body
There is the adsorbent equipment of creeping of air valve；The obstacle-surmounting travelling gear is evenly distributed on the two sides of robot body；The absorption of creeping
Device includes front end adsorption element and bottom adsorption element；Bottom adsorption element includes middle-end adsorption element and rear end adsorption section
Part；
The control method controlled first by the obstacle signal detected front end adsorption element rotate and lift leaping over obstacles and
Obstacle-surmounting travelling gear walking, while timing is carried out to the walking of obstacle-surmounting travelling gear；Then bottom is controlled by timing result to inhale
Attached component contraction avoids obstacle or stretches out absorption exterior wall；
The front end adsorption element that controlled first by the obstacle signal detected rotates and lifts leaping over obstacles and obstacle detouring row
Walking apparatus walking, while timing is carried out to the walking of obstacle-surmounting travelling gear；Then bottom adsorption element is controlled by timing result
Obstacle is avoided in contraction or stretching absorption exterior wall refers to: the following steps are included:
The first step sets the time T of front end adsorption element leaping over obstacles0, middle-end adsorption element contraction time T1, middle-end absorption
The stretching time T of component2, rear end adsorption element contraction time T3With the stretching time T of rear end adsorption element4；
Second step is controlled front end adsorption element by the obstacle signal detected and rotates and lift leaping over obstacles and obstacle detouring walking
Device walking, and adsorbed from real-time timing is carried out to front end adsorption element leaping over obstacles when detecting obstacle signal to control front end
Whether component adsorbs exterior wall；In front end during adsorption element leaping over obstacles and when obstacle-surmounting travelling gear is walked, middle-end is controlled
The work of the air valve of adsorption element and rear end adsorption element, middle-end adsorption element and rear end adsorption element are adsorbed on exterior wall；
Third step carries out timing to the walking process of the obstacle-surmounting travelling gear of front end, come control the contraction of middle-end adsorption element with
Avoid obstacle；In middle-end adsorption element contraction process, the air valve of control front end adsorption element and rear end adsorption element work,
Front end adsorption element and rear end adsorption element are adsorbed on exterior wall；
4th step continues to carry out timing to the walking process of the obstacle-surmounting travelling gear of front end, to control stretching for middle-end adsorption element
Out to adsorb exterior wall: as T '2=T2, then control middle-end adsorption element and stretched out from robot body bottom, and control middle-end adsorption section
The air valve of part works, and middle-end adsorption element is adsorbed on exterior wall；Otherwise, the air valve of middle-end adsorption element is closed；Wherein, T '2
Stretching for middle-end adsorption element calculates the time in real time；
5th step carries out timing to the walking process of the obstacle-surmounting travelling gear of rear end, come control the contraction of rear end adsorption element with
Avoid obstacle；In the adsorption element contraction process of rear end, the air valve of control front end adsorption element and middle-end adsorption element work,
Front end adsorption element and middle-end adsorption element are adsorbed on exterior wall；
6th step continues to carry out timing to the walking process of the obstacle-surmounting travelling gear of rear end, to control stretching for rear end adsorption element
Out to adsorb exterior wall: as T '4=T4, then control rear end adsorption element and stretched out from robot body bottom, and control rear end adsorption section
The air valve of part works, and rear end adsorption element is adsorbed on exterior wall；Otherwise, the air valve of rear end adsorption element is closed；Wherein, T '4
Stretching for rear end adsorption element calculates the time in real time.
2. according to claim 1 for cleaning the control method of the obstacle crossing type robot of external wall, it is characterised in that:
It is described that the real-time timing of front end adsorption element leaping over obstacles progress is inhaled to control front end from when detecting obstacle signal in second step
Whether attached component, which adsorbs exterior wall, refers to: as T '0=T0, then the air valve opening of front end adsorption element, the absorption of front end adsorption element are controlled
Exterior wall；Otherwise, the air valve for controlling front end adsorption element is closed；Wherein, T '0For the real-time calculating of front end adsorption element leaping over obstacles
Time.
3. according to claim 1 for cleaning the control method of the obstacle crossing type robot of external wall, it is characterised in that:
In third step, the walking process of the obstacle-surmounting travelling gear to front end carries out timing, to control the contraction of middle-end adsorption element
Referred to avoiding obstacle: as T '1=T1, then the air valve for controlling middle-end adsorption element is closed, and is controlled middle-end adsorption element and be contracted to
Robot body bottom is to avoid obstacle；Otherwise, the air valve work of middle-end adsorption element, middle-end adsorption element are adsorbed on exterior wall
On；Wherein, T '1Contraction for middle-end adsorption element calculates the time in real time.
4. according to claim 1 for cleaning the control method of the obstacle crossing type robot of external wall, it is characterised in that:
In 5th step, timing is carried out to the walking process of the obstacle-surmounting travelling gear of rear end, to control the contraction of rear end adsorption element to keep away
It opens obstacle to refer to: as T '3=T3, then the air valve for controlling rear end adsorption element is closed, and is controlled rear end adsorption element and be contracted to machine
Human body bottom is to avoid obstacle；Otherwise, the air valve work of rear end adsorption element, rear end adsorption element are adsorbed on exterior wall；Its
In, T '3Contraction for rear end adsorption element calculates the time in real time.
5. according to claim 1 for cleaning the control method of the obstacle crossing type robot of external wall, it is characterised in that:
The contraction time of the middle-end adsorption elementWherein, S1Between front end adsorption element and the obstacle-surmounting travelling gear of front end
Distance；The V1For the at the uniform velocity speed of travel of obstacle-surmounting travelling gear.
6. according to claim 1 for cleaning the control method of the obstacle crossing type robot of external wall, it is characterised in that:
The contraction time of the rear end adsorption elementWherein, S3Between front end adsorption element and the obstacle-surmounting travelling gear of rear end
Distance；The V3For the at the uniform velocity speed of travel of obstacle-surmounting travelling gear.
7. according to claim 1 for cleaning the control method of the obstacle crossing type robot of external wall, it is characterised in that:
Before the first step, further include that the cleannes of External Wall are detected: setting predetermined cleannes numerical value as A0, as A '0≥A0When,
Slow down the speed of travel of obstacle-surmounting travelling gear, realizes the cleaning time for extending cleaning mechanism；Otherwise, the positive constant speed of obstacle-surmounting travelling gear
Degree walking；Wherein, A '0For the cleannes numerical value of real-time detection.
8. according to claim 1 for cleaning the control method of the obstacle crossing type robot of external wall, it is characterised in that:
It further include that robot body, whether walking in a horizontal state state is detected using gyro sensor: if machine after the 6th step
Device human body's direction of travel has deviation, then carries out differential adjustment to the left and right motor of obstacle-surmounting travelling gear, realizes robot body
The correction of horizontal direction；Otherwise, robot body is walked by original direction.
9. according to claim 1 for cleaning the control method of the obstacle crossing type robot of external wall, it is characterised in that:
It further include that External Wall edge is detected after the 6th step: if testing result is exterior wall edge, to obstacle-surmounting travelling gear
Left and right motor carries out differential adjustment, realizes that robot body turns to walking；Otherwise, robot body is walked by original direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610506001.2A CN106054890B (en) | 2016-06-28 | 2016-06-28 | It is a kind of for cleaning the control method of the obstacle crossing type robot of external wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610506001.2A CN106054890B (en) | 2016-06-28 | 2016-06-28 | It is a kind of for cleaning the control method of the obstacle crossing type robot of external wall |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106054890A CN106054890A (en) | 2016-10-26 |
| CN106054890B true CN106054890B (en) | 2019-01-25 |
Family
ID=57201382
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610506001.2A Active CN106054890B (en) | 2016-06-28 | 2016-06-28 | It is a kind of for cleaning the control method of the obstacle crossing type robot of external wall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106054890B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT201800009729A1 (en) * | 2018-10-24 | 2020-04-24 | Pierangelo Vercellino | MOBILE SPRAYING TOOL |
| CN111375616B (en) * | 2018-12-30 | 2022-03-04 | 国家能源投资集团有限责任公司 | Cleaning method and device for photovoltaic building, storage medium and processor |
| CN113359802B (en) * | 2021-07-05 | 2022-11-11 | 上海交通大学 | Control method under unmanned aerial vehicle wall surface adsorption state and unmanned aerial vehicle |
| CN114789460B (en) * | 2022-05-09 | 2023-12-08 | 西南石油大学 | Full-automatic surface mounting robot and method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201185910Y (en) * | 2008-03-31 | 2009-01-28 | 浙江大学 | Distance type wall-climbing cleaning robot |
| WO2012005404A1 (en) * | 2010-07-06 | 2012-01-12 | 엘지전자 주식회사 | Automatic cleaner |
| CN203852288U (en) * | 2014-05-13 | 2014-10-01 | 西北农林科技大学 | Obstacle-surmounting device for glass cleaning robot |
| CN204889880U (en) * | 2015-08-06 | 2015-12-23 | 徐良 | Automatic high -rise glass curtain wall purger |
-
2016
- 2016-06-28 CN CN201610506001.2A patent/CN106054890B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201185910Y (en) * | 2008-03-31 | 2009-01-28 | 浙江大学 | Distance type wall-climbing cleaning robot |
| WO2012005404A1 (en) * | 2010-07-06 | 2012-01-12 | 엘지전자 주식회사 | Automatic cleaner |
| CN203852288U (en) * | 2014-05-13 | 2014-10-01 | 西北农林科技大学 | Obstacle-surmounting device for glass cleaning robot |
| CN204889880U (en) * | 2015-08-06 | 2015-12-23 | 徐良 | Automatic high -rise glass curtain wall purger |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106054890A (en) | 2016-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105962858B (en) | A kind of obstacle crossing type robot for cleaning external wall | |
| CN106054890B (en) | It is a kind of for cleaning the control method of the obstacle crossing type robot of external wall | |
| CN106974583A (en) | Vertical scrolling formula robot system for curtain cleaning | |
| CN1265756C (en) | High building glass curtain wall cleaner system | |
| CN103286108B (en) | For carrying the cleaning device of distinguished and admirable pipeline | |
| KR20190135462A (en) | Windows washing robot | |
| CN207821768U (en) | Glass-wall cleaning robot control system | |
| CN106073618A (en) | Intelligence climbing automated cleaning machine people | |
| CN106388724A (en) | Glass curtain wall washing robot | |
| CN109303515A (en) | A kind of side compression type high-rise glass curtain cleaning special equipment | |
| JP2018177215A (en) | Work robot system | |
| WO2014183632A1 (en) | Autonomous mobile suction robot | |
| CN105935276A (en) | Curtain wall cleaning system capable of crossing obstacles | |
| CN110185489A (en) | Mobile tunnel dust-extraction unit | |
| CN112832490A (en) | High-rise spraying robot | |
| WO2020134875A1 (en) | Intelligent flat surface cleaning apparatus | |
| CN108661361A (en) | A kind of swimming pool cleaning device | |
| CN207309942U (en) | A kind of five degree of freedom cleaning machine hand for curtain cleaning robot | |
| CN110170472A (en) | A kind of automatic obstacle-avoiding handrail cleaner | |
| CN114766957A (en) | Full-automatic glass curtain wall cleaning robot | |
| CN206597000U (en) | A kind of curtain wall cleaning system that may span across obstacle | |
| CN209723678U (en) | A kind of high building exterior wall cleaning equipment | |
| CN207370660U (en) | For the vertical scrolling formula robot system of curtain cleaning | |
| CN107512247A (en) | The Ca Che robots that can be creeped on automobile case | |
| CN208610742U (en) | A kind of glass curtain wall cleaning machine device people |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |