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Control system and control method of movement of glass cleaning robot at right angle area

A glass-wiping robot and control system technology, applied in two-dimensional position/channel control and other directions, can solve problems such as inconvenient operation and complex walking trajectory, and achieve the effects of convenient operation, improved cleaning efficiency and reduced cost

Active Publication Date: 2012-12-19
ECOVACS ROBOTICS (SUZHOU ) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the glass-wiping robot cleans the glass surface while walking, the existing walking method has a complicated walking track and is inconvenient to operate

Method used

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  • Control system and control method of movement of glass cleaning robot at right angle area
  • Control system and control method of movement of glass cleaning robot at right angle area
  • Control system and control method of movement of glass cleaning robot at right angle area

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] figure 2It is a schematic diagram of the principle of the right-angle area cleaning control system of the glass-wiping robot of the present invention. The glass-wiping robot of the present invention includes a driving unit 11 and a first walking unit 12 , and the right-angle area cleaning control system includes a sensing unit 21 and a control unit 22 . The control unit 22 is connected to the sensing unit 21 and the driving unit 11 respectively, and controls the driving unit 11 . In order to ensure smooth walking of the glass-wiping robot, the first walking unit 12 includes walking wheels arranged on the left and right sides of the lower surface of the glass-wiping robot body.

[0043] During the process of the glass-wiping robot walking in the right-angle area, the control unit 22 judges that the glass-wiping robot 1 is in a right-angle area; the glass-wiping robot also includes a state detection part, which is connected to the control unit 22, and the control unit ...

Embodiment 2

[0058] The sensors in the first sensor subunit 210 and the second sensor subunit 211, in addition to the contact sensor as described in Embodiment 1, can also use non-contact sensors, such as: infrared sensors or ultrasonic sensors sensor.

[0059] The difference between the glass-wiping robot 1 in this embodiment and the glass-wiping robot 1 in Embodiment 1 is that the sensors used in the first sensor subunit 210 and the second sensor subunit 211 in the sensing unit 21 are Non-contact sensor. Since the detection distance of the non-contact sensor has a certain range, obstacles within its detection range can be detected. If the detection distance is too large, when the distance between the glass cleaning robot 1 and the glass frame is still relatively large, it can The signal is detected, obviously the error is too large. There are two solutions to this problem. The first one is to select a non-contact sensor with a small detection distance, and within its detection distance...

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Abstract

The invention discloses a control system of the movement of a glass cleaning robot at a right angle area. The control system comprises a sensing unit (21) and a control unit (22), wherein the sensing unit (21) comprises a first sensor subunit (210) and a second sensor subunit (211); the control unit (22) is connected with the first and second sensor subunits (210 and 211) and a driving unit (11) respectively; the glass cleaning robot further comprises a state detecting part; the state detecting part is connected with the control unit (22); and the control unit (22) is used for comparing a current state of the glass cleaning robot with a preset value in the control unit (22), controlling a first waling unit to move, and enabling the glass cleaning robot (1) to withdraw from the right angle area. The control system is simple in structure and convenient to operate; through the reasonable arrangement of the number and types of the sensors, the sensitivity of the glass cleaning robot is increased, and at the same the cost is reduced; along a specific walking track, the glass cleaning robot can accomplish the cleaning at the right angle area successfully, and the cleaning efficiency is improved.

Description

technical field [0001] The invention relates to a right-angle area movement control system and a control method of a glass-wiping robot, belonging to the technical field of intelligent robot manufacturing. Background technique [0002] Picture 1-1 Schematic diagram of the sensor setup for the existing glass-wiping robot. Such as Picture 1-1 As shown, in the prior art, in order to facilitate the effective control of the movement of the glass-wiping robot, a collision plate 3 is provided around the robot body 2, and each collision plate 3 is respectively provided with a sensor 4, and each collision The number of sensors 4 on the board 3 is usually two, that is to say, at least 4 collision boards 3 and 8 sensors 4 are arranged on each glass-wiping robot. This arrangement of sensors 4 not only increases the robot's The volume increases the cost. In addition, since the plurality of sensors 4 arranged around the body of the glass-wiping robot are the same type of sensors 4, wh...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 张晓骏
Owner ECOVACS ROBOTICS (SUZHOU ) CO LTD
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