CN201965488U - Posture-adjusting control system of glass-cleaning robot - Google Patents
Posture-adjusting control system of glass-cleaning robot Download PDFInfo
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- CN201965488U CN201965488U CN2011200185438U CN201120018543U CN201965488U CN 201965488 U CN201965488 U CN 201965488U CN 2011200185438 U CN2011200185438 U CN 2011200185438U CN 201120018543 U CN201120018543 U CN 201120018543U CN 201965488 U CN201965488 U CN 201965488U
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Abstract
The utility model belongs to the technical field of intelligent robots and particularly relates to a posture-adjusting control system of a glass-cleaning robot. The glass-cleaning robot comprises a walking unit and a driving unit; the posture-adjusting control system comprises a sensing unit and a control unit; the sensing unit comprises two sensor subunits which are located at the same side of the glass-cleaning robot; the control unit is respectively connected with the sensing unit and the driving unit; and when the driving unit drives the walking unit to move, the control unit receives a signal sent by the sensing unit, controls the walking unit to move according to the signal and adjusts the position of the glass-cleaning robot. With the posture-adjusting control system of the glass-cleaning robot, the glass-cleaning robot can stay away from obstacles, and makes preparation for the following cleaning work, so that the glass-cleaning robot is convenient and practical; in addition, the workload of the manpower is greatly lightened.
Description
Technical field
The utility model belongs to the intelligent robot technology field, specifically, relates to a kind of machine people's that cleans the windows collision posture adjustment control system.
Background technology
In daily life, people generally clean with rag when cleaning glass.To the glass outside structural glass and the window time, clean with the rod-type cleaning glass usually.Yet when wiping cleaning glass with the rod-type cleaning glass, arm is tired easily, and at the glass of wiping examination window outside, especially for skyscraper, very dangerous.As seen, cleaning exterior window is a great problem in family and even city, its not only dangerous but also be difficult for wiping complete, wipe clean.
At as above problem, a kind of window-cleaning device has appearred at present.It is ZL200820080547.7 that the concrete technical scheme of this window-cleaning device is asked for an interview the patent No., and name is called " window-cleaning device ".As shown in Figure 1, this window-cleaning device comprises handle 441, plastic plate 442 and rag 444.Handle 441 is fixed on the one side of plastic plate 442, and rag 444 is fixed on the another side of plastic plate 442, is fixed with magnet plate 443 between plastic plate 442 and rag 444.When needs wiping glass, two window-cleaning devices are clamped the glass for the treatment of wiping, and the user wipes the examination inner layer glass in indoor holds handle, because magnetic action, the window-cleaning device of the inside can drive the window-cleaning device motion of outside when moving, thereby with the glass of outside also wiped clean.
As above technical scheme, though contingent unsafe factor when efficiently solving the wiping exterior window, but this window-cleaning device need be by handling the window-cleaning device that is positioned at the window the inside artificially, thereby guiding is positioned at the window-cleaning device work of window outside, in the face of the glass on large-area or the window time, people still need to climb low, and are very painstaking.
The utility model content
The technical problems to be solved in the utility model is, a kind of machine people's that cleans the windows posture adjustment control system is provided, and can make glass cleaning machine device people can avoid barriers such as glass frame, for next step cleaning is prepared.
For solving the problems of the technologies described above, the utility model provides a kind of machine people's that cleans the windows posture adjustment control system, and the machine people that cleans the windows comprises walking unit 15 and driver element 16; The posture adjustment control system comprises sensing unit 12 and control module 11, sensing unit 12 comprises two sensor subunits that are positioned at the machine people the same side that cleans the windows, two sensor subunits lay respectively at the left and right both sides of the same side, and control module 11 is connected with driver element 16 with sensing unit 12 respectively; When driver element 16 drove walking unit 15 and moves, control module 11 received the signal that sensing units 12 are sent, and according to 15 motions of signal controlling walking unit, adjusts the machine people's that cleans the windows position.
Two sensor subunits all are positioned on the same surface level.
The same side is machine people front side or the rear side of cleaning the windows, and the front side is the machine people working direction that cleans the windows.
Sensor subunits is touch sensor or non-contacting sensor.
Preferably, touch sensor is a travel switch.
Preferably, non-contacting sensor is infrared sensor or sonac.
The machine people that cleans the windows comprises driving machine 1 and follower 2, and described driver element 16, walking unit 15, sensing unit 12 and control module 11 are positioned on the driving machine 1; Follower 2 comprises wipes the examination unit; First magnet 14 and second magnet 24 are built in respectively in driving machine 1 and the follower 2, under the suction of first magnet 14 and second magnet 24, driving machine 1 and follower 2 are adsorbed on the inside and outside both sides of glass surface respectively, and follower 2 is followed driving machine 1 generation servo-actuated.
Compared with prior art, the beneficial effects of the utility model are: the machine people's that cleans the windows who provides by the utility model posture adjustment control system, can make the glass cleaning machine device people in the process of walking can avoiding obstacles, for next step cleaning is prepared, convenient and practical, and alleviate the workload of manpower greatly.
Description of drawings
The clean the windows structural representation of device of Fig. 1 prior art;
Fig. 2 is the synoptic diagram of the machine people's that cleans the windows described in the utility model posture adjustment control system;
Fig. 3 is the machine people structural representation that cleans the windows described in the utility model.
Reference numeral:
1. driving machine 111. driving machine shells 2. followers 222. follower shells
3. glass 11. control modules 12. sensing units 15. walking unit
151. crawler belt 152. Athey wheel 151a. track unit joint
14. first magnet, 24. second magnet, 16. driver elements 26. are with moving cell
441. handle 442. plastic plates 443. magnet plates 444. rags
Embodiment
Embodiment 1
The utility model artificial single robot of machine that cleans the windows.The posture adjustment control system of the utility model window wiping robot comprises walking unit 15 and energy unit, driver element 16, control module 11 and wiping unit.This wiping unit can be dish brush, scraping article or fiber cloth or the like.This energy unit is the rechargeable type battery, as: Ni-MH battery or lithium battery or the like.At energy unit to driver element 16 energizes.Under the control of control module 11, driver element 16 drives 15 work of walking unit.This machine people that cleans the windows is adsorbed on glass surface by adsorption piece, and in addition, the machine people that cleans the windows can also realize being attached to glass surface by the method for negative pressure of vacuum.
This machine people that cleans the windows also comprises sensing unit 12, and this sensing unit 12 comprises two sensor subunits that are positioned at the same end of machine people that cleans the windows, and control module 11 is connected with driver element 16 with sensing unit 12 respectively; When driver element 16 drove walking unit 15 and moves, control module 11 received the signal that sensing units 12 are sent, and according to 15 motions of signal controlling walking unit, adjusts the machine people's that cleans the windows position.
Easy for designing, two sensor subunits all are positioned on the same surface level, and are positioned at the left and right both sides of robot.For making robot can advance forward and can realize retreating advancing, in the preferred version, the forward and backward two ends of robot be respectively equipped with sensing unit 12.
Sensor subunits comprises sensor, and this sensor can be touch sensor or non-contacting sensor.Touch sensor can be a travel switch, as microswitch.Non-contacting sensor can be infrared sensor or sonac.
This machine people that cleans the windows realizes adjusting the attitude adjustment of robot by sensing unit, and its control method comprises the steps:
Step 1 is detected the sensor subunits that lays respectively at the machine people that cleans the windows by control module;
Specifically, if receive the signal that left side sensor subunits is sent, drive the walking unit and turn right; If receive the signal that the right sensor subunits is sent, drive the walking unit and turn left.Wherein, the angle of driving walking unit rotational can be at random; Also can predefined angle, when control module drove walking unit rotational angle, this angle was not more than default angle.
In above-mentioned steps 2, if used sensor is a non-contacting sensor, during as infrared sensor or sonac, the signal that this sensor is sent is the digital simulation amount.If receiving simultaneously, control module is positioned at the signal that the left and right both sides of the same end of the machine people sensor that cleans the windows is sent, whether the signal value that control module calculates and more left and right both sides sensor is sent is in preset range, if in preset range, then meet predetermined requirement, drive the walking unit and enter next work order.This next one work order can be to drive the walking unit to turn to 90 degree, or drives the walking unit and retreat and advance etc.
By embodiment 1 different be that the utility model window wiping robot is split type.Specifically, the posture adjustment control system of the utility model window wiping robot is made up of driving machine 1 and follower 2, and both are separate piece.Driver element 16, walking unit 15, sensing unit 12 and control module 11 are positioned on the driving machine 1; Follower 2 comprises wipes the examination unit; Described driving machine and described follower, both put the inside and outside both sides that are adsorbed on glass surface under the suction of magnet within it, and servo-actuated is followed driving machine and produced servo-actuated.
The walking unit 15 that is positioned at the driving machine main body left and right sides comprises crawler belt 151 and Athey wheel 152, and wherein, crawler belt 151 comprises a plurality of track unit joint 151a.Driver element 16 mainly comprises drive motor, and drive motor is provided with two, and every crawler belt 151 is driven by a drive motor respectively.By single driving, thereby realization is synchronized with the movement, differential motion.Be synchronized with the movement and make driving machine advance or retreat; Differential motion can make driving machine 1 realize rotation.
Drive 1 conveniently moving for making follower 2 follow, follower 2 comprises with moving cell 26.
When using the utility model window wiping robot, driving machine 1 and follower 2 are placed the both sides for the treatment of wiping glass 3 respectively, be positioned at the driver element on the driving machine 1, realization work under the energy of energy unit is supplied with, thus realize that driving machine 1 moves on glass 3.Because driving machine 1 and follower 2 are respectively equipped with first and second magnet 14,24, under magnetic action, driving machine 1 drives follower 2 and moves, and realizes that the wiping glass unit that is arranged on the follower 2 carries out wiping to glass 3 surfaces.
When driving machine 1 was advanced, Athey wheel 152 rotations drove crawler belt 151 and rotate, and track unit joint 151a constantly alternately contacts glass 3 surfaces provides enough big stiction to advance for window wiping robot.Because the absorption of the strong magnets in driving machine 1 and the follower 2 relation, follower 2 is advanced with same trajectories with driving machine 1.
In addition, driving machine also comprises sensing unit 12, the use of this sensing unit 12 is identical with embodiment one, that is: this sensing unit 12 comprises two sensor subunits that are positioned at the same end of machine people that cleans the windows, and control module 11 is connected with driver element 16 with sensing unit 12 respectively; When driver element 16 drove walking unit 51 and moves, control module 15 received the signal that sensing units 12 are sent, and according to 15 motions of signal controlling walking unit, adjusts the machine people's that cleans the windows position.
Easy for designing, two sensor subunits all are positioned on the same surface level, and are positioned at the left and right both sides of the same end of robot.For making robot can advance forward and can realize retreating advancing, in the preferred version, the forward and backward two ends of robot be respectively equipped with sensor unit.
Sensor subunits comprises sensor, and this sensor can be touch sensor or non-contacting sensor.Touch sensor can be a travel switch, as microswitch.Non-contacting sensor can be infrared sensor or sonac.
Driving machine 1 is in the active moving process, and when driving machine 1 is provided with the barrier that sensing unit 12 is felt similar window frame, driving machine 1 can initiatively be dodged.
This machine people that cleans the windows realizes adjusting the attitude adjustment of robot by sensing unit 12, and its control method is identical with the method for embodiment one, specifically comprises the steps:
Step 1 is detected the sensor subunits that lays respectively at the machine people that cleans the windows by control module;
Specifically, if receive the signal that the sensor subunits on the left side is sent, drive the walking unit and turn right; If receive the signal that the sensor subunits on the right is sent, drive the walking unit and turn left.Wherein, the angle of driving walking unit rotational can be at random; Also can predefined angle, when control module drove walking unit rotational angle, this angle was not more than default angle.
In above-mentioned steps 2, if used sensor is a non-contacting sensor, during as infrared sensor or sonac, the signal that this sensor is sent is the digital simulation amount.If receiving simultaneously, control module is positioned at the signal that the left and right sensor in machine people the same side that cleans the windows is sent, whether the signal value that control module calculates and more left and right sensor is sent is in preset range, if in preset range, then meet predetermined requirement, drive the walking unit and enter next work order.This next one work order can be to drive the walking unit to turn to 90 degree, or drives the walking unit and retreat and advance or the like.If the signal value that the sensor subunits on the left side is sent is big, drive the walking unit default angle of turning left; If receive that the signal value sent of sensor subunits on the right is big, drive the walking unit default angle of turning right.
In the preferred version, also be provided with the collision sensing unit on the follower 2.Therefore, no matter be that driving machine 1 is felt barrier in the active moving process, still follower 2 is felt barrier in passive moving process, the communication information interactive function that can be possessed between the two by driving machine 1 and follower 2, can realize that all driving machine 1 and follower 2 carry out work in real erasable zone, and can not occur taking place such as being stuck in the first-class abnormal conditions of similar window frame.
The utility model window wiping robot is realized from locomotive function by the driver element that is provided with in the driving machine, realizes that people need not do-it-yourself and carry out work, makes people break away from heavy housework; This robot does technical guarantee by the collision sensing unit that all has in driving machine and the follower, makes the utility model window wiping robot can easily tackle the contingent many unpredictalbe abnormal conditions in glass both sides.
Claims (8)
1. the machine people that cleans the windows posture adjustment control system, the machine people that cleans the windows comprises walking unit (15) and driver element (16); The posture adjustment control system comprises sensing unit (12) and control module (11), it is characterized in that: sensing unit (12) comprises two sensor subunits that are positioned at the same end of machine people that cleans the windows, two sensor subunits lay respectively at the left and right both sides of the same side, and control module (11) is connected with driver element (16) with sensing unit (12) respectively; Driver element (16) drives walking unit (15) when mobile, and control module (11) receives the signal that sensing unit (12) is sent, and according to signal controlling walking unit (15) motion, adjusts the machine people's that cleans the windows position.
2. the machine people's that cleans the windows according to claim 1 posture adjustment control system is characterized in that: two sensor subunits all are positioned on the same surface level.
3. the machine people's that cleans the windows according to claim 1 posture adjustment control system is characterized in that: the same side is machine people front side or the rear side of cleaning the windows, and the front side is the machine people working direction that cleans the windows.
4. according to each described machine people's that cleans the windows of claim 1-3 posture adjustment control system, it is characterized in that: sensor subunits is touch sensor or non-contacting sensor.
5. the machine people's that cleans the windows according to claim 4 posture adjustment control system is characterized in that: touch sensor is a travel switch.
6. the machine people's that cleans the windows according to claim 4 posture adjustment control system is characterized in that: non-contacting sensor is infrared sensor or sonac.
7. according to each described machine people's that cleans the windows of claim 1 to 3 posture adjustment control system, it is characterized in that: the machine people that cleans the windows comprises driving machine (1) and follower (2), and described driver element (16), walking unit (15), sensing unit (12) and control module (11) are positioned on the driving machine (1); Follower (2) comprises wipes the examination unit; First magnet (14) and second magnet (24) are built in respectively in driving machine (1) and the follower (2), under the suction of first magnet (14) and second magnet (24), driving machine (1) and follower (2) are adsorbed on the inside and outside both sides of glass surface respectively, and follower (2) is followed driving machine (1) generation servo-actuated.
8. the machine people's that cleans the windows according to claim 7 posture adjustment control system is characterized in that: walking unit (15) comprises crawler belt (151) and Athey wheel (152), and wherein, crawler belt (151) comprises a plurality of track unit joints (151a); Following walking unit (15) with moving cell (26) and move in the follower (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200185438U CN201965488U (en) | 2011-01-05 | 2011-01-05 | Posture-adjusting control system of glass-cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200185438U CN201965488U (en) | 2011-01-05 | 2011-01-05 | Posture-adjusting control system of glass-cleaning robot |
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| Publication Number | Publication Date |
|---|---|
| CN201965488U true CN201965488U (en) | 2011-09-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200185438U Expired - Lifetime CN201965488U (en) | 2011-01-05 | 2011-01-05 | Posture-adjusting control system of glass-cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201965488U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102591339A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Window wiping robot position adjusting control system and control method thereof |
| CN103505141A (en) * | 2012-06-28 | 2014-01-15 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
-
2011
- 2011-01-05 CN CN2011200185438U patent/CN201965488U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102591339A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Window wiping robot position adjusting control system and control method thereof |
| CN102591339B (en) * | 2011-01-05 | 2014-03-26 | 泰怡凯电器(苏州)有限公司 | Window wiping robot position adjusting control system and control method thereof |
| CN103505141A (en) * | 2012-06-28 | 2014-01-15 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| CN103505141B (en) * | 2012-06-28 | 2016-08-03 | 科沃斯机器人有限公司 | Glass cleaning device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: TEK ELECTRICAL (SUZHOU) Co.,Ltd. |
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| CX01 | Expiry of patent term |
Granted publication date: 20110907 |
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| CX01 | Expiry of patent term |