CN106214057B - A kind of glass-cleaning robot control method - Google Patents
A kind of glass-cleaning robot control method Download PDFInfo
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- CN106214057B CN106214057B CN201610653164.3A CN201610653164A CN106214057B CN 106214057 B CN106214057 B CN 106214057B CN 201610653164 A CN201610653164 A CN 201610653164A CN 106214057 B CN106214057 B CN 106214057B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000000523 sample Substances 0.000 claims abstract description 34
- 239000011521 glass Substances 0.000 claims description 81
- 238000004891 communication Methods 0.000 claims description 28
- 230000005611 electricity Effects 0.000 claims description 18
- 230000008569 process Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 230000001939 inductive effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 4
- 230000001737 promoting effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 239000004677 Nylon Substances 0.000 description 2
- 229920001778 nylon Polymers 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000005357 flat glass Substances 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
- A47L1/03—Power-driven machines or devices cleaning both sides of a window simultaneously
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of glass-cleaning robot control systems, including initiative part sensing unit, initiative part controller and initiative part energy source, and follower sensing unit, follower controller and follower energy source, initiative part sensing unit includes initiative part pressure sensor, initiative part speed probe and initiative part obliquity sensor, first motor, the second motor, third motor and the 4th motor are connect with the output end of initiative part controller, and the output end of initiative part controller is further connected with initiative part relay；Follower sensing unit includes follower pressure sensor, follower speed probe and follower obliquity sensor, follower pressure sensor, follower speed probe and follower obliquity sensor are connect with the input terminal of follower controller, and the output of follower controller is terminated with follower relay；The invention also discloses a kind of glass-cleaning robot control methods.The present invention can improve the efficiency that cleans the windows of glass-cleaning robot.
Description
Technical field
The invention belongs to attracting cleaner for window glass to have technical field, and in particular to a kind of glass-cleaning robot control method.
Background technology
In daily life, people wipe indoor glass with rag；But for outdoor glass, especially skyscraper, people
If standing cleans glass outside window, operating process it is not only dangerous but also be not easy to wipe it is complete, clean.Have a kind of double-face window cleaner now, leads to
It crosses and the window-cleaning device of two carry magnets is clamped to glass to be wiped, when indoor window-cleaning device works, outside cleans the windows
Device indoor window-cleaning device movement since magnetic action follows, may be implemented to clean while two sides inside and outside glass, but this double
Face window cleaner is mostly that manually, operation is laborious, and wipes window process arbitrariness is also big, can cause some regions nuzzle up multipass, certain
The problem of a little region leakages are wiped.And current automatic double-sided window cleaner, i.e. glass-cleaning robot, exist by the positive and negative rotation of driving motor
Glass surface moves forward or back, and realizes and turns to by the differential of driving motor, and commutate underaction, keeps its motion path limited greatly
System causes some regions to repeat to wipe, and is unfavorable for wiping the raising of window efficiency；It is larger for area and need the region that wipes only
There are the glass of sub-fraction and the rectangular area of glass, defect to become apparent.For this purpose, someone have developed for solve with
The mechanical structure portion of the glass-cleaning robot of upper problem, still, also lack it is novel in design rationally, using simple operation, practicality
Property strong, remote-controlled glass-cleaning robot control system and control method convenient for promoting the use of.
Invention content
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of structure letter
List, novel design is reasonable, uses simple operation, highly practical, convenient for promoting the use of glass-cleaning robot control system.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of glass-cleaning robot control system,
The glass-cleaning robot includes for being separately positioned on glass inner side and glass outer side and mutually matched initiative part and driven
Portion, the initiative part include the first active wheels, the second active wheels and initiative part lifting unit, the first active wheels packet
First motor and the second motor are included, second active wheels include third motor and the 4th motor, and the initiative part lifting is single
Member includes initiative part electromagnetic coil；The follower includes the first driven wheels, the second driven wheels and follower lifting unit,
The follower lifting unit includes follower electromagnetic coil；It is characterized in that：Glass-cleaning robot control system packet
Include initiative part sensing unit, initiative part controller and initiative part energy source and follower sensing unit, follower controller and
Follower energy source, the initiative part sensing unit include initiative part pressure sensor, initiative part speed probe and for pair
The initiative part obliquity sensor that the inclination angle of initiative part is detected, the initiative part pressure sensor, initiative part speed probe
It is connect with the input terminal of initiative part controller with initiative part obliquity sensor, the first motor, the second motor, third motor
It is connect with the output end of initiative part controller with the 4th motor, the output end of the initiative part controller is further connected with for connecting
Or disconnect the initiative part relay for the current supply circuit that initiative part energy source is initiative part solenoid；The follower sensing
Unit includes follower pressure sensor, follower speed probe and the follower being detected for the inclination angle to follower
Obliquity sensor, the follower pressure sensor, follower speed probe and follower obliquity sensor are and follower
The input terminal of controller connects, and the output end of the follower controller is further connected with is for being switched on or switched off follower energy source
The follower relay of the current supply circuit of follower solenoid.
A kind of above-mentioned glass-cleaning robot control system, it is characterised in that：The initiative part energy source is charging electricity
Pond, the initiative part sensing unit include the initiative part electric quantity detecting circuit being detected for the electricity to rechargeable battery, institute
Initiative part electric quantity detecting circuit is stated to be arranged in the top of initiative part energy source, the initiative part electric quantity detecting circuit and initiative part control
The input terminal of device processed connects, and the output of the initiative part controller is terminated with initiative part battery capacity indication lamp；The follower energy
Source is rechargeable battery, and the follower sensing unit includes the follower electricity inspection being detected for the electricity to rechargeable battery
Slowdown monitoring circuit, the follower electric quantity detecting circuit are arranged in the top of follower energy source, the follower electric quantity detecting circuit
It is connect with the input terminal of follower controller, the output of the follower controller is terminated with follower battery capacity indication lamp.
A kind of above-mentioned glass-cleaning robot control system, it is characterised in that：The initiative part controller includes actively
Portion's micro controller module and the initiative part communication module to connect with initiative part micro controller module, the initiative part microcontroller mould
The output of block is terminated with motor drive module and initiative part alarm module, and the initiative part pressure sensor, initiative part rotating speed pass
Sensor, initiative part obliquity sensor and initiative part electric quantity detecting circuit are connect with the input terminal of initiative part micro controller module,
The initiative part relay and initiative part battery capacity indication lamp are connect with the output end of initiative part micro controller module, and described first
Motor, the second motor, third motor and the 4th motor are connect with the output end of motor drive module；The follower controller
Connect including follower micro controller module and with follower micro controller module and for being communicated with initiative part communication module
The output of follower communication module, the follower micro controller module is terminated with follower alarm module, the follower pressure
Force snesor, follower speed probe, follower obliquity sensor and follower electric quantity detecting circuit with follower micro-control
The input terminal of device module processed connects, the follower relay and follower battery capacity indication lamp with follower micro controller module
Output end connection.
A kind of above-mentioned glass-cleaning robot control system, it is characterised in that：The initiative part communication module and driven
Portion's communication module is infrared communication module, radio communication module or bluetooth communication.
Glass-cleaning robot control method that is convenient, cleaning the windows efficient, spy are realized the present invention also provides a kind of
Sign is that this approach includes the following steps：
Step 1: after initiative part and follower are placed in the both side surface corresponding position of glass, start initiative part, this
When, initiative part relay access failure initiative part energy source is the current supply circuit of initiative part solenoid, initiative part controller
First motor and the rotation of the second motor, first active wheels are controlled according to preset glass-cleaning robot operational mode
It is contacted with one side surface of glass, initiative part is made to walk in one side surface of glass；At the same time, follower controller access failure is driven
Portion's energy source is the current supply circuit of follower solenoid, and first driven wheels are contacted with another side surface of glass,
Follower is set to walk under the magnetic force in another side surface of glass with initiative part；Initiative part and follower walking process
In, when initiative part pressure sensor or follower pressure sensor generation collision sensing signal, execute step 2；Work as initiative part
The single follower pressure sensor of the single side of initiative part pressure sensor or follower of single side generates collision sensing
When signal, step 3 is executed；When initiative part obliquity sensor or follower obliquity sensor provide not 0 deg., 90 deg, 180 ° or 270 °
Signal when, execute step 3, when four initiative part speed probes and four follower speed probes at the appointed time
When rotating speed is inconsistent always, step 4 is executed；When initiative part electric quantity detecting circuit or follower electric quantity detecting circuit show electricity
When insufficient, step 4 is executed；Otherwise, step 5 is executed；
Step 2: the initiative part controller, which exports control signal, gives initiative part relay, it is logical to initiative part electromagnetic coil
Electricity, first active wheels and second active wheels are inhaled together with so that first active wheels leave glass
Surface, while second active wheels contact glass surface；Initiative part controller controls third motor and the 4th motor is positive
Rotation reversely rotates；Meanwhile the initiative part controller output signal gives follower controller, follower controller according to
Received signal exports control signal and is powered to follower electromagnetic coil, by first driven wheels and described second driven
Wheel group is inhaled together so that first driven wheels leave glass surface, while second driven wheels contact glass table
Face starts to rotate with initiative part；Realize the go to action of robot；
Step 3: the initiative part controller control first motor and the second motor are rotate in same direction by different rotating speeds, realize
The differential of initiative part rotates；Meanwhile follower is moved with initiative part, realizes the direction adjustment of robot；
Step 4: the initiative part controller control first motor and the second motor stalls, and controlled to follower
Device sends the control instruction being stopped, and initiative part and follower are stopped；
Step 5: it is constant to maintain the original state, continue to move ahead.
Glass-cleaning robot control method that is convenient, cleaning the windows efficient, spy are realized the present invention also provides a kind of
Sign is that this approach includes the following steps：
Step 1: after initiative part and follower are placed in the both side surface corresponding position of glass, start initiative part, this
When, initiative part relay has connected the current supply circuit that initiative part energy source is initiative part solenoid, initiative part controller
Third motor and the rotation of the 4th motor, second active wheels are controlled according to preset glass-cleaning robot operational mode
It is contacted with one side surface of glass, initiative part is made to walk in one side surface of glass；At the same time, follower controller has been connected driven
Portion's energy source is the current supply circuit of follower solenoid, and second driven wheels are contacted with another side surface of glass,
Follower is set to walk under the magnetic force in another side surface of glass with initiative part；Initiative part and follower walking process
In, when initiative part pressure sensor or follower pressure sensor generation collision sensing signal, execute step 2；Work as initiative part
The single follower pressure sensor of the single side of initiative part pressure sensor or follower of single side generates collision sensing
When signal, step 3 is executed；When initiative part obliquity sensor or follower obliquity sensor provide not 0 deg., 90 deg, 180 ° or 270 °
Signal when, execute step 3；When four initiative part speed probes and four follower speed probes at the appointed time
When rotating speed is inconsistent always, step 4 is executed；When initiative part electric quantity detecting circuit or follower electric quantity detecting circuit show electricity
When insufficient, step 4 is executed；Otherwise, step 5 is executed；
Step 2: the initiative part controller, which exports control signal, gives initiative part relay, it is logical to initiative part electromagnetic coil
Electricity, first active wheels and second active wheels are inhaled together with so that second active wheels leave glass
Surface, while first active wheels contact glass surface；Initiative part controller controls first motor and the second motor is positive
Rotation reversely rotates；Meanwhile the initiative part controller output signal gives follower controller, follower controller according to
Received signal exports control signal and is powered to follower electromagnetic coil, by first driven wheels and described second driven
Wheel group is inhaled together so that second driven wheels leave glass surface, while first driven wheels contact glass table
Face starts to rotate with initiative part；Realize the go to action of robot；
Step 3: the initiative part controller control third motor and the 4th motor are rotate in same direction by different rotating speeds, realize
The differential of initiative part rotates；Meanwhile follower is moved with initiative part, realizes the direction adjustment of robot；
Step 4: the initiative part controller control third motor and the 4th motor stalls, and controlled to follower
Device sends the control instruction being stopped, and initiative part and follower are stopped；
Step 5: it is constant to maintain the original state, continue to move ahead.
Compared with the prior art, the present invention has the following advantages：
1, the novel design of glass-cleaning robot control system of the present invention is rationally, simple in structure, and it is convenient to realize.
2, glass-cleaning robot is controlled using the present invention, glass-cleaning robot may be implemented on window side in glass-cleaning robot
90 ° of steerings at frame, greatly improve the walking flexibility of glass-cleaning robot, contribute to the movement locus for optimizing robot, can
So that glass-cleaning robot smoothly completes the cleaning to rectangular area, cleaning efficiency is improved.
3, glass-cleaning robot is controlled using the present invention, glass-cleaning robot can be automatically performed the scouring work of glass, intelligence
Degree height can be changed, uniform cleaning glass window is realized, do not leak wiping phenomenon, large area is also avoided and repeat to wipe, labour can be mitigated
The working strength of person avoids potential danger when user cleans glass pane, glass wiping efficiency is made to greatly improve.
4, glass-cleaning robot is controlled using the present invention, glass-cleaning robot avoiding obstacles in traveling can be made, protected
The smooth operation of whole process is demonstrate,proved.
5, cost of implementation of the invention is low, using flexible, convenient for promoting the use of.
In conclusion the configuration of the present invention is simple, novel in design reasonable, the effect that cleans the windows of glass-cleaning robot can be improved
Rate, it is safe and convenient to use, convenient for promoting the use of.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Description of the drawings
Fig. 1 is the schematic block circuit diagram of glass-cleaning robot control system of the present invention.
Fig. 2 is the structural schematic diagram of glass-cleaning robot of the present invention.
Fig. 3 is initiative part of the present invention from the structural schematic diagram in terms of top down.
Fig. 4 is that initiative part of the present invention removes the structural schematic diagram after initiative part shell.
Fig. 5 is the structural schematic diagram that initiative part of the present invention is seen bottom-up.
Fig. 6 is the sectional view of initiative part when initiative part electromagnetic coil of the present invention powers off.
Fig. 7 is the sectional view of initiative part when initiative part electromagnetic coil of the present invention is powered.
Fig. 8 is follower of the present invention from the structural schematic diagram in terms of top down.
Fig. 9 is that follower of the present invention removes the structural schematic diagram after follower shell.
Figure 10 is the structural schematic diagram that follower of the present invention is seen bottom-up.
Figure 11 is the sectional view of follower when follower electromagnetic coil of the present invention powers off.
Reference sign:
1-initiative part；1-1 initiative part shells；
The second driving wheels of 1-201-；The first driving wheels of 1-202-；
1-203-the first active support plates；1-204-first motor；
The second motors of 1-205-；1-301-third driving wheel；
The 4th driving wheels of 1-302-；1-303-the second active support plates；
1-304-third motor；The 4th motors of 1-305-；1-4-initiative part bottom plate；
1-5-initiative part controller；1-51-initiative part micro controller module；
1-52-initiative part communication module；1-53-motor drive module；
1-54-initiative part alarm module；1-6-initiative part alarm module；
1-601-initiative part bobbin；1-602-initiative part electromagnetic coil；
The first spring of 1-603-initiative part；1-604-initiative part second spring；
1-701-initiative part pressure sensor；1-702-initiative part speed probe；
1-703-initiative part obliquity sensor；1-704-initiative part electric quantity detecting circuit；
1-705-initiative part battery capacity indication lamp；1-8-initiative part energy source；
1-9-initiative part rag；1-10-initiative part magnetic patch；2-followers；
2-1-follower shell；2-101-magnetic force adjusts knob；
2-102-magnetic force adjusts holder；2-103-follower magnetic patch；
The first driven wheels of 2-201-；The second driven wheels of 2-202-；
The first driven support plates of 2-203-；The 4th driven wheels of 2-204-；
2-301-third driven wheel；The 4th driven wheels of 2-302-；
The second driven support plates of 2-303-；2-4-follower bottom plate；
2-5-follower controller；2-51-follower micro controller module；
2-52-follower communication module；2-601-follower bobbin；
2-602-follower electromagnetic coil；The first spring of 2-603-follower；
2-604-follower second spring；2-701-follower pressure sensor；
2-702-follower speed probe；2-703-follower obliquity sensor；
2-704-follower electric quantity detecting circuit；2-705-follower battery capacity indication lamp；
2-8-follower energy source；2-9-follower rag；
2-11-follower relay；3-glass；4-glass frames；
5-columns；6-nylon grumes；7-safety power supply dual-purpose lines.
Specific implementation mode
The glass-cleaning robot control system of the present invention, as shown in Fig. 2, the glass-cleaning robot includes for distinguishing
Setting is in 3 inside of glass and 3 outside of glass and mutually matched initiative part 1 and follower 2, as shown in Fig. 3~Fig. 7, the master
Dynamic portion 1 includes the first active wheels, the second active wheels and initiative part lifting unit, and first active wheels include the first electricity
Machine 1-204 and the second motor 1-205, second active wheels include third motor 1-304 and the 4th motor 1-305, described
Initiative part lifting unit includes initiative part electromagnetic coil 1-602；As shown in Figure 8 to Figure 11, the follower 2 includes first driven
Wheel group, the second driven wheels and follower lifting unit, the follower lifting unit include follower electromagnetic coil 2-602；
As shown in Figure 1, the glass-cleaning robot control system includes initiative part sensing unit, initiative part controller 1-5 and active
Portion energy source 1-8 and follower sensing unit, follower controller 2-5 and follower energy source 2-8, the initiative part pass
Sense unit include initiative part pressure sensor 1-701, initiative part speed probe 1-702 and for the inclination angle to initiative part 1 into
Initiative part the obliquity sensor 1-703, the initiative part pressure sensor 1-701, initiative part speed probe 1-702 of row detection
It is connect with the input terminal of initiative part controller 1-5 with initiative part obliquity sensor 1-703, the first motor 1-204, second
Motor 1-205, third motor 1-304 and the 4th motor 1-305 are connect with the output end of initiative part controller 1-5, the master
It is initiative part electromagnetic coil 1-602 that the output end of dynamic portion controller 1-5, which is further connected with for being switched on or switched off initiative part energy source 1-8,
The initiative part relay 1-11 of the current supply circuit of power supply；The follower sensing unit include follower pressure sensor 2-701,
The follower speed probe 2-702 and follower obliquity sensor 2-703 being detected for the inclination angle to follower 2, institute
State follower pressure sensor 2-701, follower speed probe 2-702 and follower obliquity sensor 2-703 with it is driven
The input terminal of portion controller 2-5 connects, and the output end of the follower controller 2-5 is further connected with for being switched on or switched off follower
Energy source 2-8 is the follower relay 2-11 of the current supply circuit of follower electromagnetic coil 2-602 power supplies.
As shown in Fig. 2, the glass-cleaning robot further includes for security protection and for being initiative part 1 and follower 2
The safety power supply dual-purpose line 7 of power supply；When it is implemented, the safety power supply dual-purpose line 7 both can be used for connecting power supply, for the wiping
Glass robot manipulating task is powered, and may be used as safety rope, by the winding of nylon grume 6 indoors a certain column 5, preventing this
Glass-cleaning robot damages due to surprisingly falling.The length of safety power supply dual-purpose line 7 is freely adjustable, and glass 3 is mounted on
In glass frame 4.
As shown in Fig. 3~Fig. 7, the initiative part 1 further includes initiative part bottom plate 1-4 and is fixedly connected on initiative part bottom plate 1-
The initiative part shell 1-1 at 4 tops, is fixedly connected with initiative part rag 1-9 and initiative part on the bottom surface of the initiative part bottom plate 1-4
Magnetic patch 1-10；First active wheels further include the electricity of the first active support plate 1-203, the first motor 1-204 and second
Machine 1-205 is respectively fixedly connected with the both ends on the first active support plate 1-203, consolidates on the output shaft of the first motor 1-204
Surely it is connected with the first driving wheel 1-202, the second driving wheel 1-201 is fixedly connected on the output shaft of the second motor 1-205,
The first active support plate 1-203, first motor 1-204 and the second motor 1-205 are arranged in initiative part shell 1-1,
The first driving wheel 1-202 and the second driving wheel 1-201 are exposed at outside initiative part shell 1-1；Second active wheels are also
It is respectively fixedly connected in the second master including the second active support plate 1-303, the third motor 1-304 and the 4th motor 1-305
Both ends on dynamic support plate 1-303, the second active support plate 1-303 be located at the top of the first active support plate 1-203 and with
First active support plate 1-203 right-angled intersections are arranged, and third is fixedly connected on the output shaft of the third motor 1-304 actively
1-301 is taken turns, the 4th driving wheel 1-302 is fixedly connected on the output shaft of the 4th motor 1-305, described second actively supports
Plate 1-303, third motor 1-304 and the 4th motor 1-305 are arranged in initiative part shell 1-1, the third driving wheel 1-
301 and the 4th driving wheel 1-302 be exposed at outside initiative part shell 1-1；The initiative part lifting unit further includes being fixedly connected on
Initiative part bobbin 1-601, the initiative part electromagnetic coil 1-602 on initiative part bottom plate 1-4 are mounted on initiative part bobbin
On 1-601, initiative part the first spring 1-603 and initiative part second spring 1- are also equipped on the initiative part bobbin 1-601
One end of 604, the first spring of initiative part 1-603 withstand on the lower parts initiative part electromagnetic coil 1-602, the first bullet of the initiative part
The other end of spring 1-603 withstands on the top of the first active support plate 1-203, one end top of the initiative part second spring 1-604
On the tops initiative part electromagnetic coil 1-602, the other end of the initiative part second spring 1-604 withstands on the second active support plate 1-
303 bottom.
When it is implemented, the quantity of the initiative part pressure sensor 1-701 is eight, the bottoms initiative part shell 1-1
The both sides side at four, portion angle is each provided with initiative part pressure sensor a 1-701, the initiative part speed probe 1-702
Quantity be four, each setting on first motor 1-204, the second motor 1-205, third motor 1-304 and the 4th motor 1-305
There are one initiative part speed probe 1-702, the initiative part obliquity sensor 1-703 is arranged in the bottoms initiative part bottom plate 1-4
Middle position.
When it is implemented, the initiative part shell 1-1 is fixedly connected on by screw at the top of initiative part bottom plate 1-4, it is described
Initiative part rag 1-9 and initiative part magnetic patch 1-10 are bonded on the bottom surface of initiative part bottom plate 1-4；The initiative part bobbin 1-
601 are fixedly connected on by screw on initiative part bottom plate 1-4；The initiative part controller 1-5 and initiative part energy source 1-8 is logical
Screw is crossed to be fixedly connected on initiative part bottom plate 1-4.
As shown in Figure 8 to Figure 11, the follower 2 further includes follower bottom plate 2-4, is fixedly connected on follower bottom plate 2-
The follower shell 2-1 and magnetic force adjusting apparatus at 4 tops, are fixedly connected with follower on the bottom surface of the follower bottom plate 2-4
Rag 2-9；First driven wheels include the first driven support plate 2-203, are rotatably connected on first by first driven shaft
The first driven wheel 2-201 outside the one end driven support plate 2-203 and the first driven support plate is connected to by second driven shaft
The second driven wheel 2-202 outside the 2-203 other ends, the first driven support plate 2-203 settings are in follower shell 2-1
Interior, the first driven wheel 2-201 and the second driven wheel 2-202 are exposed at outside follower shell 2-1；Second driven wheels
It is rotatably connected on including the second driven support plate 2-303, by third driven shaft outside second one end driven support plate 2-303
It third driven wheel 2-301 and is connected to by the 4th driven shaft the 4th driven outside the second driven support plate 2-303 other ends
Take turns 2-302, the second driven support plate 2-303 be located at the top of the first driven support plate 2-203 and with the first driven support
Plate 2-203 right-angled intersections are arranged, and the second driven support plate 2-303 is arranged in follower shell 2-1, and the third is driven
Wheel 2-301 and the 4th driven wheel 2-302 is exposed at outside follower shell 2-1；The follower lifting unit includes being fixedly connected
Follower bobbin 2-601, the follower electromagnetic coil 2-602 on follower bottom plate 2-4 are mounted on follower coil
On frame 2-601, follower the first spring 2-603 and follower second spring are also equipped on the follower bobbin 2-601
One end of 2-604, the first spring of follower 2-603 withstand on the lower parts follower electromagnetic coil 2-602, the follower first
The other end of spring 2-603 withstands on the top of the first driven support plate 2-203, one end of the follower second spring 2-604
The tops follower electromagnetic coil 2-602 are withstood on, the other end of the follower second spring 2-604 withstands on the second driven support plate
The bottom of 2-303；The magnetic force adjusting apparatus includes the magnetic force adjustment holder 2- being erected at outside follower bobbin 2-601
102, the magnetic force adjustment holder 2-102 screw tops, which are connected with, to be threadedly coupled with follower shell 2-1 and stretches out outside follower
The bottoms magnetic force adjustment knob 2-101, the magnetic force adjustment holder 2-102 outside at the top of shell 2-1 are fixedly connected with stretching follower
Follower magnetic patch 2-103 outside the bottoms shell 2-1.
When it is implemented, the quantity of the follower pressure sensor 2-701 is eight, the bottoms follower shell 2-1
The both sides side at four, portion angle is each provided with follower pressure sensor a 2-701, the follower speed probe 2-702
Quantity be four, be each provided on the first driven shaft, second driven shaft, third driven shaft and the 4th driven shaft one from
Dynamic portion speed probe 2-702, the follower obliquity sensor 2-703 are arranged in the follower bottoms bottom plate 2-4 centre position
Place.
When it is implemented, the follower shell 2-1 is fixedly connected on by screw at the top of follower bottom plate 2-4, it is described
Follower rag 2-9 is bonded on the bottom surface of follower bottom plate 2-4；The follower bobbin 2-601 is fixed by screw to be connected
It is connected on follower bottom plate 2-4；The follower controller 2-5 and follower energy source 2-8 are fixedly connected on by screw
On follower bottom plate 2-4；The follower magnetic patch 2-103 is fixedly connected on magnetic force by screw and adjusts the bottoms holder 2-102.
When it is implemented, the quantity of the initiative part magnetic patch 1-10 is 4~20 pieces, the follower magnetic patch 2-103 and master
The quantity of dynamic portion magnetic patch 1-10 is equal and installation site corresponds.Such set-up mode so that initiative part 1 and follower 2
After being installed inside and outside glass 3 respectively, it can ensure that follower 2 follows initiative part 1 to move in real time always；By turning magnetic force
Knob 2-101 is adjusted, the distance between follower magnetic patch 2-103 and initiative part magnetic patch 1-10 can be adjusted, and then being capable of basis
3 thickness of glass adjusts the magnetic force size between follower magnetic patch 2-103 and initiative part magnetic patch 1-10.
When it is implemented, the quantity of the initiative part rag 1-9 and the quantity of follower rag 2-9 are one piece or more
Block.Preferably polylith.When it is implemented, should ensure that initiative part magnetic patch 1-10 is not blocked after the 1-9 installations of initiative part rag, and it is main
When dynamic portion rag 1-9 contacts 3 face of glass, the first driving wheel 1-202 and the second driving wheel 1-201 or third driving wheel 1-301
3 face of glass is also touched with the 4th driving wheel 1-302 simultaneously；Follower magnetic patch 2-103 is should ensure that after the 2-9 installations of follower rag
It is not blocked, and when contact 3 face of glass follower rag 2-9, the first driven wheel 2-201 and the second driven wheel 2-202 or the
Three driven wheel 2-301 and the 4th driven wheel 2-302 also touch 3 face of glass simultaneously.
In the present embodiment, as shown in Figure 1, the initiative part energy source 1-8 is rechargeable battery, the initiative part sensing unit
Include the initiative part electric quantity detecting circuit 1-704 being detected for the electricity to rechargeable battery, the initiative part electric power detection
Circuit 1-704 is arranged at the top of initiative part energy source 1-8, and the initiative part electric quantity detecting circuit 1-704 is controlled with initiative part
The input terminal of device 1-5 connects, and the output of the initiative part controller 1-5 is terminated with initiative part battery capacity indication lamp 1-705；It is described from
Dynamic portion energy source 2-8 is rechargeable battery, and the follower sensing unit includes being detected for the electricity to rechargeable battery
Follower electric quantity detecting circuit 2-704, the follower electric quantity detecting circuit 2-704 are arranged on the top of follower energy source 2-8
Portion, the follower electric quantity detecting circuit 2-704 are connect with the input terminal of follower controller 2-5, the follower controller
The output of 2-5 is terminated with follower battery capacity indication lamp 2-705.When it is implemented, the rechargeable battery be nickel-hydrogen chargeable cell or
Li-Ion rechargeable battery.
In the present embodiment, as shown in Figure 1, the initiative part controller 1-5 include initiative part micro controller module 1-51 and
The initiative part communication module 1-52 to connect with initiative part micro controller module 1-51, the initiative part micro controller module 1-51's
Output is terminated with motor drive module 1-53 and initiative part alarm module 1-54, the initiative part pressure sensor 1-701, active
Portion speed probe 1-702, initiative part obliquity sensor 1-703 and initiative part electric quantity detecting circuit 1-704 are micro- with initiative part
The input terminal of controller module 1-51 connects, the initiative part relay 1-11 and initiative part battery capacity indication lamp 1-705 with master
The output end connection of dynamic portion micro controller module 1-51, the first motor 1-204, the second motor 1-205, third motor 1-
304 and the 4th motor 1-305 connect with the output end of motor drive module 1-53；The follower controller 2-5 include from
Dynamic portion micro controller module 2-51 and connects with follower micro controller module 2-51 and be used for and initiative part communication module 1-52
The follower communication module 2-52 of communication, the output of the follower micro controller module 2-51 are terminated with follower alarm module
2-54, the follower pressure sensor 2-701, follower speed probe 2-702, follower obliquity sensor 2-703 and
Follower electric quantity detecting circuit 2-704 is connect with the input terminal of follower micro controller module 2-51, the follower relay
Device 2-11 and follower battery capacity indication lamp 2-705 are connect with the output end of follower micro controller module 2-51.
In the present embodiment, the initiative part communication module 1-52 and follower communication module 2-52 are infrared communication mould
Block, radio communication module or bluetooth communication.Initiative part 1 and follower 2 can by initiative part communication module 1-52 and
Follower communication module 2-52 is communicated, what follower controller 2-5 can be arrived according to the follower sensing unit senses
The status information that information obtains follower 2 is sent to initiative part controller 1-5, and initiative part controller 1-5 can will control driven
The control information that portion 2 works is sent to follower controller 2-5.
The first glass-cleaning robot control method of the present invention, this approach includes the following steps：
Step 1: after initiative part 1 and follower 2 are placed in the both side surface corresponding position of glass 3, start initiative part
1, at this point, the power supply that initiative part relay 1-11 access failure initiative part energy sources 1-8 is the 1-602 power supplies of initiative part electromagnetic coil is returned
Road, initiative part controller 1-5 control the electricity of first motor 1-204 and second according to preset glass-cleaning robot operational mode
Machine 1-205 rotations, first active wheels contact (i.e. first motor 1-204 the first driving wheels of drive with 3 one side surface of glass
1-202 rotates, and the second motor 1-205 drives the second driving wheel 1-201 rotations, the first driving wheel 1-202 and the second driving wheel 1-
201 contact with 3 one side surface of glass), so that initiative part 1 is walked in 3 one side surface of glass；At the same time, follower controller 2-5
Access failure follower energy source 2-8 is the current supply circuit of follower electromagnetic coil 2-602 power supplies, first driven wheels and glass
3 another side surface of glass contacts (i.e. the first driven wheel 2-201 and the second driven wheel 2-202 are contacted with 3 another side surface of glass), makes
Follower 2 is walked with initiative part 1 in 3 another side surface of glass under the magnetic force；Initiative part 1 and follower 2 are walked
In the process, it when initiative part pressure sensor 1-701 or follower pressure sensor 2-701 generate collision sensing signal, executes
Step 2；When the single follower of the 2 single side initiative part pressure sensor 1-701 or follower of 1 single side of initiative part
When pressure sensor 2-701 generates collision sensing signal, step 3 is executed；When initiative part obliquity sensor 1-703 or follower
Obliquity sensor 2-703 provide not 0 deg., 90 deg, 180 ° or 270 ° signal when, step 3 is executed, when four initiative part rotating speeds pass
Sensor 1-702 and four follower speed probe 2-702 execute step 4 when rotating speed is inconsistent always at the appointed time；
When initiative part electric quantity detecting circuit 1-704 or follower electric quantity detecting circuit 2-704 show not enough power supply, step 4 is executed；
Otherwise, step 5 is executed；
Step 2: the initiative part controller 1-5, which exports control signal, gives initiative part relay 1-11, initiative part electromagnetism is given
Coil 1-602 is powered, will be together with first active wheels and second active wheels suction so that first driving wheel
Group leaves 3 surface of glass, while second active wheels contact glass, 3 surface；Initiative part controller 1-5 controls third motor
1-304 and the 4th motor 1-305 are rotated in the forward direction or are reversely rotated；Meanwhile the initiative part controller 1-5 output signal to from
Dynamic portion controller 2-5, follower controller 2-5 export control signal according to received signal and give follower electromagnetic coil 2-
602 are powered, will be together with the suction of first driven wheels and second driven wheels so that first driven wheels are left
3 surface of glass, while second driven wheels contact glass, 3 surface, start to rotate with initiative part 1；Realize robot
Go to action；
Step 3: the initiative part controller 1-5 controls first motor 1-204 and the second motor 1-205 presses different rotating speeds
It rotates in same direction, realizes the differential rotation of initiative part 1；Meanwhile follower 2 is moved with initiative part 1, realizes the direction tune of robot
It is whole；
Step 4: the initiative part controller 1-5 controls first motor 1-204 and the second motor 1-205 stops operating, and
The control instruction being stopped is sent to follower controller 2-5, initiative part 1 and follower 2 are stopped；When it is implemented,
The follower alarm module 2-54 in initiative part alarm module 1-54 and follower controller 2-5 in initiative part controller 1-5
Alarm signal is sent out, operating personnel are reminded；
Step 5: it is constant to maintain the original state, continue to move ahead.
Second of glass-cleaning robot control method of the present invention, this approach includes the following steps：
Step 1: after initiative part 1 and follower 2 are placed in the both side surface corresponding position of glass 3, start initiative part
1, it is returned at this point, initiative part relay 1-11 has connected the power supply that initiative part energy source 1-8 is the 1-602 power supplies of initiative part electromagnetic coil
Road, initiative part controller 1-5 control the electricity of third motor 1-304 and the 4th according to preset glass-cleaning robot operational mode
Machine 1-305 rotations, second active wheels contact (i.e. third motor 1-304 drive third driving wheels with 3 one side surface of glass
1-301 rotates, and the 4th motor 1-305 drives the 4th driving wheel 1-302 rotations, third driving wheel 1-301 and the 4th driving wheel 1-
302 contact with 3 one side surface of glass), so that initiative part 1 is walked in 3 one side surface of glass；At the same time, follower controller 2-5
The current supply circuit that follower energy source 2-8 is the 2-602 power supplies of follower electromagnetic coil, second driven wheels and glass are connected
3 another side surface of glass contacts (i.e. third driven wheel 2-203 and the 4th driven wheel 2-204 are contacted with 3 another side surface of glass), makes
Follower 2 is walked with initiative part 1 in 3 another side surface of glass under the magnetic force；Initiative part 1 and follower 2 are walked
In the process, it when initiative part pressure sensor 1-701 or follower pressure sensor 2-701 generate collision sensing signal, executes
Step 2；When the single follower of the 2 single side initiative part pressure sensor 1-701 or follower of 1 single side of initiative part
When pressure sensor 2-701 generates collision sensing signal, step 3 is executed；When initiative part obliquity sensor 1-703 or follower
Obliquity sensor 2-703 provide not 0 deg., 90 deg, 180 ° or 270 ° signal when, execute step 3；When four initiative part rotating speeds pass
Sensor 1-702 and four follower speed probe 2-702 execute step 4 when rotating speed is inconsistent always at the appointed time；
When initiative part electric quantity detecting circuit 1-704 or follower electric quantity detecting circuit 2-704 show not enough power supply, step 4 is executed；
Otherwise, step 5 is executed；
Step 2: the initiative part controller 1-5, which exports control signal, gives initiative part relay 1-11, initiative part electromagnetism is given
Coil 1-602 is powered, will be together with first active wheels and second active wheels suction so that second driving wheel
Group leaves 3 surface of glass, while first active wheels contact glass, 3 surface；Initiative part controller 1-5 controls first motor
1-204 and the second motor 1-205 are rotated in the forward direction or are reversely rotated；Meanwhile the initiative part controller 1-5 output signal to from
Dynamic portion controller 2-5, follower controller 2-5 export control signal according to received signal and give follower electromagnetic coil 2-
602 are powered, will be together with the suction of first driven wheels and second driven wheels so that second driven wheels are left
3 surface of glass, while first driven wheels contact glass, 3 surface, start to rotate with initiative part 1；Realize robot
Go to action；
Step 3: the initiative part controller 1-5 controls third motor 1-304 and the 4th motor 1-305 presses different rotating speeds
It rotates in same direction, realizes the differential rotation of initiative part 1；Meanwhile follower 2 is moved with initiative part 1, realizes the direction tune of robot
It is whole；
Step 4: the initiative part controller 1-5 controls third motor 1-304 and the 4th motor 1-305 stops operating, and
The control instruction being stopped is sent to follower controller 2-5, initiative part 1 and follower 2 are stopped；When it is implemented,
The follower alarm module 2-54 in initiative part alarm module 1-54 and follower controller 2-5 in initiative part controller 1-5
Alarm signal is sent out, operating personnel are reminded；
Step 5: it is constant to maintain the original state, continue to move ahead.
The above is only presently preferred embodiments of the present invention, is not imposed any restrictions to the present invention, every according to the present invention
Technical spirit changes any simple modification, change and equivalent structure made by above example, still falls within skill of the present invention
In the protection domain of art scheme.
Claims (4)
1. a kind of glass-cleaning robot control method, the glass-cleaning robot that this method uses includes for being separately positioned on glass
On the inside of glass (3) and glass (3) outside and mutually matched initiative part (1) and follower (2), the initiative part (1) include first
Active wheels, the second active wheels and initiative part lifting unit, first active wheels include first motor (1-204) and
Two motors (1-205), second active wheels include third motor (1-304) and the 4th motor (1-305), the initiative part
Lifting unit includes initiative part electromagnetic coil (1-602)；The follower (2) includes the first driven wheels, the second driven wheels
With follower lifting unit, the follower lifting unit includes follower electromagnetic coil (2-602)；The initiative part (1) is also
Including initiative part bottom plate (1-4) and the initiative part shell (1-1) being fixedly connected at the top of initiative part bottom plate (1-4)；Described first
Active wheels further include the first active support plate (1-203), and the first motor (1-204) and the second motor (1-205) are respectively
Both ends in the first active support plate (1-203) are fixedly connected on, are fixedly connected on the output shaft of the first motor (1-204)
First driving wheel (1-202) is fixedly connected with the second driving wheel (1-201), institute on the output shaft of second motor (1-205)
It states the first active support plate (1-203), first motor (1-204) and the second motor (1-205) and is arranged at initiative part shell (1-
1) in, first driving wheel (1-202) and the second driving wheel (1-201) are exposed at initiative part shell (1-1) outside；Described second
Active wheels further include the second active support plate (1-303), and the third motor (1-304) and the 4th motor (1-305) are respectively
Both ends in the second active support plate (1-303) are fixedly connected on, the second active support plate (1-303) is located at first and actively props up
The top of fagging (1-203) and with first active support plate (1-203) right-angled intersection be arranged, the third motor (1-304)
It is fixedly connected with third driving wheel (1-301) on output shaft, is fixedly connected on the output shaft of the 4th motor (1-305)
Four driving wheels (1-302), the second active support plate (1-303), third motor (1-304) and the 4th motor (1-305) are equal
In initiative part shell (1-1), the third driving wheel (1-301) and the 4th driving wheel (1-302) are exposed at initiative part for setting
Shell (1-1) is outside；The initiative part lifting unit further includes the initiative part bobbin being fixedly connected on initiative part bottom plate (1-4)
(1-601), the initiative part electromagnetic coil (1-602) are mounted on initiative part bobbin (1-601), the initiative part bobbin
The first spring of initiative part (1-603) and initiative part second spring (1-604), the initiative part first are also equipped on (1-601)
One end of spring (1-603) withstands on the lower part initiative part electromagnetic coil (1-602), the first spring of the initiative part (1-603) it is another
One end withstands on the top of the first active support plate (1-203), and one end of the initiative part second spring (1-604) withstands on initiative part
The other end on the top electromagnetic coil (1-602), the initiative part second spring (1-604) withstands on the second active support plate (1-
303) bottom；
The follower that the follower (2) further includes follower bottom plate (2-4), is fixedly connected at the top of follower bottom plate (2-4)
Shell (2-1)；First driven wheels include the first driven support plate (2-203), are rotatably connected on by first driven shaft
The first driven wheel (2-201) outside first driven support plate (2-203) one end and by second driven shaft be connected to first from
The second driven wheel (2-202) outside dynamic support plate (2-203) other end, first driven support plate (2-203) setting exist
In follower shell (2-1), first driven wheel (2-201) and the second driven wheel (2-202) are exposed at follower shell (2-
1) outside；Second driven wheels include the second driven support plate (2-303), be rotatably connected on by third driven shaft second from
It moves the third driven wheel (2-301) outside the one end support plate (2-303) and the second driven support is connected to by the 4th driven shaft
The 4th driven wheel (2-302) outside plate (2-303) other end, it is driven that the second driven support plate (2-303) is located at first
The top of support plate (2-203) and it is arranged with the first driven support plate (2-203) right-angled intersection, the second driven support plate
In follower shell (2-1), the third driven wheel (2-301) and the 4th driven wheel (2-302) are exposed at for (2-303) setting
Follower shell (2-1) is outside；The follower lifting unit includes the follower line being fixedly connected on follower bottom plate (2-4)
Coil (2-601), the follower electromagnetic coil (2-602) are mounted on follower bobbin (2-601), the follower line
The first spring of follower (2-603) and follower second spring (2-604), the follower are also equipped in coil (2-601)
One end of first spring (2-603) withstands on the lower part follower electromagnetic coil (2-602), the first spring of the follower (2-603)
The other end withstand on the top of the first driven support plate (2-203), one end of the follower second spring (2-604) withstand on from
Dynamic top portion's electromagnetic coil (2-602), the other end of the follower second spring (2-604) withstand on the second driven support plate
The bottom of (2-303)；
This method use glass-cleaning robot control system include initiative part sensing unit, initiative part controller (1-5) and
Initiative part energy source (1-8) and follower sensing unit, follower controller (2-5) and follower energy source (2-8), institute
Initiative part sensing unit is stated to include initiative part pressure sensor (1-701), initiative part speed probe (1-702) and be used for master
The initiative part obliquity sensor (1-703) that the inclination angle of dynamic portion (1) is detected, the initiative part pressure sensor (1-701), master
Dynamic portion's speed probe (1-702) and initiative part obliquity sensor (1-703) connect with the input terminal of initiative part controller (1-5)
Connect, the first motor (1-204), the second motor (1-205), third motor (1-304) and the 4th motor (1-305) with master
The output end connection of dynamic portion's controller (1-5), the output end of the initiative part controller (1-5) are further connected with for being switched on or switched off
Initiative part energy source (1-8) is the initiative part relay (1-11) of the current supply circuit of initiative part electromagnetic coil (1-602) power supply；Institute
State follower sensing unit include follower pressure sensor (2-701), follower speed probe (2-702) and for from
The follower obliquity sensor (2-703) that the inclination angle of dynamic portion (2) is detected, the follower pressure sensor (2-701), from
Dynamic portion's speed probe (2-702) and follower obliquity sensor (2-703) connect with the input terminal of follower controller (2-5)
It connects, it is follower that the output end of the follower controller (2-5), which is further connected with for being switched on or switched off follower energy source (2-8),
The follower relay (2-11) of the current supply circuit of electromagnetic coil (2-602) power supply；
It is characterized in that, this approach includes the following steps：
Step 1: after initiative part (1) and follower (2) are placed in the both side surface corresponding position of glass (3), start actively
Portion (1), at this point, initiative part relay (1-11) access failure initiative part energy source (1-8) supplies for initiative part electromagnetic coil (1-602)
The current supply circuit of electricity, initiative part controller (1-5) control first motor according to preset glass-cleaning robot operational mode
(1-204) and the second motor (1-205) rotate, and first active wheels are contacted with (3) one side surface of glass, make initiative part
(1) it walks in (3) one side surface of glass；At the same time, follower controller (2-5) access failure follower energy source (2-8) is
The current supply circuit of follower electromagnetic coil (2-602) power supply, first driven wheels are contacted with glass (3) another side surface,
Follower (2) is set to walk under the magnetic force in another side surface of glass (3) with initiative part (1)；Initiative part (1) and from
In dynamic portion (2) walking process, when initiative part pressure sensor (1-701) or follower pressure sensor (2-701) generate collision
When inductive signal, step 2 is executed；When the initiative part pressure sensor (1-701) or follower (2) of initiative part (1) single side
When the single follower pressure sensor (2-701) of single side generates collision sensing signal, step 3 is executed；When initiative part inclines
Angle transducer (1-703) or follower obliquity sensor (2-703) provide not 0 deg., 90 deg, 180 ° or 270 ° signal when, execute
Step 3, when four initiative part speed probes (1-702) and four follower speed probes (2-702) at the appointed time
When rotating speed is inconsistent always, step 4 is executed；When initiative part electric quantity detecting circuit (1-704) or follower electric quantity detecting circuit
When (2-704) shows not enough power supply, step 4 is executed；Otherwise, step 5 is executed；
Step 2: the initiative part controller (1-5), which exports control signal, gives initiative part relay (1-11), initiative part electromagnetism is given
Coil (1-602) is powered, will be together with first active wheels and second active wheels inhale so that first active
Wheel group leaves glass (3) surface, while second active wheels contact glass (3) surface；Initiative part controller (1-5) controls
Third motor (1-304) and the 4th motor (1-305) are rotated in the forward direction or are reversely rotated；Meanwhile the initiative part controller (1-
5) output signal to follower controller (2-5), follower controller (2-5) according to received signal export control signal to
Follower electromagnetic coil (2-602) is powered, will be together with the suction of first driven wheels and second driven wheels so that institute
It states the first driven wheels and leaves glass (3) surface, while second driven wheels contact glass (3) surface, start with master
Dynamic portion (1) rotation；Realize the go to action of robot；
Step 3: initiative part controller (1-5) the control first motor (1-204) and the second motor (1-205) are turned as different
Speed rotates in same direction, and realizes the differential rotation of initiative part (1)；Meanwhile follower (2) is moved with initiative part (1), realizes robot
Direction adjusts；
Step 4: initiative part controller (1-5) the control first motor (1-204) and the second motor (1-205) stop operating,
And the control instruction being stopped is sent to follower controller (2-5), initiative part (1) and follower (2) are stopped；
Step 5: it is constant to maintain the original state, continue to move ahead.
2. a kind of glass-cleaning robot control method described in accordance with the claim 1, it is characterised in that：The initiative part energy
Source (1-8) is rechargeable battery, and the initiative part sensing unit includes the initiative part being detected for the electricity to rechargeable battery
Electric quantity detecting circuit (1-704), the initiative part electric quantity detecting circuit (1-704) are arranged on the top of initiative part energy source (1-8)
Portion, the initiative part electric quantity detecting circuit (1-704) connect with the input terminal of initiative part controller (1-5), the initiative part control
The output of device (1-5) processed is terminated with initiative part battery capacity indication lamp (1-705)；The follower energy source (2-8) is rechargeable battery,
The follower sensing unit includes the follower electric quantity detecting circuit (2- being detected for the electricity to rechargeable battery
704), follower electric quantity detecting circuit (2-704) setting is in the top of follower energy source (2-8), the follower electricity
Amount detection circuit (2-704) is connect with the input terminal of follower controller (2-5), the output of the follower controller (2-5)
It is terminated with follower battery capacity indication lamp (2-705).
3. a kind of glass-cleaning robot control method described in accordance with the claim 1, it is characterised in that：The initiative part control
Device (1-5) includes that initiative part micro controller module (1-51) and the initiative part to connect with initiative part micro controller module (1-51) are logical
Believe that module (1-52), the output of the initiative part micro controller module (1-51) are terminated with motor drive module (1-53) and active
Portion's alarm module (1-54), the initiative part pressure sensor (1-701), initiative part speed probe (1-702), initiative part incline
The input of angle transducer (1-703) and initiative part electric quantity detecting circuit (1-704) with initiative part micro controller module (1-51)
End connection, the initiative part relay (1-11) and initiative part battery capacity indication lamp (1-705) with initiative part micro controller module
The output end of (1-51) connects, the first motor (1-204), the second motor (1-205), third motor (1-304) and the 4th
Motor (1-305) is connect with the output end of motor drive module (1-53)；The follower controller (2-5) includes follower
Micro controller module (2-51) and connect with follower micro controller module (2-51) and be used for and initiative part communication module (1-
52) the follower communication module (2-52) communicated, the output of the follower micro controller module (2-51) are terminated with follower
Alarm module (2-54), the follower pressure sensor (2-701), follower speed probe (2-702), follower inclination angle
The input terminal of sensor (2-703) and follower electric quantity detecting circuit (2-704) with follower micro controller module (2-51)
Connection, the follower relay (2-11) and follower battery capacity indication lamp (2-705) with follower micro controller module (2-
51) output end connection.
4. a kind of glass-cleaning robot control method described in accordance with the claim 3, it is characterised in that：The initiative part communication
Module (1-52) and follower communication module (2-52) are infrared communication module, radio communication module or Bluetooth communication mould
Block.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610653164.3A CN106214057B (en) | 2016-08-10 | 2016-08-10 | A kind of glass-cleaning robot control method |
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|---|---|---|---|
| CN201610653164.3A CN106214057B (en) | 2016-08-10 | 2016-08-10 | A kind of glass-cleaning robot control method |
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| CN106214057B true CN106214057B (en) | 2018-08-17 |
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| JP5224447B2 (en) * | 2008-03-19 | 2013-07-03 | 株式会社カーメイト | Cleaning device |
| KR20120068165A (en) * | 2010-12-17 | 2012-06-27 | 재단법인 포항지능로봇연구소 | Cleaning robot |
| KR101311375B1 (en) * | 2012-02-23 | 2013-09-25 | 인텔렉추얼디스커버리 주식회사 | Window cleaning apparatus and method for control the apparatus |
| CN203483363U (en) * | 2013-08-06 | 2014-03-19 | 衢州职业技术学院 | Solar glass curtain wall cleaning device |
| CN204207669U (en) * | 2014-11-14 | 2015-03-18 | 辽宁石化职业技术学院 | Intelligence glass cleaning device |
| CN204500524U (en) * | 2015-02-10 | 2015-07-29 | 张晓亮 | A kind of Intelligent magnetic suction glass cleaning device |
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