WO2017079886A1 - Method for dynamically adjusting suction force of window cleaning robot - Google Patents

Abstract

A method (10) for dynamically adjusting a suction force of a window cleaning robot, comprising: obtaining current wind speed values of two wind speed sensors, i.e., a third wind speed value and a fourth wind speed value (S102), and a first output current of a fan (S101); comparing the two current wind speed values separately with five wind speed intervals V0, V1, V2, V3, and V4 obtained in advance, and determining wind speed intervals within which the current wind speed values respectively fall, so as to obtain a third current interval and a fourth current interval corresponding to the two wind speed intervals (S103); comparing the maximum current values of the third current interval and the fourth current interval, and using the current interval corresponding to the greater current value in the two as a target current interval (S104); and adjusting the first output current to fall within the range of the target current interval, so as to provide the window cleaning robot with a suction force needed in the current state (S105). By means of the method (10), different suction forces needed by a window cleaning robot in different states are provided to the window cleaning robot by dynamically adjusting the output current of a fan.

Description

一种擦玻璃机器人的吸附力动态调整方法  Dynamic adjustment method of adsorption force of a glass-wiping robot

技术领域Technical field

本发明涉及机器人技术领域，尤其涉及一种擦玻璃机器人的吸附力动态调整方法。The invention relates to the field of robot technology, and in particular relates to a method for dynamically adjusting the adsorption force of a glass-wiping robot.

背景技术Background technique

现有的擦玻璃机器人吸附在玻璃的表面时，通常会有在光滑玻璃上静止、在光滑玻璃上行进、在凹凸不平玻璃上静止、在凹凸不平玻璃上行进以及吸附在玻璃边沿几种状态。由于每种状态下擦玻璃机器人所需的吸附力不同，擦玻璃机器人进行状态切换时，就需要对吸附转盘的吸附力进行及时的调整才能保证擦玻璃机器人不掉落又能够在不同状态进行行进。然而，现有的擦玻璃机器人吸附在玻璃的表面时，吸附转盘的真空度会比较大，造成行走困难；而当吸附转盘转动行走时，需要降低吸附转盘的真空度，而当真空度降低以后，一旦碰到玻璃上凹凸不平或者大的赃物时，吸附转盘会发生漏气而存在跌落的危险。此外，这种擦玻璃机器人在遇到玻璃边沿没有阻拦物或者转角时，也容易造成跌落。When the existing glass-cleaning robot is adsorbed on the surface of the glass, it usually has a state of being stationary on the smooth glass, traveling on the smooth glass, standing on the uneven glass, traveling on the uneven glass, and adsorbing on the edge of the glass. Since the adsorption force required for the glass-wiping robot is different under each state, when the glass-wiping robot performs state switching, it is necessary to adjust the adsorption force of the adsorption turntable in time to ensure that the glass-cleaning robot can not travel and can travel in different states. . However, when the existing glass-cleaning robot is adsorbed on the surface of the glass, the vacuum degree of the adsorption turntable is relatively large, which makes walking difficult; and when the adsorption turntable is rotated, the vacuum degree of the adsorption turntable needs to be lowered, and when the vacuum degree is lowered, When it hits the uneven or large smear on the glass, the suction turret will leak and there is a danger of falling. In addition, such a glass-cleaning robot is also prone to drop when it encounters a glass edge without a block or corner.

因此，目前急需一种能够动态调整风机的输出电流以满足擦玻璃机器人在不同状况下对吸附力的不同需求，从而防止擦玻璃机器人掉落的擦玻璃机器人的吸附力动态调整方法。Therefore, there is an urgent need for a dynamic adjustment method for the adsorption force of the glass-cleaning robot capable of dynamically adjusting the output current of the fan to meet the different requirements of the glass-washing robot under different conditions, thereby preventing the glass-washing robot from falling.

发明内容Summary of the invention

本发明的目的在于提供一种擦玻璃机器人的吸附力动态调整方法，其能够通过动态调整风机的输出电流来满足擦玻璃机器人在不同状态下对吸附力的不同需求。The object of the present invention is to provide a method for dynamically adjusting the adsorption force of a glass-wiping robot, which can dynamically adjust the output current of the fan to meet the different requirements of the glass-washing robot for different adsorption forces in different states.

为解决上述技术问题，本发明采用如下所述的技术方案。一种擦玻璃机器人的吸附力动态调整方法，所述擦玻璃机器人包括两个独立驱动的第一吸附转盘、第二吸附转盘、用于监测第一吸附转盘内风速值的第一风速传感器及用于监测第二吸附转盘内风速值的第二风速传感器，所述方法包括获取第一风速传感器前一次的第一风速值、第二风速传感器前一次的第二风速值及前一次风机的第一输出电流；用于获取第一风速传感器当前的第三风速值，及第二风速传感器当前的第四风速值。将第三风速值与第四风速值分别与预先获得的V0、V1、V2、V3、V4五个风速区间进行比对，并判断第三风速值与第四风速值各自所在的风速区间，以得到第一吸附转盘当前的运动状态、玻璃表面状态、与第三风速值所在的风速区间相对应的第三电流区间、第二吸附转盘当前的运动状态、玻璃表面状态、以及与第四风速值所在的风速区间相对应的第四电流区间；将第三电流区间和第四电流区间的最大电流值进行比较，并将两者中较大的电流值对应的电流区间作为目标电流区间；将所述第一输出电流调整到目标电流区间范围内，以供给所述第一吸附转盘和第二吸附转盘在当前状态下所需的吸附力；其中，所述V0、V1、V2、V3、V4为依次连续增大的区间段，且分别唯一对应不同的电流区间，V0为擦玻璃机器人在光滑玻璃上静止时的风速值，V1为擦玻璃机器人在光滑玻璃行进时的风速值；V2为擦玻璃机器人在凹凸不平的玻璃上静止时的风速值，V3为擦玻璃机器人在凹凸不平的玻璃上行进时的风速值，V4为擦玻璃机器人在玻璃边沿且有部分已经不贴附在玻璃表面上时的风速值。In order to solve the above technical problems, the present invention adopts the technical solution as described below. A method for dynamically adjusting the adsorption force of a glass-wiping robot, comprising: two independently driven first adsorption turntables, a second adsorption turntable, a first wind speed sensor for monitoring the wind speed value in the first adsorption turntable, and a second wind speed sensor for monitoring a wind speed value in the second adsorption turntable, the method comprising: acquiring a first wind speed value of the first wind speed sensor, a second wind speed value of the second wind speed sensor, and a first wind speed of the previous wind turbine The output current is used to obtain a current third wind speed value of the first wind speed sensor and a current fourth wind speed value of the second wind speed sensor. Comparing the third wind speed value and the fourth wind speed value with the five wind speed intervals of V0, V1, V2, V3, and V4 obtained in advance, and determining the wind speed interval in which the third wind speed value and the fourth wind speed value respectively exist, Obtaining a current motion state of the first adsorption dial, a glass surface state, a third current interval corresponding to a wind speed interval in which the third wind speed value is located, a current motion state of the second adsorption dial, a glass surface state, and a fourth wind speed value a fourth current interval corresponding to the wind speed interval; comparing the maximum current value of the third current interval and the fourth current interval, and using the current interval corresponding to the larger current value of the two as the target current interval; The first output current is adjusted to be within a target current interval to supply the required adsorption force of the first adsorption carousel and the second adsorption carousel in a current state; wherein, the V0, V1, V2, V3, and V4 are The interval segments that are continuously increased in sequence, and each uniquely corresponds to a different current interval, and V0 is the wind speed value of the glass-washing robot when it is stationary on the smooth glass, and V1 is the glass-cleaning robot in the light. The wind speed value when the glass travels; V2 is the wind speed value when the glass-wiping robot is stationary on the uneven glass, V3 is the wind speed value when the glass-wiping robot travels on the uneven glass, and V4 is the glass-cutting robot at the edge of the glass and There are some wind speed values that are not attached to the glass surface.

优选地，所述V0、V1、V2、V3、V4为依次连续增大的区间段，且分别唯一对应不同的电流区间还包括：获取擦玻璃机器人在光滑玻璃上静止时在不同输出电流I0={A，B}下对应的风速值V0={a，b}，其中a为擦玻璃机器人吸附在玻璃上不掉落时对应的风速，b为在保证擦玻璃机器人能够吸附在玻璃上的前提下，不断增大电流后对应的最大风速，A为风速为a时对应的电流值，B为风速为b时对应的电流值；获取擦玻璃机器人在光滑玻璃上行走时在不同输出电流I1={C，D}下对应的风速值V1={c，d}，其中c为擦玻璃机器人在玻璃上行走不掉落时对应的风速，d为在保证擦玻璃机器人能够玻璃上行走不掉落前提下，不断增大电流后对应的最大风速，C为风速为c时对应的电流值，D为风速为d时对应的电流值；获取擦玻璃机器人在凹凸不平玻璃上静止时在不同输出电流I2={E，F}下对应的风速值V2={e，f}，其中e为擦玻璃机器人在凹凸不平玻璃上静止时对应的风速，f为在保证擦玻璃机器人能够凹凸不平玻璃上静止不掉落前提下，不断增大电流后对应的最大风速，E为风速为e时对应的电流值，F为风速为f时对应的电流值；获取擦玻璃机器人在凹凸不平玻璃上行走时在不同输出电流I3={G，H}下对应的风速值V3={g，h}，其中g为擦玻璃机器人在凹凸不平玻璃上行走不掉落时对应的风速，h为在保证擦玻璃机器人能够凹凸不平玻璃上行走不掉落前提下，不断增大电流后对应的最大风速，G为风速为g时对应的电流值，H为风速为h时对应的电流值；获取擦玻璃机器人在玻璃边沿时在不同输出电流I4={J，K}下对应的风速值V4={j，k}，其中j为擦玻璃机器人在玻璃边沿时对应的风速，k为在保证擦玻璃机器人能够玻璃边沿不掉落前提下，不断增大电流后对应的最大风速，J为风速为j时对应的电流值，K为风速为k时对应的电流值；其中，b=c，d=e，f=g，h=j，B<D<F<H<K。Preferably, the V0, V1, V2, V3, and V4 are interval segments that are continuously increased in sequence, and respectively corresponding to different current intervals respectively include: acquiring different output currents I0= when the glass-cleaning robot is stationary on the smooth glass. {A, B} corresponds to the wind speed value V0 = {a, b}, where a is the corresponding wind speed when the glass-washing robot is adsorbed on the glass without falling, and b is the premise that the glass-cleaning robot can be adsorbed on the glass. Next, the corresponding maximum wind speed after increasing the current, A is the current value corresponding to the wind speed a, B is the current value corresponding to the wind speed b; obtaining the different output current I1 when the glass-cleaning robot is walking on the smooth glass The corresponding wind speed value under {C, D} is V1={c,d}, where c is the corresponding wind speed when the glass-cutting robot walks on the glass without falling, and d is to ensure that the glass-cleaning robot can walk on the glass without falling. Under the premise, the maximum wind speed corresponding to the current is continuously increased, C is the current value corresponding to the wind speed c, and D is the current value corresponding to the wind speed d; the different output current is obtained when the glass-cleaning robot is stationary on the uneven glass Corresponding to I2={E,F} The speed value V2={e,f}, where e is the corresponding wind speed when the glass-wiping robot is stationary on the uneven glass, and f is an increasing current under the premise that the glass-cleaning robot can stand still on the uneven glass. After the corresponding maximum wind speed, E is the current value corresponding to the wind speed e, and F is the current value corresponding to the wind speed f; when the glass-cleaning robot is walking on the uneven glass, the different output currents I3={G,H} The corresponding wind speed value V3={g,h}, where g is the corresponding wind speed when the glass-wiping robot walks on the uneven glass, and h is the premise that the glass-cleaning robot can walk on the uneven glass without falling. Next, the corresponding maximum wind speed after increasing the current, G is the current value corresponding to the wind speed g, H is the current value corresponding to the wind speed h; obtaining the different output current I4={J when the glass-cutting robot is at the glass edge , K) corresponding wind speed value V4 = {j, k}, where j is the corresponding wind speed of the glass-washing robot at the edge of the glass, k is to increase the current while ensuring that the glass-cleaning robot can not drop the glass edge After the corresponding maximum Speed, J is the current value corresponding to the wind speed j, and K is the current value corresponding to the wind speed k; where b=c, d=e, f=g, h=j, B<D<F<H< K.

本发明的有益技术效果在于：该擦玻璃机器人的吸附力动态调整方法通过获取第一风速传感器前后两次的第一风速值和第三风速值、第二吸附转盘前后两次的第二风速值和第四风速值及前一次风机的第一输出电流，并分别将第三风速值和第四风速值与预先获得的风速区间进行比对，依此得到第三风速值所在的风速区间对应的第三电流区间以及第四风速值所在的风速区间对应的第四电流区间，将第三电流区间和第四电流区间的最大值进行比对，以得到目标电流区间，然后调整第一输出电流至目标电流区间内，以供给第一吸附转盘及第二吸附转盘在当前状态下所需的吸附力。本发明的擦玻璃机器人的吸附力动态调整方法能够动态调整擦玻璃机器人的吸附力以满足其在不同状况下对吸附力的不同需求，具有简单易于实现，推广性强的优点。An advantageous technical effect of the present invention is that the method for dynamically adjusting the adsorption force of the glass-wiping robot obtains the first wind speed value and the third wind speed value before and after the first wind speed sensor, and the second wind speed value twice before and after the second adsorption turntable. And the fourth wind speed value and the first output current of the previous fan, and respectively comparing the third wind speed value and the fourth wind speed value with the pre-obtained wind speed interval, thereby obtaining the wind speed interval corresponding to the third wind speed value. The third current interval and the fourth current interval corresponding to the wind speed interval in which the fourth wind speed value is located, the third current interval and the maximum value of the fourth current interval are compared to obtain a target current interval, and then the first output current is adjusted to Within the target current interval, the adsorption force required for the first adsorption turntable and the second adsorption turntable in the current state is supplied. The method for dynamically adjusting the adsorption force of the glass-wiping robot of the invention can dynamically adjust the adsorption force of the glass-cleaning robot to meet the different requirements of the adsorption force under different conditions, and has the advantages of simple and easy realization and strong popularization.

附图说明DRAWINGS

图1是较佳实施例擦玻璃机器人的吸附力动态调整方法的流程图。1 is a flow chart of a method for dynamically adjusting the adsorption force of a glass cleaning robot of a preferred embodiment.

具体实施方式detailed description

为使本领域的普通技术人员更加清楚地理解发明的目的、技术方案和优点，以下结合附图和实施例对发明做进一步的阐述。The invention will be further described below in conjunction with the drawings and embodiments in order to provide a further understanding of the invention.

参照图1所示，较佳实施例擦玻璃机器人的吸附力动态调整方法10的流程图。该擦玻璃机器人包括两个独立驱动的第一吸附转盘、第二吸附转盘、用于监测第一吸附转盘内风速值的第一风速传感器及用于监测第二吸附转盘内风速值的第二风速传感器。该方法10包括：Referring to Figure 1, a flow chart of a method 10 for dynamically adjusting the adsorption force of a glass-washing robot of the preferred embodiment. The glass-wiping robot comprises two independently driven first adsorption turntables, a second adsorption turntable, a first wind speed sensor for monitoring the wind speed value in the first adsorption turntable, and a second wind speed for monitoring the wind speed value in the second adsorption turntable. sensor. The method 10 includes:

S101：获取第一风速传感器前一次的第一风速值、第二风速传感器前一次的第二风速值及前一次风机的第一输出电流；具体地，在本实施例中，第一吸附转盘和第二吸附转盘上分别设置有用于监测风速值的第一风速传感器和第二风速传感器。在本实施例中，第一风速传感器和第二风速传感器实时进行风速监测，以供擦玻璃机器人能够及时更新数据来进行最准确的调整。在本实施例中，优选的，第一吸附转盘和第二吸附转盘的顶部分别连接第一通风管和第二通风管，第一通风管和第二通风管相连通后与风机连接。由于两个吸附转盘采用同一个风机，在风机与控制电路的连接电路中可以通过串联电阻形成一个闭合回路，用以检测风机工作时的输出电流，以便获取前一次风机的第一输出电流。S101: acquiring a first first wind speed value of the first wind speed sensor, a second second wind speed value of the second wind speed sensor, and a first output current of the previous wind turbine; specifically, in the embodiment, the first adsorption turntable and A first wind speed sensor and a second wind speed sensor for monitoring the wind speed value are respectively disposed on the second adsorption turntable. In this embodiment, the first wind speed sensor and the second wind speed sensor perform wind speed monitoring in real time, so that the glass cleaning robot can update the data in time to perform the most accurate adjustment. In this embodiment, preferably, the tops of the first adsorption turntable and the second adsorption turntable are respectively connected to the first ventilation pipe and the second ventilation pipe, and the first ventilation pipe and the second ventilation pipe are connected to each other and connected to the fan. Since the two adsorption turntables use the same fan, a closed circuit can be formed through the series resistors in the connection circuit between the fan and the control circuit to detect the output current of the fan during operation, so as to obtain the first output current of the previous fan.

S102：获取第一风速传感器当前的第三风速值及第二风速传感器当前的第四风速值。具体地，从第一风速传感器中获取第一吸附转盘当前的第三风速值以及从第二风速传感器中获取第二吸附转盘当前的第四风速值。S102: Acquire a current third wind speed value of the first wind speed sensor and a current fourth wind speed value of the second wind speed sensor. Specifically, the current third wind speed value of the first adsorption turntable is obtained from the first wind speed sensor and the current fourth wind speed value of the second adsorption turntable is obtained from the second wind speed sensor.

S103：将第三风速值与第四风速值分别与预先获得的V0、V1、V2、V3、V4五个风速区间进行比对，并判断第三风速值与第四风速值各自所在的风速区间，以得到第一吸附转盘当前的运动状态、玻璃表面状态、与第三风速值所在的风速区间相对应的第三电流区间、第二吸附转盘当前的运动状态、玻璃表面状态、以及与第四风速值所在的风速区间相对应的第四电流区间。其中，所述V0、V1、V2、V3、V4为依次连续增大的区间段，且分别唯一对应不同的电流区间，V0为擦玻璃机器人在光滑玻璃上静止时的风速值，V1为擦玻璃机器人在光滑玻璃行进时的风速值；V2为擦玻璃机器人在凹凸不平的玻璃上静止时的风速值，V3为擦玻璃机器人在凹凸不平的玻璃上行进时的风速值，V4为擦玻璃机器人在玻璃边沿且有部分已经不贴附在玻璃表面上时的风速值。S103: Comparing the third wind speed value and the fourth wind speed value with the five wind speed ranges of V0, V1, V2, V3, and V4 obtained in advance, and determining the wind speed interval where the third wind speed value and the fourth wind speed value are respectively located. Obtaining a current motion state of the first adsorption turntable, a glass surface state, a third current interval corresponding to a wind speed interval in which the third wind speed value is located, a current motion state of the second adsorption turntable, a glass surface state, and a fourth The fourth current interval corresponding to the wind speed interval in which the wind speed value is located. Wherein, the V0, V1, V2, V3, and V4 are interval segments that continuously increase in sequence, and respectively correspond to different current intervals respectively, and V0 is a wind speed value when the glass-wiping robot is stationary on the smooth glass, and V1 is a glass-cutting glass. The wind speed value of the robot when the smooth glass travels; V2 is the wind speed value when the glass-cleaning robot is stationary on the uneven glass, and V3 is the wind speed value when the glass-cleaning robot travels on the uneven glass, and V4 is the glass-cleaning robot. The edge of the glass has a portion of the wind speed value when it has not been attached to the glass surface.

具体地，在本实施例中，V0、V1、V2、V3、V4为依次连续增大的区间段，且分别唯一对应不同的电流区间，且规定在光滑玻璃表面上静止或行进的状态称为正常状态，其他状态均为不正常状态。预先获取V0、V1、V2、V3、V4的过程如下：获取擦玻璃机器人在光滑玻璃上静止时在不同输出电流I0={A，B}下对应的风速值V0={a，b}，其中a为擦玻璃机器人吸附在玻璃上不掉落时对应的风速，b为在保证擦玻璃机器人能够吸附在玻璃上的前提下，不断增大电流后对应的最大风速，A为风速为a时对应的电流值，B为风速为b时对应的电流值。获取擦玻璃机器人在光滑玻璃上行走时在不同输出电流I1={C，D}下对应的风速值V1={c，d}，其中c为擦玻璃机器人在玻璃上行走不掉落时对应的风速，d为在保证擦玻璃机器人能够玻璃上行走不掉落前提下，不断增大电流后对应的最大风速，C为风速为c时对应的电流值，D为风速为d时对应的电流值。获取擦玻璃机器人在凹凸不平玻璃上静止时在不同输出电流I2={E，F}下对应的风速值V2={e，f}，其中e为擦玻璃机器人在凹凸不平玻璃上静止时对应的风速，f为在保证擦玻璃机器人能够凹凸不平玻璃上静止不掉落前提下，不断增大电流后对应的最大风速，E为风速为e时对应的电流值，F为风速为f时对应的电流值。获取擦玻璃机器人在凹凸不平玻璃上行走时在不同输出电流I3={G，H}下对应的风速值V3={g，h}，其中g为擦玻璃机器人在凹凸不平玻璃上行走不掉落时对应的风速，h为在保证擦玻璃机器人能够在凹凸不平玻璃上行走不掉落前提下，不断增大电流后对应的最大风速，G为风速为g时对应的电流值，H为风速为h时对应的电流值。获取擦玻璃机器人在玻璃边沿时在不同输出电流I4={J，K}下对应的风速值V4={j，k}，其中j为擦玻璃机器人在玻璃边沿时对应的风速，k为在保证擦玻璃机器人能够玻璃边沿不掉落前提下，不断增大电流后对应的最大风速，J为风速为j时对应的电流值，K为风速为k时对应的电流值。其中，b=c，d=e，f=g，h=j，B<D<F<H<K。Specifically, in the present embodiment, V0, V1, V2, V3, and V4 are interval segments that are sequentially continuously increased, and each uniquely corresponds to a different current interval, and a state of being stationary or traveling on a smooth glass surface is called In normal state, other states are abnormal. The process of acquiring V0, V1, V2, V3, and V4 in advance is as follows: obtaining the wind speed value V0={a, b} corresponding to different output currents I0={A, B} when the glass-wiping robot is stationary on the smooth glass, wherein a is the corresponding wind speed when the glass-washing robot is adsorbed on the glass without falling, and b is the maximum wind speed corresponding to the continuous increase of the current under the premise that the glass-cleaning robot can be adsorbed on the glass, and A corresponds to the wind speed of a. The current value, B is the current value corresponding to the wind speed b. Obtain the corresponding wind speed value V1={c,d} under different output currents I1={C,D} when the glass-cutting robot walks on the smooth glass, where c is the corresponding time when the glass-cutting robot walks on the glass without falling Wind speed, d is the maximum wind speed corresponding to the continuous increase of current under the premise that the glass-cleaning robot can walk on the glass without fail, C is the corresponding current value when the wind speed is c, and D is the corresponding current value when the wind speed is d . Obtaining the corresponding wind speed value V2={e,f} under different output currents I2={E,F} when the glass-cleaning robot is stationary on the uneven glass, where e is the corresponding time when the glass-cleaning robot is stationary on the uneven glass Wind speed, f is the maximum wind speed corresponding to the continuous increase of current under the premise of ensuring that the glass-cleaning robot can stand still on the uneven glass, E is the corresponding current value when the wind speed is e, and F is the corresponding speed when the wind speed is f Current value. Obtain the corresponding wind speed value V3={g,h} under different output currents I3={G,H} when the glass-cutting robot walks on the uneven glass, where g is the glass-cutting robot walking on the uneven glass without falling The corresponding wind speed, h is the maximum wind speed corresponding to the continuous increase of current under the premise that the glass-cleaning robot can walk on the uneven glass, and G is the corresponding current value when the wind speed is g, and H is the wind speed. The corresponding current value at h. Obtain the corresponding wind speed value V4={j,k} under different output currents I4={J,K} at the edge of the glass, where j is the corresponding wind speed of the glass-cutting robot at the edge of the glass, k is guaranteed The glass-cleaning robot can increase the current corresponding maximum wind speed under the premise that the glass edge does not fall, J is the current value corresponding to the wind speed j, and K is the current value corresponding to the wind speed k. Where b=c, d=e, f=g, h=j, B<D<F<H<K.

由于V0、V1、V2、V3、V4为依次连续增大的区间段，且分别唯一对应不同的电流区间。将第一风速传感器的第三风速值与第二风速传感器的第四风速值分别与预先获得的V0、V1、V2、V3、V4五个风速区间进行比对，并判断第三风速值与第四风速值各自所在的风速区间，以得到第一吸附转盘当前的运动状态、玻璃表面状态、与第三风速值所在的风速区间相对应的第三电流区间、第二吸附转盘当前的运动状态、玻璃表面状态、以及与第四风速值所在的风速区间相对应的第四电流区间。如获得的第三风速值位于风速区间V1内，第四风速值位于风速区间V2内，则可以得到当前第一吸附转盘的状态及玻璃表面的状态为在光滑玻璃表面行进，当前第二吸附转盘的状态及玻璃表面的状态为在凹凸不平玻璃表面静止，依据第一吸附转盘和第二吸附转盘的运动状态和玻璃表面的状态就可以判断擦玻璃机器人的运动状态，且V1唯一对应电流区间I1={C，D}，V2唯一对应电流区间I2={E，F}，即第三电流区间为I1={C，D}，第四电流区间为I2={E，F}。Since V0, V1, V2, V3, and V4 are interval segments that continuously increase in sequence, and each uniquely corresponds to a different current interval. Comparing the third wind speed value of the first wind speed sensor and the fourth wind speed value of the second wind speed sensor with the five wind speed ranges of V0, V1, V2, V3, and V4 obtained in advance, and determining the third wind speed value and the first The wind speed interval in which the four wind speed values are respectively is obtained to obtain the current motion state of the first adsorption turntable, the glass surface state, the third current interval corresponding to the wind speed interval where the third wind speed value is located, the current motion state of the second adsorption turntable, The surface state of the glass and the fourth current interval corresponding to the wind speed interval in which the fourth wind speed value is located. If the obtained third wind speed value is located in the wind speed interval V1, and the fourth wind speed value is located in the wind speed interval V2, the state of the current first adsorption turntable and the state of the glass surface are obtained to travel on the smooth glass surface, and the current second adsorption turntable The state of the glass surface and the state of the glass surface are static on the surface of the uneven glass, and the motion state of the glass-cleaning robot can be judged according to the motion state of the first adsorption turntable and the second adsorption turntable and the state of the glass surface, and the V1 unique corresponding current interval I1 ={C,D}, V2 uniquely corresponds to the current interval I2={E,F}, that is, the third current interval is I1={C, D}, and the fourth current interval is I2={E,F}.

S104：将第三电流区间和第四电流区间的最大电流值进行比较，并将两者中较大的电流值对应的电流区间作为目标电流区间。具体地，根据步骤S103中得到的第三电流区间为I1={C，D}和第四电流区间为I2={E，F}，将第三电流区间的电流最大值D与第四电流区间的电流最大值F进行比较，并将D与F中较大的电流值对应的电流区间作为目标电流区间。在本实施例中，F>D，故将第四电流区间作为目标电流区间。S104: Compare the maximum current value of the third current interval and the fourth current interval, and use a current interval corresponding to the larger current value of the two as the target current interval. Specifically, according to the third current interval obtained in step S103, I1={C, D} and the fourth current interval is I2={E, F}, and the current maximum value D and the fourth current interval of the third current interval are The current maximum value F is compared, and the current interval corresponding to the larger current value of D and F is taken as the target current interval. In the present embodiment, F>D, so the fourth current interval is taken as the target current interval.

S105：将第一输出电流调整到目标电流区间范围内，以供给第一吸附转盘和第二吸附转盘在当前状态下所需的吸附力。具体地，根据步骤S104获取的目标电流区间，将风机的第一输出电流调整到目标电流区间内。如在本实施例中，将风机的第一输出电流调整到I2={E，F}之间，以防止擦玻璃机器人因吸附力不足出现掉落的情形，且这种动态调整风机输出电流的过程实时更新，以保证擦玻璃机器人在不同状态下能够自动调整风机输出电流来供给其在不同状态下的吸附力需求。该方法10不仅能够通过第一风速传感器和第二风速传感器的值来判断擦玻璃机器人在玻璃表面上的状态从而对不正常状态进行预警，而且能够通过调节风机的输出电流来加大机器人在不正常状态下的吸附力，具有自动处理不正常状态下的吸附力需求。如当擦玻璃机器人在光滑玻璃表面上行进时，根据读取到的风速值来调节风机的输出电流，使擦玻璃机器人既能在玻璃上无障碍行进，又能稳固地吸附在玻璃表面上。又如当擦玻璃机器人在凹凸不平玻璃表面行进时，如遇到凹凸不平的障碍物或者较大的赃物等，通过加大风机的输出电流，进而使擦玻璃机器人的吸附力更强。当擦玻璃机器人行进到玻璃边沿时，风机的输出电流自动变大以加大擦玻璃机器人的吸附力，然后根据两个风速传感器中风速值的大小判断行进到玻璃边沿的吸附转盘，并且通过控制该吸附转盘返回到玻璃内部。当在大电流下风速传感器的风速值与正常的输出电流的情况下增加不明显时，表示擦玻璃机器人已经回到正常的状态，电流会自动减小到正常状态下的值。S105: Adjust the first output current to the target current interval range to supply the adsorption force required by the first adsorption turntable and the second adsorption turntable in the current state. Specifically, the first output current of the fan is adjusted to the target current interval according to the target current interval acquired in step S104. As in the embodiment, the first output current of the fan is adjusted to be between I2={E, F} to prevent the glass-scraping robot from falling due to insufficient adsorption force, and the dynamic adjustment of the fan output current is The process is updated in real time to ensure that the glass-cleaning robot can automatically adjust the fan output current under different conditions to supply its adsorption force requirements under different conditions. The method 10 can not only judge the state of the glass-cleaning robot on the glass surface by the values of the first wind speed sensor and the second wind speed sensor, thereby warning the abnormal state, and can increase the robot's output current by adjusting the output current of the fan. The adsorption force under normal conditions has the need to automatically handle the adsorption force under abnormal conditions. For example, when the glass-wiping robot travels on the smooth glass surface, the output current of the fan is adjusted according to the read wind speed value, so that the glass-cleaning robot can travel unobstructed on the glass and can be stably adsorbed on the glass surface. For example, when the glass-wiping robot travels on the surface of the uneven glass, if an uneven obstacle or a large object is encountered, the output current of the fan is increased, and the suction force of the glass-cleaning robot is further enhanced. When the glass-wiping robot travels to the edge of the glass, the output current of the fan automatically increases to increase the adsorption force of the glass-cleaning robot, and then the adsorption turntable that travels to the edge of the glass is judged according to the magnitude of the wind speed value of the two wind speed sensors, and is controlled by The adsorption carousel returns to the inside of the glass. When the wind speed value of the wind speed sensor is not significantly increased under the condition of the high current, the glass-cleaning robot has returned to the normal state, and the current is automatically reduced to the value under the normal state.

以上所述仅为发明的优选实施例，而非对发明做任何形式上的限制。本领域的技术人员可在上述实施例的基础上施以各种等同的更改和改进，凡在权利要求范围内所做的等同变化或修饰，均应落入发明的保护范围之内。The above description is only a preferred embodiment of the invention, and is not intended to limit the invention in any way. A person skilled in the art can make various equivalent modifications and improvements to the above-described embodiments, and equivalent changes or modifications made within the scope of the claims should fall within the scope of the invention.

Claims (2)

1. 一种擦玻璃机器人的吸附力动态调整方法，所述擦玻璃机器人包括两个独立驱动的第一吸附转盘、第二吸附转盘、用于监测第一吸附转盘内风速值的第一风速传感器及用于监测第二吸附转盘内风速值的第二风速传感器，所述第一吸附转盘和第二吸附转盘同时连接在风机上，所述风机用于提供真空源，其特征在于，所述方法包括： A method for dynamically adjusting the adsorption force of a glass-wiping robot, comprising: two independently driven first adsorption turntables, a second adsorption turntable, a first wind speed sensor for monitoring the wind speed value in the first adsorption turntable, and a second wind speed sensor for monitoring a wind speed value in the second adsorption turntable, wherein the first adsorption turntable and the second adsorption turntable are simultaneously connected to a fan, wherein the fan is used to provide a vacuum source, wherein the method comprises:

   获取第一风速传感器前一次的第一风速值、第二风速传感器前一次的第二风速值及前一次风机的第一输出电流；Obtaining a first wind speed value of the first wind speed sensor, a second wind speed value of the second wind speed sensor, and a first output current of the previous fan;

   获取第一风速传感器当前的第三风速值及第二风速传感器当前的第四风速值。Obtaining a current third wind speed value of the first wind speed sensor and a current fourth wind speed value of the second wind speed sensor.

   将第三风速值与第四风速值分别与预先获得的V0、V1、V2、V3、V4五个风速区间进行比对，并判断第三风速值与第四风速值各自所在的风速区间，以得到第一吸附转盘当前的运动状态、玻璃表面状态、与第三风速值所在的风速区间相对应的第三电流区间、第二吸附转盘当前的运动状态、玻璃表面状态、以及与第四风速值所在的风速区间相对应的第四电流区间；Comparing the third wind speed value and the fourth wind speed value with the five wind speed intervals of V0, V1, V2, V3, and V4 obtained in advance, and determining the wind speed interval in which the third wind speed value and the fourth wind speed value respectively exist, Obtaining a current motion state of the first adsorption dial, a glass surface state, a third current interval corresponding to a wind speed interval in which the third wind speed value is located, a current motion state of the second adsorption dial, a glass surface state, and a fourth wind speed value The fourth current interval corresponding to the wind speed interval;

   将第三电流区间和第四电流区间的最大电流值进行比较，并将两者中较大的电流值对应的电流区间作为目标电流区间；Comparing the maximum current value of the third current interval and the fourth current interval, and using the current interval corresponding to the larger current value of the two as the target current interval;

   将所述第一输出电流调整到目标电流区间范围内，以供给所述第一吸附转盘和第二吸附转盘在当前状态下所需的吸附力；Adjusting the first output current to a target current interval range to supply the adsorption force required by the first adsorption turntable and the second adsorption turntable in a current state;

   其中，所述V0、V1、V2、V3、V4为依次连续增大的区间段，且分别唯一对应不同的电流区间，V0为擦玻璃机器人在光滑玻璃上静止时的风速值，V1为擦玻璃机器人在光滑玻璃行进时的风速值；V2为擦玻璃机器人在凹凸不平的玻璃上静止时的风速值，V3为擦玻璃机器人在凹凸不平的玻璃上行进时的风速值，V4为擦玻璃机器人在玻璃边沿且有部分已经不贴附在玻璃表面上时的风速值。 Wherein, the V0, V1, V2, V3, and V4 are interval segments that continuously increase in sequence, and respectively correspond to different current intervals respectively, and V0 is a wind speed value when the glass-wiping robot is stationary on the smooth glass, and V1 is a glass-cutting glass. The wind speed value of the robot when the smooth glass travels; V2 is the wind speed value when the glass-cleaning robot is stationary on the uneven glass, and V3 is the wind speed value when the glass-cleaning robot travels on the uneven glass, and V4 is the glass-cleaning robot. The edge of the glass has a portion of the wind speed value when it has not been attached to the glass surface.
2. 如权利要求1所述的擦玻璃机器人的吸附力动态调整方法，其特征在于，所述V0、V1、V2、V3、V4为依次连续增大的区间段，且分别唯一对应不同的电流区间还包括：The method for dynamically adjusting the adsorption force of the glass-wiping robot according to claim 1, wherein the V0, V1, V2, V3, and V4 are interval segments that are continuously increased in sequence, and each uniquely corresponds to a different current interval. include:

   获取擦玻璃机器人在光滑玻璃上静止时在不同输出电流I0={A，B}下对应的风速值V0={a，b}，其中a为擦玻璃机器人吸附在玻璃上不掉落时对应的风速，b为在保证擦玻璃机器人能够吸附在玻璃上的前提下，不断增大电流后对应的最大风速，A为风速为a时对应的电流值，B为风速为b时对应的电流值；Obtain the corresponding wind speed value V0={a,b} under different output currents I0={A,B} when the glass-cleaning robot is stationary on the smooth glass, where a is the corresponding when the glass-washing robot is adsorbed on the glass without falling. Wind speed, b is the maximum wind speed corresponding to the continuous increase of current under the premise of ensuring that the glass-cleaning robot can be adsorbed on the glass, A is the corresponding current value when the wind speed is a, and B is the current value corresponding to the wind speed b;

   获取擦玻璃机器人在光滑玻璃上行走时在不同输出电流I1={C，D}下对应的风速值V1={c，d}，其中c为擦玻璃机器人在玻璃上行走不掉落时对应的风速，d为在保证擦玻璃机器人能够玻璃上行走不掉落前提下，不断增大电流后对应的最大风速，C为风速为c时对应的电流值，D为风速为d时对应的电流值；Obtain the corresponding wind speed value V1={c,d} under different output currents I1={C,D} when the glass-cutting robot walks on the smooth glass, where c is the corresponding time when the glass-cutting robot walks on the glass without falling Wind speed, d is the maximum wind speed corresponding to the continuous increase of current under the premise that the glass-cleaning robot can walk on the glass without fail, C is the corresponding current value when the wind speed is c, and D is the corresponding current value when the wind speed is d ;

   获取擦玻璃机器人在凹凸不平玻璃上静止时在不同输出电流I2={E，F}下对应的风速值V2={e，f}，其中e为擦玻璃机器人在凹凸不平玻璃上静止时对应的风速，f为在保证擦玻璃机器人能够凹凸不平玻璃上静止不掉落前提下，不断增大电流后对应的最大风速，E为风速为e时对应的电流值，F为风速为f时对应的电流值；Obtaining the corresponding wind speed value V2={e,f} under different output currents I2={E,F} when the glass-cleaning robot is stationary on the uneven glass, where e is the corresponding time when the glass-cleaning robot is stationary on the uneven glass Wind speed, f is the maximum wind speed corresponding to the continuous increase of current under the premise of ensuring that the glass-cleaning robot can stand still on the uneven glass, E is the corresponding current value when the wind speed is e, and F is the corresponding speed when the wind speed is f Current value

   获取擦玻璃机器人在凹凸不平玻璃上行走时在不同输出电流I3={G，H}下对应的风速值V3={g，h}，其中g为擦玻璃机器人在凹凸不平玻璃上行走不掉落时对应的风速，h为在保证擦玻璃机器人能够凹凸不平玻璃上行走不掉落前提下，不断增大电流后对应的最大风速，G为风速为g时对应的电流值，H为风速为h时对应的电流值；Obtain the corresponding wind speed value V3={g,h} under different output currents I3={G,H} when the glass-cutting robot walks on the uneven glass, where g is the glass-cutting robot walking on the uneven glass without falling The corresponding wind speed, h is the maximum wind speed corresponding to the continuous increase of current under the premise of ensuring that the glass-cleaning robot can walk on the uneven glass, and G is the corresponding current value when the wind speed is g, and H is the wind speed h Corresponding current value;

   获取擦玻璃机器人在玻璃边沿时在不同输出电流I4={J，K}下对应的风速值V4={j，k}，其中j为擦玻璃机器人在玻璃边沿时对应的风速，k为在保证擦玻璃机器人能够玻璃边沿不掉落前提下，不断增大电流后对应的最大风速，J为风速为j时对应的电流值，K为风速为k时对应的电流值；Obtain the corresponding wind speed value V4={j,k} under different output currents I4={J,K} at the edge of the glass, where j is the corresponding wind speed of the glass-cutting robot at the edge of the glass, k is guaranteed The glass-cleaning robot can increase the current corresponding maximum wind speed under the premise that the glass edge does not fall, J is the current value corresponding to the wind speed j, and K is the current value corresponding to the wind speed k;

   其中，b=c，d=e，f=g，h=j，B<D<F<H<K。Where b=c, d=e, f=g, h=j, B<D<F<H<K.