CN202083961U - Robot for cleaning glass - Google Patents
Robot for cleaning glass Download PDFInfo
- Publication number
- CN202083961U CN202083961U CN2011201123212U CN201120112321U CN202083961U CN 202083961 U CN202083961 U CN 202083961U CN 2011201123212 U CN2011201123212 U CN 2011201123212U CN 201120112321 U CN201120112321 U CN 201120112321U CN 202083961 U CN202083961 U CN 202083961U
- Authority
- CN
- China
- Prior art keywords
- cleans
- robot
- machine people
- windows
- sensor
- 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.)
- Expired - Lifetime
Links
Images
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model relates to a robot for cleaning glass, comprising a robot main body, a walking unit, a driving unit, a collision sensing unit and a control unit, wherein the collision sensing unit comprises a collision board and a sensing unit, the collision board is disposed at the end in the advancing direction of the robot main body, the control unit is respectively connected with the sensing unit and the driving unit, and the driving unit controls the walking unit to work under the function of the control unit; and a plurality of pulley wheels are disposed on the collision board, the pulley wheels are disposed at the bottom of the collision board, and the outline edges of the pulley wheels are exposed out of the outline edge of the collision board. The robot can be used for avoiding an obstacle when the glass is cleaned, the glass and the periphery of a glass frame are evenly cleaned, the missing cleaning is avoided, the problem that the dust is easy to accumulate near the glass frame is effectively solved, the friction between the collision board and the glass window frame is reduced, and the robot for cleaning the glass can walk preferably.
Description
Technical field
The utility model belongs to the intelligent robot technology field, specifically, relates to a kind of machine people that cleans the windows.
Background technology
In daily life, for the glass of fritter, people generally use rag to clean scouring, and the outer facade of structural glass and window uses the rod-type cleaning glass to wipe usually and cleans scouring.Yet when wiping cleaning glass with the rod-type cleaning glass, arm is tired easily, and when wiping the examination outdoor glass, especially for skyscraper, operating process is very dangerous.As seen, cleaning exterior window is a great problem in family and even city, not only dangerous but also be difficult for wiping complete, clean.
At as above problem, a kind of window-cleaning device has appearred at present, and the patent No. is ZL200820080547.7.Fig. 1 is the structure diagram of existing window-cleaning device, and as shown in Figure 1, these vierics are made up of identical two operation parts, and each operation part comprises respectively again: handle 441, plastic plate 442 and rag 444.Handle 441 is fixed on the one side of plastic plate 442, and rag 4 is fixed on the another side of plastic plate 2, is fixed with magnet plate 443 between plastic plate 442 and rag 444.When needs wiping glass, two operation parts of window-cleaning device are placed the two sides for the treatment of wiping glass respectively, under the magnetic action of both magnet plates 443, both are across treating that wiping glass is attached together.The user grips the handle of dwelling on the operation part for the treatment of the wiping glass inner side, by it is moved, realizes treating the cleaning of wiping glass inner side.Because magnetic action, be in and can drive the operation part motion that is in the outside when inboard operation part moves, thereby with the outside of glass also wiped clean.
Technique scheme, though contingent unsafe factor when efficiently solving the wiping exterior window, but this window-cleaning device need be by handling the operation part that is positioned at glass inner side artificially, thereby guiding is positioned at the operation part work of glass outer side, for area bigger treat wiping glass, the user still needs to climb low, labour intensity height and workload are big, and the process that cleans the windows is random big, has that some place repeats to wipe, some local defective of wiping of leaking.
The applicant is applying for a patent (application number, 2011200185118, denomination of invention: the machine people's that cleans the windows mobile control system) device that cleans the windows is improved, but the machine people that cleans the windows is near the wiping glass frame and when turning near the glass frame, and can occur cleaning the windows machine people and glass frame produce the defective of bigger friction.
The utility model content
Technical problem to be solved in the utility model is at the deficiencies in the prior art, a kind of machine people that cleans the windows is provided, automatically wiping glass, not only can wiping glass and glass around the position of window frame, and in the wiping glass process, reduce the friction of impingement plate and glass frame, the machine people's that helps cleaning the windows walking.
Technical problem to be solved in the utility model is achieved by the following technical solution
The utility model provides a kind of machine people that cleans the windows, comprise robot body, walking unit, driver element, collision sensing device and control module, described collision sensing device comprises impingement plate and sensing unit, described impingement plate is positioned at the end of described robot body's working direction, described control module is connected with described driver element with described sensing unit respectively, under the effect of described control module, described driver element is controlled described walking cell operation; Described impingement plate is provided with pulley, and pulley is positioned at the bottom of described impingement plate, and the contour edge of described pulley is exposed to the contour edge of described impingement plate.
The quantity of pulley can be 1-4, and preferably, described pulley is two, lays respectively at the and arranged on left and right sides of described impingement plate.The pulley of described and arranged on left and right sides is a center with respect to described robot body and is symmetrical arranged.Described pulley lays respectively at the end of described impingement plate, and the pulley size of described and arranged on left and right sides is identical.
In addition, the horizontal range of the contour edge of described pulley and the contour edge of described impingement plate is D, 0＜D≤10mm.Preferably, described horizontal range D equals 2mm.
Described sensing unit comprises side sensor, and described side sensor is positioned at the sidepiece of described impingement plate, and is positioned at the same side with the position of described roller.
Described side sensor is 2, lays respectively at the and arranged on left and right sides of described impingement plate.
In addition, described sensing unit also comprises end sensor, and this end sensor is provided with 2, lays respectively at the left and right sides of the end of described impingement plate.
Described side sensor and described end sensor are touch sensor or non-contacting sensor.
Touch sensor is travel switch, pressure transducer or conductive rubber.Non-contacting sensor is infrared external reflection sensing or sonac.
Described walking unit comprises crawler belt and Athey wheel, and described crawler belt and described Athey wheel are positioned at the left and right side of described robot body, and described crawler belt comprises a plurality of track unit joints.
The described machine that cleans the windows is artificial split type, and it comprises driving machine and follower; Driving machine comprises robot body, walking unit, driver element, collision sensing device and control module; Driving machine and follower are built-in with first and second magnet respectively, make both can be adsorbed on the inside and outside both sides of glass mutually, and under the suction of first and second magnet, follower and driving machine produce servo-actuated.
The described machine people that cleans the windows also can be a monomer, and the described machine people that cleans the windows also comprises sucker, makes the machine people that cleans the windows can be adsorbed on glass.
Compared with prior art, beneficial effect of the present invention is:
Level of intelligence height of the present invention, the person's that not only do not lighten one's labor working strength, and wiped clean.In the wiping glass process, can in time detect barrier such as window frame and nimbly elude, and reduce the friction of impingement plate and glass frame, the machine people's that helps cleaning the windows walking.
Description of drawings
Fig. 1 is the structure diagram of the existing device that cleans the windows;
Fig. 2 is the utility model machine human agent synoptic diagram one that cleans the windows;
Fig. 3 is clean the windows robot body's synoptic diagram two of machine people of the utility model;
Fig. 4 is the synoptic diagram when cleaning the windows machine human agent collision obstacle in the utility model;
Fig. 5 is the enlarged diagram of B among Fig. 4;
Fig. 6 is the clean the windows control flow synoptic diagram of machine philtrum of the utility model embodiment one;
Fig. 7 is clean the windows machine people's structural representation of the utility model embodiment one;
Fig. 8 is clean the windows machine people's the structural representation of walking unit of the utility model embodiment one;
Fig. 9 is the utility model embodiment two machine people control flow synoptic diagram that cleans the windows;
Figure 10 is clean the windows machine people's structural representation of the utility model embodiment two;
Figure 11 is clean the windows machine people's the structural representation of walking unit of the utility model embodiment two
Figure 12 is clean the windows machine people's the process flow diagram of first kind of control method for movement of the present invention;
Figure 13 is clean the windows machine people's the process flow diagram of second kind of control method for movement of the utility model;
Figure 14 moves synoptic diagram for step S220 welt in the control method for movement;
Figure 15 is clean the windows machine people's mobile synoptic diagram of the utility model.
Reference numeral:
1. robot body's 111. robot body's shells 11,211. control modules
12,212. sensing units, 121,2121. end sensor
122,2122. side sensor, 15,215. walking unit
151,2151. crawler belt 151a, 2151a. track unit joint
152,2152. Athey wheels, 16,216. driver element A. glass
2. driving machine 213. driving machine shells 214. first magnet
3. follower 311. follower housings 314. second magnet 313. are with moving cell
4. pulley 5. impingement plates
Embodiment
Below in conjunction with drawings and Examples, further specify the utility model clean the windows machine people's structure and control system control flow thereof.
Embodiment one
The utility model artificial single robot of machine that cleans the windows.Fig. 2 is the utility model machine human agent synoptic diagram one that cleans the windows; Fig. 3 is clean the windows robot body's synoptic diagram two of machine people of the utility model; Fig. 4 is the synoptic diagram when cleaning the windows machine human agent collision obstacle in the utility model; Fig. 5 is the enlarged diagram of B among Fig. 4; Fig. 6 is the clean the windows control flow synoptic diagram of machine philtrum of the utility model embodiment one; Fig. 7 is clean the windows machine people's structural representation of the utility model embodiment one.Shown in Fig. 2～7, the machine people that cleans the windows of the utility model embodiment one comprises robot body 1, walking unit 15, driver element 16, collision sensing device and control module 11, described collision sensing device comprises impingement plate 5 and sensing unit 12, described impingement plate 5 is positioned at the end of described robot body's 1 working direction, described control module 11 is connected with described driver element 16 with described sensing unit 12 respectively, under the effect of described control module 11, the described walking of described driver element 16 controls unit 15 work; The sidepiece of described impingement plate 5 is provided with pulley 4, and pulley 4 is positioned at the bottom of described impingement plate 5, and the contour edge of described pulley 4 is exposed to the contour edge of described impingement plate 5.The quantity of pulley can be 1-4, and as shown in Figure 2, described pulley 4 is two, lays respectively at the and arranged on left and right sides of described impingement plate 5, and is a center with respect to described robot body 1 and is symmetrical arranged.Preferred scheme as shown in Figure 3, described pulley 4 lays respectively at the end of described impingement plate 5; Pulley 4 sizes of described and arranged on left and right sides are identical.In order to guarantee at pulley when detecting barrier and hiding flexibly, reduce the friction of impingement plate and barrier, it is D that one horizontal range is arranged between the contour edge of the contour edge of described pulley 4 and described impingement plate 5, and the span of D is 0＜D≤10mm, and wherein the preferred value of D is 2mm.
In conjunction with Fig. 6 and shown in Figure 7, this robot body 1 comprises robot body's shell 111, energy unit (not shown), driver element 16, control module 11 are positioned at the inside of robot body's shell 111, walking unit 15 and wiping unit lay respectively at the bottom of robot body's shell 111, and 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.Walking unit 15 follows away the two bottom sides setting that direction is arranged on robot, and as shown in Figure 8, this walking unit 15 comprises crawler belt 151 and the Athey wheel 152 that is positioned at the robot left and right sides, and driver element 16 comprises drive motor.Crawler belt 151 is a plurality of track unit joint sealed joints that 151a constituted connected to one another, the inboard two ends of sealed joint are respectively arranged with Athey wheel 152, the gear teeth of Athey wheel 152 are plugged in the gap of adjacent two track unit, and driver element 16 links to each other with Athey wheel 152.Driver element 16 is under the energy of energy unit is supplied with, under the control of control module 11, driver element 16 drives Athey wheel 152 and rotates, and Athey wheel 152 drives crawler belt 151 motions, and track unit joint 151a constantly alternately contacts glass surface A provides enough big stiction to advance for window wiping robot.By the individual drive to every crawler belt, 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 robot realize rotation.
This robot is adsorbed on glass surface by sucker, and in addition, robot can also realize being attached to glass surface by the method for negative pressure of vacuum.The technology how the associated machine people is adsorbed on glass surface is a prior art, does not repeat them here.
This robot also comprises sensing unit 12, this sensing unit 12 comprises end sensor 121 that is positioned at the same end of machine people that cleans the windows and the side sensor 122 that is positioned at machine people one side that cleans the windows, machine people's the same end of cleaning the windows is provided with 2 pulleys 4, and control module 11 is connected with driver element 16 with sensing unit 12 respectively; When driver element 16 drives the walking cell moving, the signal that control module 11 is sent according to the side sensor 122 of the end sensor 121 of the same end of machine people that cleans the windows and/or a side, control drive unit 16 drives walking unit 15 and moves.When cleaning the windows machine people welt when walking, because the contour edge of pulley 4 is exposed to the contour edge of impingement plate 5, reduced the friction of hitting plate 5 and glass frame, the machine people's that helps cleaning the windows walking.
The side sensor 122 that is positioned at machine people one side that cleans the windows comprises two sensors, and these two sensors lay respectively at the forward and backward two ends of the same side of robot.
Two sensors in the end sensor 121 of the above-mentioned same end of mentioning and two sensors that are arranged in the side sensor 122 of machine people one side that cleans the windows can be touch sensors, also can be non-contacting sensors.When adopting touch sensor, can be travel switch, as microswitch, also can be pressure transducer, or conductive rubber.When adopting non-contacting sensor, can be infrared sensor, also can sonac.
Embodiment two
By embodiment one different be that the utility model machine people that cleans the windows is split type.Figure 9 shows that clean the windows control flow synoptic diagram in machine people's the mobile control system of present embodiment two.Figure 10 shows that clean the windows machine people's structural representation of present embodiment two.Figure 11 is clean the windows machine people's the structural representation of walking unit of the utility model embodiment two.In conjunction with Fig. 9～shown in Figure 11, the utility model window wiping robot comprises driving machine 2 and follower 3, and both are separate piece.Driving machine 2 comprises robot body 1, walking unit 215, driver element 216, collision sensing device and control module 211.Described collision sensing device comprises impingement plate 5 and sensing unit 212, described impingement plate 5 is positioned at the end of described robot body's 1 working direction, described control module 211 is connected with described driver element 216 with described sensing unit 212 respectively, under the effect of described control module 211, the described walking of described driver element 216 controls unit 215 work; The sidepiece of described impingement plate 5 is provided with pulley 4, and pulley 4 is positioned at the bottom of described impingement plate 5, and the contour edge of described pulley 4 is exposed to the contour edge of described impingement plate 5.The quantity of pulley can be 1-4, and in the preferred version, described pulley 4 is two, lays respectively at the and arranged on left and right sides of described impingement plate 5, and is a center with respect to described robot body 1 and is symmetrical arranged.In the preferred scheme, described pulley 4 lays respectively at the end of described impingement plate 5; Pulley 4 sizes of described and arranged on left and right sides are identical.In order to guarantee at pulley when detecting barrier and hiding flexibly, reduce the friction of impingement plate and barrier, it is D that one horizontal range is arranged between the contour edge of the contour edge of described pulley 4 and described impingement plate 5, and the span of D is 0＜D≤10mm, and wherein the preferred value of D is 2mm.
Driving machine 2 and follower 3 are built-in with first, second magnet 214,314 respectively, make both can be adsorbed on the inside and outside both sides of glass A mutually, and under the suction of first, second magnet 214,314, follower 3 produces servo-actuated with driving machine 2.
Driving machine 2 comprises driving machine shell 213, and driver element 216, energy unit (not shown) and control module 211 are separately positioned in the driving machine shell 213, and walking unit 215 is positioned at robot body 1 the left and right sides.Follower 3 comprises follower housing 311, and the bottom of this follower housing 311 is provided with wipes examination unit (not shown), and 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.
In conjunction with Fig. 9～shown in Figure 11, walking unit 215 follows away the two bottom sides setting that direction is arranged on robot, and this walking unit 215 comprises crawler belt 2151 and the Athey wheel 2152 that is positioned at the robot left and right sides, and driver element 216 comprises drive motor.Crawler belt 2151 is a plurality of track unit joint sealed joints that 2151a constituted connected to one another, the inboard two ends of sealed joint are respectively arranged with Athey wheel 2152, the gear teeth of Athey wheel 2152 are plugged in the gap of adjacent two track unit, and driver element 216 links to each other with Athey wheel 2152.Driver element 216 is under the energy of energy unit is supplied with, under the control of control module 211, driver element 216 drives Athey wheel 152 and rotates, Athey wheel 2152 drives crawler belt 2151 motions, and track unit joint 2151a constantly alternately contacts glass surface provides enough big stiction to advance for window wiping robot.By the individual drive to every crawler belt, 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 robot realize rotation.
As shown in figure 10, the inside of driving machine 2 is provided with first magnet 214, the inside of follower 3 is provided with second magnet 314, both put the inside and outside both sides that are adsorbed on glass surface under the suction of magnet within it, follower 3 is followed driving machine 2 and is produced servo-actuated, and follower is treated wipe surfaces and carried out wiping when moving.Becoming light for making follower 3 follow when driving machine 2 moves, can be provided with on the follower housing 311 with moving cell 313, should be supporting roller with moving cell 316.
Driving machine 2 also comprises sensing unit 212 except comprising above-mentioned mentioned walking unit 215, driver element 216, control module 211 and energy unit.
This sensing unit 212 comprises end sensor 2121 that is positioned at the same end of machine people that cleans the windows and the side sensor 2122 that is positioned at machine people one side that cleans the windows, and control module 211 is connected with driver element 216 with sensing unit 212 respectively; When driver element 216 drives the walking cell moving, the signal that control module 211 is sent according to the side sensor 2122 of the end sensor 2121 of the same end of machine people that cleans the windows and/or a side, control drive unit 216 drives walking unit 215 and moves.
When cleaning the windows machine people welt when walking, because the contour edge of pulley 4 is exposed to the contour edge of impingement plate 5, reduced the friction of impingement plate 5, the machine people's that helps cleaning the windows walking with glass frame.
The end sensor 2121 of same end comprises two sensors, and these two sensors lay respectively at the left and right sides of robot, and is provided with axisymmetricly with respect to the center of robot.Easy for designing, these left and right two sensors all are positioned on the same surface level.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 end sensor 2121.
The side sensor 2122 that is positioned at machine people one side that cleans the windows comprises two sensors, and these two sensors lay respectively at the forward and backward two ends of the same side of robot.
Two sensors in the end sensor 2121 of the above-mentioned same end of mentioning and two sensors that are arranged in the side sensor 2122 of machine people one side that cleans the windows can be touch sensors, also can be non-contacting sensors.When adopting touch sensor, can be travel switch, as microswitch, also can be pressure transducer, or conductive rubber.When adopting non-contacting sensor, can be infrared sensor, also can sonac.
When using this robot, driving machine 2 is placed on a certain position on glassy phase to be cleaned opposite, as its starting point that moves.Therewith correspondingly, follower 3 is placed on the glass to be cleaned, and makes the position of follower 3 and driving machine 2 overlap substantially.Driving machine 2 leads follower 3 to begin the work of entering, and follower 3 moves synchronously with the location status that keeps with driving machine 2 overlaps substantially, and it realizes treating the work that cleaning glass carries out wiping when moving.
Figure 12 is the process flow diagram of first kind of control method for movement of the machine people that cleans the windows of above-mentioned any one structure of employing.This machine people that cleans the windows realizes moving of robot by sensing unit, and its control method for movement comprises the steps:
Step S100: the people starts the machine;
Step S115: robot walks forward;
Step S120:, enter step S130 if when the signal of end sensor of robot front end is received in the ROBOT CONTROL unit;
Step S130: the walking unit half-twist of robot;
Step S135: robot welt walking;
Step S140:, enter step S146 if control module is received the signal of the end sensor of robot front end; Step S146: robot drives the rotation of walking unit by two drive motor differential movement in the driver element, makes substantially parallel with the running route of step S135 and the certain at interval distance of robot after the posture adjustment;
Step S152: robot walks forward;
Step S155: if control module is received the signal of side sensor, enter step 170, otherwise, return step S140;
Step S170: walking unit welt walking;
Step S175: control module receives the signal that the end sensor of front end is sent, and enters step S201;
Step S201: the walking unit half-twist of robot;
Step S205: robot adjusts welt;
Step S210: robot keeps straight on;
Step S215: if control module is received the signal of the end sensor of front end, enter step S220, otherwise, return step S210;
Step S220: walking unit half-twist, turn greatly by the differential realization of driving wheel, reach the position relative with step S210; The synoptic diagram that Figure 14 moves for this step of reflection welt.
Step S225: robot adjusts welt;
Step S230: robot keeps straight on;
Step S235: if control module is received the signal of the end sensor of front end, enter step S240, otherwise, return step S230;
Step S240: robot is along the direction walking opposite with step S230;
Step S245: if control module is received the signal of the end sensor of front end, enter step S250, otherwise, return step S240;
Step S250: robot changes other mode of operation or power cut-off over to.
Above-mentioned control method for movement is to adopt first wiping glass (step S100 is to step S245), the working method of wiping glass frame (step S201 is to step S250) position all around again.
As shown in figure 13, the utility model also provides the control method for movement of second kind of wiping glass robot, this method is to adopt first wiping glass frame (step S200 is to step S245), and the working method of wiping glass (step S101 is to step S180) specifically comprises the steps: again
Step S200: the people starts the machine;
Step S205: robot adjusts welt;
Step S210: robot keeps straight on;
Step S215: if control module is received the signal of the end sensor of front end, enter step S220, otherwise, return step S210;
Step S220: walking unit half-twist, turn greatly by the differential realization of driving wheel, reach the position relative with step S210;
Step S225: robot adjusts welt;
Step S230: robot keeps straight on;
Step S235: if control module is received the signal of the end sensor of front end, enter step S240, otherwise, return step S230;
Step S240: robot is along the direction walking opposite with step S230;
Step S245: if control module is received the signal of the end sensor of front end, enter step S101, otherwise, return step S240;
Step S101: the walking unit half-twist of robot;
Step S115: robot walks forward;
Step S120:, enter step S130 if when the signal of end sensor of robot front end is received in the ROBOT CONTROL unit;
Step S130: the walking unit half-twist of robot;
Step S135: robot welt walking;
Step S140:, enter step S146 if control module is received the signal of the end sensor of robot front end; Step S146: robot drives the rotation of walking unit by two drive motor differential movement in the driver element, makes substantially parallel with the running route of step S135 and the certain at interval distance of robot after the posture adjustment;
Step S152: robot walks forward;
Step S155: if control module is received the signal of side sensor, enter step 170, otherwise, return step S140;
Step S170: walking unit welt walking;
Step S175: control module receives the signal that the end sensor of front end is sent, and enters step S180;
Step S180: power cut-off.
In the above-mentioned control method step, as shown in figure 10, be the moving process synoptic diagram of robot adjustment welt, detailed process comprises: when the front end sensors in the side sensor senses signal, the control module control drive unit turns clockwise the walking unit, changes the attitude of robot; When perhaps the back end sensor in the side sensor sensed signal, the control module control drive unit was rotated counterclockwise robot, changed the attitude of robot.Saidly turn clockwise and be rotated counterclockwise, the angle of its rotation can be at random, also can set in advance.
By as above step, can make robot wipe trial work and do, thereby solve near the problem of the easy dust stratification of instrument bezel effectively in instrument bezel one side of required welt.
In above-mentioned two kinds of control method for movement, also comprise following concrete steps.
Between step S100 and step S115, also comprise:
Step S105: the acceleration transducer in the robot is adjusted the position of robot, corrects the position deflection of robot;
Step S110: control module is received the signal that acceleration transducer sends, if judge that robot is in perfect condition, enters step S115;
Further comprising the steps of between step S120 and step S130:
Step S121: the signal of the sensing subelement of control module receiving front-end, if control module judge when robot is in the opposite side state, enter step S130; Otherwise enter step S122; Wherein, the opposite side state is the signal of the side sensor of the control module and arranged on left and right sides that receives the robot front end simultaneously;
Step S122: control module after the adjustment robot pose, returns step S121 by the signal of the end sensor of judgement front end; Step S122 specifically comprises: when having only left side sensor in the end sensor of front end to sense signal, the control module control drive unit turns clockwise robot, changes the attitude of robot; When perhaps having only right sensor in the end sensor of front end to sense signal, the control module control drive unit is rotated counterclockwise robot, changes the attitude of robot.
Further comprising the steps of between step S140 and step S146:
Step S141: the signal of the end sensor of control module receiving front-end, if control module judge when robot is in the opposite side state, enter step S146; Otherwise, enter step S142; Wherein, the opposite side state is the signal of the and arranged on left and right sides sensor of the control module end sensor that receives the robot front end simultaneously; Otherwise, enter step S142;
Step S142: control module after the adjustment robot pose, returns step S141 by the signal of the end sensor of judgement front end;
Step S142 specifically comprises: when having only left side sensor in the end sensor of front end to sense signal, the control module control drive unit turns clockwise robot, changes the attitude of robot; When perhaps having only right sensor in the end sensor of front end to sense signal, the control module control drive unit is rotated counterclockwise robot, changes the attitude of robot.
Further comprising the steps of between step S146 and step S152:
Step S147: the acceleration transducer in the robot is adjusted the position of robot, corrects the position deflection of robot;
Step S148: control module is received the signal that acceleration transducer sends, if judge that robot is in perfect condition, enters step S152.
Further comprising the steps of between step S175 and step S180 (first kind of control method for movement) or step S175 and step S201 (second kind of control method for movement):
Step S176: walking unit half-twist;
Step S177: robot welt walking;
Step S178:, enter step S180 if control module is received the signal of the end sensor of robot front end.
Between step S215 and step S220, increase by two steps:
Step S216: robot ambulation, direction of travel is opposite with step S210 direction;
Step S217: if control module is received the signal of the end sensor of front end, enter step S220, otherwise, return step S216.
Robot adjusts welt and specifically comprises: when the front end sensors in the side sensor sensed signal, the control module control drive unit turned clockwise the walking unit, changes the attitude of robot; When perhaps having only back end sensor in the side sensor to sense signal, the control module control drive unit is rotated counterclockwise robot, changes the attitude of robot; Control module receives that the signal of the end sensor of front end is meant that control module receives the signal of left and right both sides sensor of the end sensor of front end simultaneously.
Some concrete steps during below to the monomer-type robot movement are analyzed.
In the above-mentioned control method step, robot adjusts welt and specifically comprises: when the front end sensors in the inductor unit, side 122 sensed signal, control module 11 control drive unit 16 turned clockwise walking unit 15, change the attitude of robot; When perhaps the back end sensor in the side sensor 122 sensed signal, control module 11 control drive unit 16 were rotated counterclockwise robot, changed the attitude of robot.Saidly turn clockwise and be rotated counterclockwise, the angle of its rotation can be at random, also can set in advance.
In the above-mentioned control method step, control module 11 receives that the signal of the end sensor 121 of front end is meant that control module 11 receives the signal of left and right both sides sensor of the end sensor 121 of front end simultaneously.
In order to make the user use this robot more to save worry, between the step S215 of second kind of welt control method for movement and step S220, increase step, specific as follows:
Step S216: robot ambulation, direction of travel is opposite with step S210 direction;
Step S217: if control module is received the signal of the end sensor of front end, enter step S220, otherwise, return step S216;
By increasing as above two steps, can make the user arbitrarily place this robot, this robot is by adjusting welt, craspedodrome and collision automatically, can find the corner voluntarily, begin oppositely to keep straight on from this corner, thereby can not omit the zone of welt wiping, the intellectuality of the robot that more seems and hommization.
By as above step, not only can carry out wiping work to the opposite side instrument bezel of this frame correspondence again simultaneously, thereby more effectively solve near the problem of the easy dust stratification of instrument bezel so that trial work is wiped in instrument bezel one side of required welt by robot to be done.
Some concrete steps during below to split type robot movement are analyzed.
In step S200, robot carries out welt and moves, and follower is followed driving machine and carried out correspondingly that welt moves under the effect that attracts each other with driving machine magnetic force, and follower is treated wipe surfaces and carried out wiping when moving.
By as above step, can make robot wipe trial work and do, thereby solve near the problem of the easy dust stratification of instrument bezel effectively in instrument bezel one side of required welt.
Robot adjusts welt and specifically comprises: when the front end sensors in the side sensor 2122 sensed signal, control module 211 control drive unit 216 turned clockwise walking unit 215, change the attitude of robot; When perhaps having only back end sensor in the side sensor 2122 to sense signal, control module 211 control drive unit 216 are rotated counterclockwise walking unit 215, change the attitude of robot.Change the attitude of robot.Saidly turn clockwise and be rotated counterclockwise, the angle of its rotation can be at random, also can set in advance.
In the above-mentioned control method step, control module 211 receives that the signal of the end sensor of front end is meant that control module receives the signal of left and right both sides sensor of the end sensor of front end simultaneously.
In order to make the user use this robot more to save worry, between the step S215 of welt control method for movement and step S220, increase step, specific as follows:
Step S216: robot ambulation, direction of travel is opposite with step S210 direction;
Step S217: if control module is received the signal of the end sensor of front end, enter step S220, otherwise, return step S216;
By increasing as above two steps, can make the user arbitrarily place this robot, this robot is by adjusting welt, craspedodrome and collision automatically, can find the corner voluntarily, begin oppositely to keep straight on from this corner, thereby can not omit the zone of welt wiping, the intellectuality of the robot that more seems and hommization.
By as above step, not only can do so that follower is wiped trial work in instrument bezel one side of required welt under the leading of driving machine, simultaneously can carry out wiping work to the opposite side instrument bezel of this frame correspondence again, thereby more effectively solve near the problem of the easy dust stratification of instrument bezel.
Figure 15 finishes the synoptic diagram that above-mentioned control is moved.
In the preferred version, also can be provided with sensing unit on the follower 3.Therefore, no matter be that driving machine 2 is felt as barriers such as window frames in the active moving process, still follower 3 is felt barrier in passive moving process, can dodge by the communication information interactive function that driving machine 2 and follower 3 are possessed between the two, can realize that all driving machine 2 and follower 3 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 sensing unit that all has in driving machine and the follower is done technical guarantee, make the utility model machine people that cleans the windows easily to tackle the contingent many unpredictalbe abnormal conditions in glass both sides, and the utility model cleans the windows in the process can avoiding barrier, realize around even wiping glass and the glass frame, avoid occurring leaking the wiping phenomenon, solve near the problem of the easy dust stratification of instrument bezel effectively, and reduce the friction of impingement plate and glass frame, the machine people's that helps cleaning the windows walking.
Claims (15)
1. machine people that cleans the windows, comprise robot body, walking unit, driver element, collision sensing device and control module, described collision sensing device comprises impingement plate and sensing unit, described impingement plate is positioned at the end of described robot body's working direction, described control module is connected with described driver element with described sensing unit respectively, under the effect of described control module, described driver element is controlled described walking cell operation; It is characterized in that: described impingement plate is provided with pulley, and pulley is positioned at the bottom of described impingement plate, and the contour edge of described pulley is exposed to the contour edge of described impingement plate.
2. the machine people that cleans the windows according to claim 1, it is characterized in that: described pulley is two, lays respectively at the and arranged on left and right sides of described impingement plate.
3. the machine people that cleans the windows according to claim 2 is characterized in that: the pulley of described and arranged on left and right sides is a center with respect to described robot body and is symmetrical arranged.
4. the machine people that cleans the windows according to claim 2, it is characterized in that: described pulley lays respectively at the end of described impingement plate.
5. the machine people that cleans the windows according to claim 4 is characterized in that: the pulley size of described and arranged on left and right sides is identical.
6. the machine people that cleans the windows according to claim 1 is characterized in that: the horizontal range of the contour edge of described pulley and the contour edge of described impingement plate is D, 0＜D≤10mm.
7. the machine people that cleans the windows according to claim 6, it is characterized in that: described horizontal range D equals 2mm.
8. the machine people that cleans the windows according to claim 1, it is characterized in that: described sensing unit comprises side sensor, side sensor is positioned at the sidepiece of described impingement plate, and is positioned at the same side with the position of described roller.
9. the machine people that cleans the windows according to claim 8, it is characterized in that: described side sensor is 2, lays respectively at the and arranged on left and right sides of described impingement plate.
10. the machine people that cleans the windows according to claim 8, it is characterized in that: described sensing unit also comprises end sensor, this end sensor is provided with 2, lays respectively at the left and right sides of the end of described impingement plate.
11. the machine people that cleans the windows according to claim 10 is characterized in that: described side sensor and described end sensor are touch sensor or non-contacting sensor.
12. the machine people that cleans the windows according to claim 11 is characterized in that: touch sensor is travel switch, pressure transducer or conductive rubber; Non-contacting sensor is infrared external reflection sensing or sonac.
13. the machine people that cleans the windows according to claim 1 is characterized in that: described walking unit comprises crawler belt and Athey wheel, described crawler belt and described Athey wheel are positioned at the left and right side of described robot body, and described crawler belt comprises a plurality of track unit joints.
14. according to each described machine people that cleans the windows of claim 1 to 13, it is characterized in that: the described machine people that cleans the windows comprises driving machine and follower; Robot body, walking unit, driver element, collision sensing device and control module are arranged in the driving machine; Driving machine and follower are built-in with first and second magnet respectively, make both can be adsorbed on the inside and outside both sides of glass mutually, and under the suction of first and second magnet, follower and driving machine produce servo-actuated.
15. according to each described machine people that cleans the windows of claim 1 to 13, it is characterized in that: the described machine people that cleans the windows also comprises sucker, makes the machine people that cleans the windows can be adsorbed on glass.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201123212U CN202083961U (en) | 2011-04-15 | 2011-04-15 | Robot for cleaning glass |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201123212U CN202083961U (en) | 2011-04-15 | 2011-04-15 | Robot for cleaning glass |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202083961U true CN202083961U (en) | 2011-12-21 |
Family
ID=45344584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201123212U Expired - Lifetime CN202083961U (en) | 2011-04-15 | 2011-04-15 | Robot for cleaning glass |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202083961U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102736625A (en) * | 2011-04-15 | 2012-10-17 | 泰怡凯电器(苏州)有限公司 | Glass-cleaning robot |
| CN103356123A (en) * | 2012-04-05 | 2013-10-23 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device and walking starting control method thereof |
| CN103505140A (en) * | 2012-06-28 | 2014-01-15 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| CN103844992A (en) * | 2012-12-07 | 2014-06-11 | 科沃斯机器人科技(苏州)有限公司 | Glass wiping robot and operation mode control method thereof |
| CN105116890A (en) * | 2015-08-24 | 2015-12-02 | 铜陵学院 | Single-core low-speed six-wheeled picomouse sprint controller |
| CN105116898A (en) * | 2015-08-24 | 2015-12-02 | 铜陵学院 | Single-core low-speed two-wheeled picomouse sprint controller |
| CN105137974A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Six-wheel double-core automatic intermediate speed fire extinguishing robot servo controller |
| CN105159324A (en) * | 2015-08-24 | 2015-12-16 | 铜陵学院 | Six-wheel and dual-core type medium-speed fire-extinguishing robot servo controller |
| CN106725069A (en) * | 2015-11-25 | 2017-05-31 | 上海市格致中学 | A kind of high-building glass cleaner |
| CN108756278A (en) * | 2018-07-27 | 2018-11-06 | 安徽赛福贝特信息技术有限公司 | A kind of glass-cleaning robot |
| CN110301858A (en) * | 2019-08-10 | 2019-10-08 | 安徽工程大学 | Double-sided glass washing machine device people |
-
2011
- 2011-04-15 CN CN2011201123212U patent/CN202083961U/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102736625A (en) * | 2011-04-15 | 2012-10-17 | 泰怡凯电器(苏州)有限公司 | Glass-cleaning robot |
| CN103356123B (en) * | 2012-04-05 | 2016-12-14 | 科沃斯机器人股份有限公司 | Glass cleaning device and walking thereof start control method |
| CN103356123A (en) * | 2012-04-05 | 2013-10-23 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device and walking starting control method thereof |
| CN103505140A (en) * | 2012-06-28 | 2014-01-15 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| CN103505140B (en) * | 2012-06-28 | 2016-12-21 | 科沃斯机器人股份有限公司 | Glass cleaning device |
| CN103844992A (en) * | 2012-12-07 | 2014-06-11 | 科沃斯机器人科技(苏州)有限公司 | Glass wiping robot and operation mode control method thereof |
| CN103844992B (en) * | 2012-12-07 | 2016-08-31 | 科沃斯机器人有限公司 | Glass-cleaning robot and the control method of work pattern thereof |
| CN105137974A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Six-wheel double-core automatic intermediate speed fire extinguishing robot servo controller |
| CN105159324A (en) * | 2015-08-24 | 2015-12-16 | 铜陵学院 | Six-wheel and dual-core type medium-speed fire-extinguishing robot servo controller |
| CN105116898A (en) * | 2015-08-24 | 2015-12-02 | 铜陵学院 | Single-core low-speed two-wheeled picomouse sprint controller |
| CN105116890A (en) * | 2015-08-24 | 2015-12-02 | 铜陵学院 | Single-core low-speed six-wheeled picomouse sprint controller |
| CN106725069A (en) * | 2015-11-25 | 2017-05-31 | 上海市格致中学 | A kind of high-building glass cleaner |
| CN108756278A (en) * | 2018-07-27 | 2018-11-06 | 安徽赛福贝特信息技术有限公司 | A kind of glass-cleaning robot |
| CN110301858A (en) * | 2019-08-10 | 2019-10-08 | 安徽工程大学 | Double-sided glass washing machine device people |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202083961U (en) | Robot for cleaning glass | |
| CN102591336B (en) | Edge adhering movement control method of glass-cleaning robot, and control system thereof | |
| TWI820385B (en) | Water delivery mechanism and automatic cleaning equipment | |
| CN102736625A (en) | Glass-cleaning robot | |
| CN102591341B (en) | Movement control method of glass-cleaning robot and control system thereof | |
| CN102578975B (en) | Traveling device and glass wiping robot with same | |
| CN202015139U (en) | Robot for cleaning floor | |
| CN102591340B (en) | Movement control method of glass wiping robot | |
| CN202141947U (en) | Right-angle area mobile control system of glass-cleaning robot | |
| CN206822588U (en) | More flat clear robots | |
| CN102591338B (en) | Control system of glass-cleaning robot, and control method thereof | |
| CN104605784B (en) | Obstacle surmountable safety intelligent glass cleaner | |
| CN105231950A (en) | Window cleaning robot and cleaning mode thereof | |
| CN102591339B (en) | Window wiping robot position adjusting control system and control method thereof | |
| CN201974696U (en) | Movement control system of glass-cleaning robot | |
| CN105832252A (en) | Autonomous mobile robot and control method thereof | |
| CN2406781Y (en) | Cleaning robot | |
| CN107981774A (en) | A kind of intelligent double-sided glass-cleaning robot | |
| CN102830700A (en) | Control system and control method of movement of glass cleaning robot at right angle area | |
| CN109820449A (en) | A kind of window wiping robot with comprehensive wiping window function | |
| CN202083959U (en) | Siding moving control system of window wiper robot | |
| CN201965489U (en) | Movement control system of glass-cleaning robot | |
| CN205107543U (en) | Window cleaning robot | |
| CN201965488U (en) | Posture-adjusting control system of glass-cleaning robot | |
| CN102591334A (en) | Facing control system and facing control method for glass wiping robot |
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. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20111221 |
|
| CX01 | Expiry of patent term |