A control method for a glass-wiping robot

Abstract

The invention discloses a control system for a robot for cleaning glass. The control system comprises a driving part sensing unit, a driving part controller, a driving part energy source, a driven part sensing unit, a driven part controller and a driven part energy source, wherein the driving part sensing unit comprises a driving part pressure sensor, a driving part rotating speed sensor and a driving part inclination sensor; a first motor, a second motor, a third motor and a fourth motor are all connected with the output end of the driving part controller; a driving part relay is also connected to the output end of the driving part controller; the driven part sensing unit comprises a driven part pressure sensor, a driven part rotating speed sensor and a driven part inclination sensor; the driven part pressure sensor, the driven part rotating speed sensor and the driven part inclination sensor are all connected with the input end of the driven part controller; a driven part relay is connected to the output end of the driven part controller. The invention further discloses a control method for the robot for cleaning the glass. By using the control device and the control method disclosed by the invention, the glass cleaning efficiency of the robot for cleaning the glass can be improved.

Description

technical field [0001] The invention belongs to the technical field of window glass cleaning appliances, and in particular relates to a control method for a glass cleaning robot. Background technique [0002] In daily life, people wipe indoor glass with rags; but for outdoor glass, especially high-rise buildings, if people stand outside the window to wipe the glass, the operation process is neither safe nor easy to wipe completely and clean. Now there is a kind of double-sided window cleaner, by clamping the glass to be wiped by two glass cleaners with magnets, when the indoor glass cleaner is working, the outer glass cleaner follows the indoor glass cleaner due to the magnetic effect It can be moved to clean the inside and outside of the glass at the same time, but most of these double-sided window cleaners are manual, laborious to operate, and the window cleaning process is random, which will cause some areas to be wiped many times and some areas to leak. rubbing problem....

AI Technical Summary

Problems solved by technology

[0002] In daily life, people use rags to wipe indoor glass; but for outdoor glass, especially high-rise buildings, if people stand outside the window to wipe the glass, the operation process is neither safe nor easy to wipe clean.

Now there is a kind of double-sided window cleaner, by clamping the glass to be wiped by two glass cleaners with magnets, when the indoor glass cleaner is working, the outer glass cleaner follows the indoor glass cleaner due to the magnetic effect It can be moved to clean the inside and outside of the glass at the same time, but most of these double-sided window cleaners are manual, laborious to operate, and the window cleaning process is random, which will cause some areas to be wiped many times and some areas to leak. rubbing problem

However, the current automatic double-sided window cleaner, that is, the glass cleaning robot, relies on the positive and negative rotation of the drive motor to advance or retreat on the glass surface, and relies on the differential speed of the drive motor to achieve steering. The reversing is not flexible enough, which greatly restricts its movement path. , causing some areas to be wiped repeatedly, which is not conducive to the improvement of window cleaning efficiency; for areas with a large area that need to be wiped but only a small part of the glass, and the right-angled area of ​​​​the glass, the defects are more obvious

For this reason, someone has developed the mechanical structure part of the glass-wiping robot that is used to solve the above problems, but still lacks the control system and the control system and Control Method

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