A method for detecting and processing glass edge touch of a swinging window cleaning robot

Abstract

A method for processing the glass edge touch detection of a swinging window cleaning robot, including: adding a fault-tolerant judgment mode during the glass edge detection process; allowing the window cleaning robot chassis to touch the glass edge position during the erasing operation of the swinging window cleaning robot Make a misjudgment; by controlling the other window cleaning chassis of the window cleaning robot to perform the same movement as the first foot M1 in the direction of travel, determine whether the first foot M2 reaches the edge of the glass, if and only if the first foot M1 and the first foot M1 Foot M2 is determined to have reached the edge of the glass at the same time, and then it is determined that this is the edge of the glass and the corresponding flag is set; when it reaches the edge of the glass, the cross movement counting method is executed according to the set conditions. The first foot M1 and the first foot M2 follow the " The principle of "first retreat, first advance, retreat first"; finally, according to the number of executions of the cross movement counting method, the downward movement of the swinging window cleaning robot can be realized while effectively reducing the misjudgment of the glass edge position.

Description

technical field [0001] The invention relates to the field of smart home control, in particular to a glass edge touch detection processing method of a swinging window cleaning robot. Background technique [0002] Due to the rapid popularization of smart life, there are already various types of window cleaning robots on the market and have been widely used in daily life. The swing-type window-cleaning robot adopts the principle of negative pressure adsorption, and at the same time uses the window-cleaning turntable as a walking mechanism to complete the swing-type walking action, combining adsorption, walking and wiping actions, and can maximize the wiping effect while eliminating scratches And more common in the market. However, there are still situations in which the swing window cleaning robot on the market misjudges the position of the edge of the glass and the glass erasure rate is unstable. For example, when there is a large amount of dirt on the glass surface, the win...

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Problems solved by technology

Shi Hongbing and Yan Changlin proposed a new type of swinging self-propelled window cleaning robot and its control method (Shi Hongbing. Swinging self-propelled window cleaning robot and its control method: China, 104905728[P].2015-09-16). The mechanical structure design and motion control method of the swing window cleaning robot are introduced, and the components and working principle of this type of window cleaning robot are introduced in detail, but the glass edge detection and subsequent processing methods in the control method are not described and analyzed; Zhang Houxiang, Wu Xingming and Zong Guanghua from the Robotics Research Institute of Beihang University introduced a high-level window cleaning robot system, which uses the Mitsubishi FX2N programmable controller to control the cylinders in the X, Y, and Z directions, and realizes the high-level window cleaning robot system. The basic function of window cleaning (Zhang Houxiang, Wu Xingming. Window Cleaning Robot Control System [J]. Microcomputer Information, 2000(1): 30-32.), but its structure is complex, the cost is high, and it is not suitable for household window cleaning conditions ; Wang Shuhuan and Li Hongli added the voice control method to the control of the window cleaning robot, and adopted DTW (Dynamic Time Warping, dynamic time warping) voice recognition technology to subdivide the control task to a certain extent (Wang Shuhuan. A The method of controlling the window cleaning robot by voice: China, 104865973[P].2015-08-26), but its research is based on the research on the remote control method that the window cleaning robot can already complete the basic motion function, and does not involve the window cleaning robot The judgment and processing method of the internal program of the controller for glass edge detection

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