CN206166820U - Control system for glass cleaning robot with over -and -under type running gear - Google Patents

Abstract

The utility model discloses a control system for glass cleaning robot with over -and -under type running gear, including an initiative sensing unit, initiative portion's controller and initiative portion energy source to and follower sensing unit, follower controller and follower energy source, an initiative sensing unit includes the pressure sensor of initiative portion, the initiative speed sensor of portion and the angular transducer of initiative portion, and first motor, second motor, third motor and four Motors all are connected with the output of an initiative controller, and the output of an initiative controller has still connect initiative portion relay, the follower sensing unit includes follower pressure sensor, follower speed sensor and follower angular transducer, and follower pressure sensor, follower speed sensor and follower angular transducer all are connected with the input of follower controller, and the output termination of follower controller has the follower relay. The utility model discloses simple structure, that can improve glass cleaning robot wipes glass efficiency.

Description

Glass-cleaning robot control system with lift walking mechanism

Technical field

This utility model belongs to attracting cleaner for window glass tool technical field, and in particular to a kind of with lift walking mechanism Glass-cleaning robot control system.

Background technology

In daily life, people wipe indoor glass with rag；But for outdoor glass, especially skyscraper, people If standing glass of clean outside window, operating process it is not only dangerous but also be difficult to wipe it is complete, clean.Now a kind of existing double-face window cleaner, leads to Cross and the window-cleaning device of two carry magnets is clamped into glass to be wiped, when indoor window-cleaning device works, outside cleans the windows Device follows the window-cleaning device movement of interior due to magnetic action, it is possible to achieve clean while two sides inside and outside glass, but this double Face window cleaner is mostly manual, and operation is laborious, and it is big to wipe the randomness of window process, can cause some regions nuzzle up multipass, certain The problem that a little region leakages are wiped.And current automatic double-sided window cleaner, i.e. glass-cleaning robot, exist by the rotating of motor Glass surface advances or retreats, and realizes turning to by the differential of motor, and commutate underaction so as to which motion path is limited greatly System, causes some regions to repeat to wipe, and is unfavorable for wiping the raising of window efficiency；Region that is larger for area and needing wiping There are a fraction of glass, and the rectangular area of glass, its defect becomes apparent from.For this purpose, someone have developed for solve with The mechanical structure portion of the glass-cleaning robot of upper problem, but, also lack it is novel in design rationally, using simple operation, practicality Property it is strong, be easy to remote-controlled glass-cleaning robot control system and the control method promoted the use of.

Utility model content

Technical problem to be solved in the utility model is for above-mentioned deficiency of the prior art, there is provided a kind of structure Simply, it is novel in design rationally, using simple operation, it is practical, be easy to the wiping with lift walking mechanism promoted the use of Glass robot control system.

To solve above-mentioned technical problem, the technical solution adopted in the utility model is：One kind carries lift walking mechanism Glass-cleaning robot control system, the glass-cleaning robot includes for being separately positioned on glass inner side and glass outer side And the initiative part that cooperates and follower, the initiative part includes the first active wheels, the second active wheels and initiative part liter Drop unit, first active wheels include the first motor and the second motor, second active wheels include the 3rd motor and 4th motor, the initiative part lifting unit includes initiative part solenoid；The follower include the first driven wheels, second Driven wheels and follower lifting unit, the follower lifting unit includes follower solenoid；It is characterized in that：It is described Glass-cleaning robot with lift walking mechanism includes initiative part sensing unit, initiative part controller and master with control system Dynamic portion's energy source, and follower sensing unit, follower controller and follower energy source, the initiative part sensing unit bag Include initiative part pressure transducer, initiative part speed probe and the initiative part inclination angle for detecting the inclination angle of initiative part to pass Sensor, the initiative part pressure transducer, initiative part speed probe and initiative part obliquity sensor with initiative part controller Input connection, first motor, the second motor, the 3rd motor and the 4th motor with the outfan of initiative part controller Connection, the outfan of the initiative part controller is further connected with for being switched on or switched off initiative part energy source for initiative part solenoid The initiative part relay of the current supply circuit of power supply；The follower sensing unit includes that follower pressure transducer, follower turn Fast sensor and the follower obliquity sensor for being detected to the inclination angle of follower, the follower pressure transducer, Follower speed probe and follower obliquity sensor are connected with the input of follower controller, the follower control The outfan of device be further connected with for be switched on or switched off follower energy source be follower solenoid current supply circuit from Dynamic portion's relay.

The above-mentioned glass-cleaning robot control system with lift walking mechanism, it is characterised in that：The active Portion's energy source is rechargeable battery, and the initiative part sensing unit includes the initiative part for being detected to the electricity of rechargeable battery Electric quantity detecting circuit, the initiative part electric quantity detecting circuit is arranged on the top of initiative part energy source, the initiative part electricity inspection Slowdown monitoring circuit is connected with the input of initiative part controller, 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 is included for carrying out to the electricity of rechargeable battery The follower electric quantity detecting circuit of detection, the follower electric quantity detecting circuit is arranged on the top of follower energy source, described Follower electric quantity detecting circuit is connected with the input of follower controller, and the output of the follower controller is terminated with driven Portion's battery capacity indication lamp.

The above-mentioned glass-cleaning robot control system with lift walking mechanism, it is characterised in that：The active Portion's controller includes initiative part micro controller module and the initiative part communication module connected with initiative part micro controller module, described The output of initiative part micro controller module is terminated with motor drive module and initiative part alarm module, the initiative part pressure sensing Device, initiative part speed probe, initiative part obliquity sensor and initiative part electric quantity detecting circuit with initiative part microcontroller mould The input connection of block, the initiative part relay and initiative part battery capacity indication lamp with the output of initiative part micro controller module End connection, first motor, the second motor, the 3rd motor and the 4th motor are connected with the outfan of motor drive module； The follower controller include follower micro controller module and connect with follower micro controller module and for actively The follower communication module of portion's communication module communication, the output of the follower micro controller module is terminated with follower warning mould Block, the follower pressure transducer, follower speed probe, follower obliquity sensor and follower electric quantity detecting circuit Be connected with the input of follower micro controller module, the follower relay and follower battery capacity indication lamp with it is driven The outfan connection of portion's micro controller module.

The above-mentioned glass-cleaning robot control system with lift walking mechanism, it is characterised in that：The active Portion's communication module and follower communication module are infrared communication module, radio communication module or bluetooth communication.

This utility model has compared with prior art advantages below：

This utility model has compared with prior art advantages below：

1st, it is of the present utility model novel in design reasonable, simple structure, it is convenient to realize.

2nd, glass-cleaning robot is controlled using this utility model, glass-cleaning robot can realize glass-cleaning robot in window 90 ° of steerings at the frame of family, greatly improve the walking motility of glass-cleaning robot, contribute to optimizing the motion rail of robot Mark, can make glass-cleaning robot smoothly complete the cleaning to rectangular area, improve cleaning efficiency.

3rd, glass-cleaning robot is controlled using this utility model, glass-cleaning robot can be automatically performed the scouring work of glass Make, intelligence degree is high, realizes uniform cleaning glass window, does not leak wiping phenomenon, it also avoid large area and repeat to wipe, can mitigate The working strength of labourer, it is to avoid user cleans potential danger during glass pane, greatly improves glass wiping efficiency.

4th, glass-cleaning robot is controlled using this utility model, can makes glass-cleaning robot that obstacle is avoided in traveling Thing, it is ensured that the smooth operation of whole process.

5th, cost of implementation of the present utility model is low, using flexible, is easy to promote the use of.

In sum, this utility model simple structure, it is novel in design rationally, it is possible to increase glass-cleaning robot cleans the windows Efficiency, it is safe and convenient to use, it is easy to promote the use of.

Below by drawings and Examples, the technical solution of the utility model is described in further detail.

Description of the drawings

Fig. 1 is the schematic block circuit diagram of this utility model glass-cleaning robot control system.

Fig. 2 is the structural representation of this utility model glass-cleaning robot.

Fig. 3 is structural representation of this utility model initiative part from terms of top down.

Fig. 4 is that this utility model initiative part removes the structural representation after initiative part shell.

Fig. 5 is the structural representation that this utility model initiative part is seen bottom-up.

The sectional view of initiative part when Fig. 6 is this utility model initiative part solenoid power-off.

Fig. 7 is the sectional view of initiative part when this utility model initiative part solenoid is powered.

Fig. 8 is structural representation of this utility model follower from terms of top down.

Fig. 9 is that this utility model follower removes the structural representation after follower shell.

Figure 10 is the structural representation that this utility model follower is seen bottom-up.

The sectional view of follower when Figure 11 is follower solenoid power-off of the present invention.

Description of reference numerals:

1-initiative part；1-1 initiative part shells；

1-201-the second drivewheel；1-202-the first drivewheel；

1-203-the first Active support plate；1-204-the first motor；

1-205-the second motor；The drivewheels of 1-301-the 3rd；

The drivewheels of 1-302-the 4th；1-303-the second Active support plate；

The motors of 1-304-the 3rd；The motors of 1-305-the 4th；1-4-initiative part base 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 solenoid；

The spring of 1-603-initiative part first；1-604-initiative part second spring；

1-701-initiative part pressure transducer；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 piece；2-follower；

2-1-follower shell；2-101-magnetic force adjustment knob；

2-102-magnetic force adjustment support；2-103-follower magnetic piece；

2-201-the first driven pulley；2-202-the second driven pulley；

The driven gripper shoe of 2-203-the first；The driven pulleys of 2-204-the 4th；

The driven pulleys of 2-301-the 3rd；The driven pulleys of 2-302-the 4th；

The driven gripper shoe of 2-303-the second；2-4-follower base plate；

2-5-follower controller；2-51-follower micro controller module；

2-52-follower communication module；2-601-follower bobbin；

2-602-follower solenoid；The spring of 2-603-follower first；

2-604-follower second spring；2-701-follower pressure transducer；

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 frame；

5-column；6-nylon grume；7-safety power supply dual-purpose line.

Specific embodiment

Glass-cleaning robot control system with lift walking mechanism of the present utility model, as shown in Fig. 2 described Glass-cleaning robot includes the initiative part 1 and follower for being separately positioned on the inner side of glass 3 and the outside of glass 3 and cooperating 2, as shown in Fig. 3~Fig. 7, the initiative part 1 includes the first active wheels, the second active wheels and initiative part lifting unit, institute The first active wheels are stated including the first motor 1-204 and the second motor 1-205, second active wheels include the 3rd motor 1- 304 and the 4th motor 1-305, the initiative part lifting unit includes initiative part solenoid 1-602；As shown in Fig. 8~Figure 11, The follower 2 includes the first driven wheels, the second driven wheels and follower lifting unit, the follower lifting unit bag Include follower solenoid 2-602；As shown in figure 1, the glass-cleaning robot with lift walking mechanism control system System includes initiative part sensing unit, initiative part controller 1-5 and initiative part energy source 1-8, and follower sensing unit, driven Portion controller 2-5 and follower energy source 2-8, the initiative part sensing unit includes initiative part pressure transducer 1-701, active The portion speed probe 1-702 and initiative part obliquity sensor 1-703 for being detected to the inclination angle of initiative part 1, the master Dynamic portion's pressure transducer 1-701, initiative part speed probe 1-702 and initiative part obliquity sensor 1-703 with initiative part control The input connection of device 1-5 processed, the first motor 1-204, the second motor 1-205, the 3rd motor 1-304 and the 4th motor 1- 305 are connected with the outfan of initiative part controller 1-5, and the outfan of the initiative part controller 1-5 is further connected with for connecting Or the initiative part relay 1-11 that disconnection initiative part energy source 1-8 is the current supply circuit that initiative part solenoid 1-602 powers；Institute Follower sensing unit is stated including follower pressure transducer 2-701, follower speed probe 2-702 and for follower The follower obliquity sensor 2-703 that 2 inclination angle is detected, the follower pressure transducer 2-701, follower rotating speed are passed Sensor 2-702 and follower obliquity sensor 2-703 are connected with the input of follower controller 2-5, the follower control The outfan of device 2-5 processed is further connected with what is powered for follower solenoid 2-602 for being switched on or switched off follower energy source 2-8 The follower relay 2-11 of current supply circuit.

As shown in Fig. 2 the glass-cleaning robot is also included for security protection and for being initiative part 1 and follower 2 The safety power supply dual-purpose line 7 of power supply；When being embodied as, the safety power supply dual-purpose line 7 both can be used for connecting power supply, be the wiping Glass robot manipulating task is powered, and safety rope is can serve as again, is wound on a certain column 5 indoors by nylon grume 6, prevents this Glass-cleaning robot causes to damage because surprisingly falling.The length of safety power supply dual-purpose line 7 is freely adjustable, and glass 3 is arranged on In glass frame 4.

As shown in Fig. 3~Fig. 7, the initiative part 1 also includes initiative part base plate 1-4 and is fixedly connected on initiative part base plate 1- The initiative part shell 1-1 at 4 tops, on the bottom surface of the initiative part base plate 1-4 initiative part rag 1-9 and initiative part are fixedly connected with Magnetic piece 1-10；First active wheels also include the first Active support plate 1-203, the first motor 1-204 and second electric Machine 1-205 is respectively fixedly connected with the two ends on the first Active support plate 1-203, solid on the output shaft of the first motor 1-204 Surely the first drivewheel 1-202 is connected with, the second drivewheel 1-201 is fixedly connected with the output shaft of the second motor 1-205, The first Active support plate 1-203, the first motor 1-204 and the second motor 1-205 are arranged in initiative part shell 1-1, The first drivewheel 1-202 and the second drivewheel 1-201 are exposed at outside initiative part shell 1-1；Second active wheels are also Including the second Active support plate 1-303, the 3rd motor 1-304 and the 4th motor 1-305 is respectively fixedly connected with the second master Two ends in dynamic gripper shoe 1-303, the second Active support plate 1-303 be located at the first Active support plate 1-203 top and with First Active support plate 1-203 decussations are arranged, and the 3rd is fixedly connected with the output shaft of the 3rd motor 1-304 actively Wheel 1-301, is fixedly connected with the 4th drivewheel 1-302, second Active support on the output shaft of the 4th motor 1-305 Plate 1-303, the 3rd motor 1-304 and the 4th motor 1-305 are arranged in initiative part shell 1-1, the 3rd drivewheel 1- 301 and the 4th drivewheel 1-302 be exposed at outside initiative part shell 1-1；The initiative part lifting unit also includes being fixedly connected on Initiative part bobbin 1-601 on initiative part base plate 1-4, the initiative part solenoid 1-602 are arranged on initiative part bobbin On 1-601, initiative part the first spring 1-603 and initiative part second spring 1- are also equipped with the initiative part bobbin 1-601 One end of 604, the initiative part the first spring 1-603 withstands on initiative part solenoid 1-602 bottoms, the bullet of the initiative part first The other end of spring 1-603 withstands on the top of the first Active support plate 1-203, one end top of initiative part second spring 1-604 On initiative part solenoid 1-602 tops, the other end of initiative part second spring 1-604 withstands on the second Active support plate 1- 303 bottom.

When being embodied as, the quantity of the initiative part pressure transducer 1-701 is eight, the initiative part shell 1-1 bottoms The both sides side at four, portion angle is each provided with an initiative part pressure transducer 1-701, the initiative part speed probe 1-702 Quantity be four, each setting on the first motor 1-204, the second motor 1-205, the 3rd motor 1-304 and the 4th motor 1-305 There are an initiative part speed probe 1-702, the initiative part obliquity sensor 1-703 to be arranged on initiative part base plate 1-4 bottoms Middle position.

When being embodied as, the initiative part shell 1-1 is fixedly connected on initiative part base plate 1-4 tops by screw, described Initiative part rag 1-9 and initiative part magnetic piece 1-10 are bonded on the bottom surface of initiative part base plate 1-4；The initiative part bobbin 1- 601 are fixedly connected on initiative part base plate 1-4 by screw；The initiative part controller 1-5 and initiative part energy source 1-8 lead to Cross screw to be fixedly connected on initiative part base plate 1-4.

As shown in Fig. 8~Figure 11, the follower 2 also includes follower base plate 2-4, is fixedly connected on follower base plate 2- The follower shell 2-1 and magnetic force adjusting apparatus at 4 tops, on the bottom surface of the follower base plate 2-4 follower is fixedly connected with Rag 2-9；First driven wheels include the first driven gripper shoe 2-203, are rotatably connected on first by first driven shaft The first driven pulley 2-201 outside driven gripper shoe 2-203 one end and the first driven gripper shoe is connected to by the second rotary shaft The second driven pulley 2-202 outside the 2-203 other ends, first driven gripper shoe 2-203 is arranged on follower shell 2-1 Interior, the first driven pulley 2-201 and the second driven pulley 2-202 is exposed at outside follower shell 2-1；Second driven wheels It is rotatably connected on including the second driven gripper shoe 2-303, by the 3rd driven shaft outside second driven gripper shoe 2-303 one end 3rd driven pulley 2-301 and it is connected to by the 4th driven shaft the 4th driven outside the second driven gripper shoe 2-303 other end Wheel 2-302, second driven gripper shoe 2-303 be located at the first driven gripper shoe 2-203 top and with the first driven support Plate 2-203 decussations are arranged, and second driven gripper shoe 2-303 is arranged in follower shell 2-1, and the described 3rd is driven Wheel 2-301 and the 4th driven pulley 2-302 is exposed at outside follower shell 2-1；The follower lifting unit includes being fixedly connected Follower bobbin 2-601 on follower base plate 2-4, the follower solenoid 2-602 are arranged on follower coil On frame 2-601, follower the first spring 2-603 and follower second spring are also equipped with the follower bobbin 2-601 One end of 2-604, the follower the first spring 2-603 withstands on follower solenoid 2-602 bottoms, the follower first The other end of spring 2-603 withstands on the top of the first driven gripper shoe 2-203, one end of follower second spring 2-604 Follower solenoid 2-602 tops are withstood on, the other end of follower second spring 2-604 withstands on the second driven gripper shoe The bottom of 2-303；The magnetic force adjusting apparatus include being erected at the magnetic force adjustment support 2- outside follower bobbin 2-601 102, the magnetic force adjustment support 2-102 screw tops are connected with and are threadedly coupled and stretch out outside follower with follower shell 2-1 Magnetic force adjustment knob 2-101 outside shell 2-1 tops, the magnetic force adjustment support 2-102 bottoms are fixedly connected with stretches out follower Follower magnetic piece 2-103 outside shell 2-1 bottoms.

When being embodied as, the quantity of the follower pressure transducer 2-701 is eight, the follower shell 2-1 bottoms The both sides side at four, portion angle is each provided with a follower pressure transducer 2-701, the follower speed probe 2-702 Quantity be four, be each provided with the first driven shaft, second driven shaft, the 3rd driven shaft and the 4th driven shaft one from Dynamic portion's speed probe 2-702, the follower obliquity sensor 2-703 are arranged on follower base plate 2-4 bottoms centre position Place.

When being embodied as, the follower shell 2-1 is fixedly connected on follower base plate 2-4 tops by screw, described Follower rag 2-9 is bonded on the bottom surface of follower base plate 2-4；The follower bobbin 2-601 is fixed by screw and connected It is connected on follower base plate 2-4；The follower controller 2-5 and follower energy source 2-8 are fixedly connected on by screw On follower base plate 2-4；The follower magnetic piece 2-103 is fixedly connected on magnetic force and adjusts support 2-102 bottoms by screw.

When being embodied as, the quantity of the initiative part magnetic piece 1-10 is 4~20 pieces, the follower magnetic piece 2-103 and master The quantity of dynamic portion's magnetic piece 1-10 is equal and installation site is corresponded.Such set-up mode so that initiative part 1 and follower 2 After installing inside and outside glass 3 respectively, ensure that follower 2 follows in real time all the time initiative part 1 to move；By turning magnetic force Adjustment knob 2-101, can adjust the distance between follower magnetic piece 2-103 and initiative part magnetic piece 1-10, and then being capable of basis Magnetic force size between the thickness of glass 3 adjustment follower magnetic piece 2-103 and initiative part magnetic piece 1-10.

When being embodied as, the quantity of the initiative part rag 1-9 and the quantity of follower rag 2-9 are one piece or many Block.Preferably polylith.When being embodied as, initiative part rag 1-9 should ensure that initiative part magnetic piece 1-10 is not blocked after installing, and main During dynamic portion's rag 1-9 contacts 3 face of glass, the first drivewheel 1-202 and the second drivewheel 1-201 or the 3rd drivewheel 1-301 The face of glass 3 is also touched with the 4th drivewheel 1-302 simultaneously；Follower rag 2-9 should ensure that follower magnetic piece 2-103 after installing It is not blocked, and during follower rag 2-9 contact 3 faces of glass, the first driven pulley 2-201 and the second driven pulley 2-202 or the Three driven pulley 2-301 and the 4th driven pulley 2-302 also touch the face of glass 3 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 Including the initiative part electric quantity detecting circuit 1-704 for being detected to the electricity of rechargeable battery, the initiative part electric power detection Circuit 1-704 is arranged on 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 connection of device 1-5, 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's energy source 2-8 is rechargeable battery, and the follower sensing unit is included for being detected to the electricity of 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 is connected with the input of follower controller 2-5, the follower controller The output of 2-5 is terminated with follower battery capacity indication lamp 2-705.When being embodied as, 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 Initiative part communication module 1-52 connected 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 transducer 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 connection of controller module 1-51, the initiative part relay 1-11 and initiative part battery capacity indication lamp 1-705 with master The outfan connection of dynamic portion's micro controller module 1-51, the first motor 1-204, the second motor 1-205, the 3rd motor 1- 304 and the 4th motor 1-305 be connected with the outfan of motor drive module 1-53；The follower controller 2-5 include from Dynamic portion's micro controller module 2-51 and connect with follower micro controller module 2-51 and for initiative part communication module 1-52 Follower communication module 2-52 of communication, the output of the follower micro controller module 2-51 is terminated with follower alarm module 2-54, the follower pressure transducer 2-701, follower speed probe 2-702, follower obliquity sensor 2-703 and Follower electric quantity detecting circuit 2-704 is connected with the input of follower micro controller module 2-51, the follower relay Device 2-11 and follower battery capacity indication lamp 2-705 are connected with the outfan of follower micro controller module 2-51.

In the present embodiment, 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 Information obtains the status information of follower 2 and is sent to initiative part controller 1-5, and initiative part controller 1-5 will can control driven The control information of the work of portion 2 is sent to follower controller 2-5.

The first method of glass-cleaning robot is controlled using this utility model, the method is comprised the following steps：

Step one, initiative part 1 and follower 2 are placed in behind the both side surface corresponding position of glass 3, start initiative part 1, now, initiative part relay 1-11 access failure initiative part energy sources 1-8 is that the power supply that initiative part solenoid 1-602 powers is returned Road, initiative part controller 1-5 is electric according to glass-cleaning robot operational mode set in advance the first motor 1-204 of control and second Machine 1-205 is rotated, and first active wheels contact (i.e. the first motor 1-204 the first drivewheels of drive with the side surface of glass 3 one 1-202 rotates, and the second motor 1-205 drives the second drivewheel 1-201 rotations, the first drivewheel 1-202 and the second drivewheel 1- 201 contact with the side surface of glass 3 one), make initiative part 1 walk in the side surface of glass 3 one；At the same time, follower controller 2-5 Access failure follower energy source 2-8 is the current supply circuit that follower solenoid 2-602 powers, first driven wheels and glass Another side surface of glass 3 contacts (i.e. the first driven pulley 2-201 and the second driven pulley 2-202 is contacted with another side surface of glass 3), makes Follower 2 is walked with initiative part 1 in the presence of magnetic force in another side surface of glass 3；Initiative part 1 and follower 2 are walked During, when initiative part pressure transducer 1-701 or follower pressure transducer 2-701 produces collision sensing signal, perform Step 2；When the initiative part pressure transducer 1-701 of the single side of initiative part 1 or the single pressure of the single side of follower 2 are passed When induction device 2-701 produces collision sensing signal, execution step three；When initiative part obliquity sensor 1-703 or follower inclination angle When sensor 2-703 provides the signal of not 0 deg., 90 deg, 180 ° or 270 °, execution step three, when four initiative part speed probes 1-702 and four follower speed probe 2-702 be when at the appointed time rotating speed is inconsistent all the time, execution step four；Work as master When dynamic portion's electric quantity detecting circuit 1-704 or follower electric quantity detecting circuit 2-704 shows not enough power supply, execution step four；Otherwise, Execution step five；

Step 2, the initiative part controller 1-5 output control signals give initiative part relay 1-11, give initiative part electromagnetism Coil 1-602 is powered, by first active wheels together with second active wheels suction so that first drivewheel Group leaves the surface of glass 3, while second active wheels contact glass 3 surface；Initiative part controller 1-5 controls the 3rd motor 1-304 and the 4th motor 1-305 are rotated forward or reversely rotated；Meanwhile, the initiative part controller 1-5 output signal to from Dynamic portion's controller 2-5, follower controller 2-5 give follower solenoid 2- according to received signal output control signal 602 are powered, by first driven wheels together with second driven wheels suction so that first driven wheels are left The surface of glass 3, while second driven wheels contact glass 3 surface, starts as initiative part 1 is rotated；Realize robot Go to action；

Step 3, initiative part controller 1-5 control the first motor 1-204 and the second motor 1-205 press different rotating speeds Rotating in same direction, the differential for realizing initiative part 1 is rotated；Meanwhile, follower 2 is moved with initiative part 1, and the direction for realizing robot is adjusted It is whole；

Step 4, initiative part controller 1-5 control the first motor 1-204 and the second motor 1-205 stop operating, and Out-of-work control instruction is sent to follower controller 2-5, initiative part 1 and follower 2 quit work；When being embodied as, 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, operator are reminded；

Step 5, maintain the original state it is constant, continue move ahead.

The second method of glass-cleaning robot is controlled using this utility model, the method is comprised the following steps：

Step one, initiative part 1 and follower 2 are placed in behind the both side surface corresponding position of glass 3, start initiative part 1, now, initiative part relay 1-11 has connected initiative part energy source 1-8 and has returned for the power supply that initiative part solenoid 1-602 powers Road, initiative part controller 1-5 is electric according to glass-cleaning robot operational mode set in advance the 3rd motor 1-304 of control and the 4th Machine 1-305 is rotated, and second active wheels contact (i.e. the 3rd motor 1-304 the 3rd drivewheels of drive with the side surface of glass 3 one 1-301 rotates, and the 4th motor 1-305 drives the 4th drivewheel 1-302 rotations, the 3rd drivewheel 1-301 and the 4th drivewheel 1- 302 contact with the side surface of glass 3 one), make initiative part 1 walk in the side surface of glass 3 one；At the same time, follower controller 2-5 The current supply circuit that follower energy source 2-8 is that follower solenoid 2-602 powers, second driven wheels and glass are connected Another side surface of glass 3 contacts (i.e. the 3rd driven pulley 2-203 and the 4th driven pulley 2-204 is contacted with another side surface of glass 3), makes Follower 2 is walked with initiative part 1 in the presence of magnetic force in another side surface of glass 3；Initiative part 1 and follower 2 are walked During, when initiative part pressure transducer 1-701 or follower pressure transducer 2-701 produces collision sensing signal, perform Step 2；When the initiative part pressure transducer 1-701 of the single side of initiative part 1 or the single pressure of the single side of follower 2 are passed When induction device 2-701 produces collision sensing signal, execution step three；When initiative part obliquity sensor 1-703 or follower inclination angle When sensor 2-703 provides the signal of not 0 deg., 90 deg, 180 ° or 270 °, execution step three；When four initiative part speed probes 1-702 and four follower speed probe 2-702 be when at the appointed time rotating speed is inconsistent all the time, execution step four；Work as master When dynamic portion's electric quantity detecting circuit 1-704 or follower electric quantity detecting circuit 2-704 shows not enough power supply, execution step four；Otherwise, Execution step five；

Step 2, the initiative part controller 1-5 output control signals give initiative part relay 1-11, give initiative part electromagnetism Coil 1-602 is powered, by first active wheels together with second active wheels suction so that second drivewheel Group leaves the surface of glass 3, while first active wheels contact glass 3 surface；Initiative part controller 1-5 controls the first motor 1-204 and the second motor 1-205 are rotated forward or reversely rotated；Meanwhile, the initiative part controller 1-5 output signal to from Dynamic portion's controller 2-5, follower controller 2-5 give follower solenoid 2- according to received signal output control signal 602 are powered, by first driven wheels together with second driven wheels suction so that second driven wheels are left The surface of glass 3, while first driven wheels contact glass 3 surface, starts as initiative part 1 is rotated；Realize robot Go to action；

Step 3, initiative part controller 1-5 control the 3rd motor 1-304 and the 4th motor 1-305 press different rotating speeds Rotating in same direction, the differential for realizing initiative part 1 is rotated；Meanwhile, follower 2 is moved with initiative part 1, and the direction for realizing robot is adjusted It is whole；

Step 4, initiative part controller 1-5 control the 3rd motor 1-304 and the 4th motor 1-305 stop operating, and Out-of-work control instruction is sent to follower controller 2-5, initiative part 1 and follower 2 quit work；When being embodied as, 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, operator are reminded；

Step 5, maintain the original state it is constant, continue move ahead.

The above, is only preferred embodiment of the present utility model, and not this utility model is imposed any restrictions, every Above example is made any simple modification, change and equivalent structure change according to this utility model technical spirit, still Belong in the protection domain of technical solutions of the utility model.

Claims (4)

1. a kind of glass-cleaning robot control system with lift walking mechanism, the glass-cleaning robot include for The initiative part (1) for being separately positioned on the outside of glass (3) inner side and glass (3) and cooperating and follower (2), the initiative part (1) including the first active wheels, the second active wheels and initiative part lifting unit, first active wheels include the first motor (1-204) with the second motor (1-205), second active wheels include the 3rd motor (1-304) and the 4th motor (1- 305), the initiative part lifting unit includes initiative part solenoid (1-602)；The follower (2) is including the first driven pulley Group, the second driven wheels and follower lifting unit, the follower lifting unit includes follower solenoid (2-602)； It is characterized in that：The glass-cleaning robot with lift walking mechanism with 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 from Dynamic portion's energy source (2-8), the initiative part sensing unit includes initiative part pressure transducer (1-701), initiative part revolution speed sensing Device (1-702) and the initiative part obliquity sensor (1-703) for being detected to the inclination angle of initiative part (1), the initiative part Pressure transducer (1-701), initiative part speed probe (1-702) and initiative part obliquity sensor (1-703) are and initiative part Controller (1-5) input connection, first motor (1-204), the second motor (1-205), the 3rd motor (1-304) and 4th motor (1-305) is connected with the outfan of initiative part controller (1-5), the output of the initiative part controller (1-5) End is further connected with the current supply circuit powered for initiative part solenoid (1-602) for being switched on or switched off initiative part energy source (1-8) Initiative part relay (1-11)；The follower sensing unit includes follower pressure transducer (2-701), follower rotating speed Sensor (2-702) and the follower obliquity sensor (2-703) for being detected to the inclination angle of follower (2), it is described from Dynamic portion's pressure transducer (2-701), follower speed probe (2-702) and follower obliquity sensor (2-703) with from The input connection of dynamic portion's controller (2-5), the outfan 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 solenoid (2-602) power supply.

2., according to the glass-cleaning robot control system with lift walking mechanism described in claim 1, its feature exists In：The initiative part energy source (1-8) is rechargeable battery, and the initiative part sensing unit is included for the electricity to rechargeable battery The initiative part electric quantity detecting circuit (1-704) for being detected, the initiative part electric quantity detecting circuit (1-704) is arranged on initiative part The top of energy source (1-8), the initiative part electric quantity detecting circuit (1-704) connects with the input of initiative part controller (1-5) Connect, the output of the initiative part controller (1-5) is terminated with initiative part battery capacity indication lamp (1-705)；The follower energy source (2-8) it is rechargeable battery, the follower sensing unit includes the follower electricity for being detected to the electricity of rechargeable battery Amount detection circuit (2-704), the follower electric quantity detecting circuit (2-704) is arranged on the top of follower energy source (2-8), The follower electric quantity detecting circuit (2-704) is connected with the input of follower controller (2-5), the follower controller (2-5) output is terminated with follower battery capacity indication lamp (2-705).

3., according to the glass-cleaning robot control system with lift walking mechanism described in claim 1, its feature exists In：The initiative part controller (1-5) include initiative part micro controller module (1-51) and with initiative part micro controller module (1- 51) the initiative part communication module (1-52) for connecting, the output of the initiative part micro controller module (1-51) is terminated with motor drive Dynamic model block (1-53) and initiative part alarm module (1-54), the initiative part pressure transducer (1-701), initiative part revolution speed sensing Device (1-702), initiative part obliquity sensor (1-703) and initiative part electric quantity detecting circuit (1-704) with initiative part microcontroller The input connection of device module (1-51), the initiative part relay (1-11) and initiative part battery capacity indication lamp (1-705) with Initiative part micro controller module (1-51) outfan connection, first motor (1-204), the second motor (1-205), the 3rd Motor (1-304) and the 4th motor (1-305) are connected with the outfan of motor drive module (1-53)；The follower control Device (2-5) include follower micro controller module (2-51) and connect with follower micro controller module (2-51) and for master The follower communication module (2-52) of dynamic portion's communication module (1-52) communication, the follower micro controller module (2-51) it is defeated Go out to be terminated with follower alarm module (2-54), the follower pressure transducer (2-701), follower speed probe (2- 702), follower obliquity sensor (2-703) and follower electric quantity detecting circuit (2-704) with follower micro controller module (2-51) input connection, the follower relay (2-11) and follower battery capacity indication lamp (2-705) are and follower The outfan connection of micro controller module (2-51).

4., according to the glass-cleaning robot control system with lift walking mechanism described in claim 1, its feature exists In：The initiative part communication module (1-52) and follower communication module (2-52) are infrared communication module, radio communication Module or bluetooth communication.