Window cleaning robot and obstacle crossing mode control method thereof

A glass-wiping robot and control method technology, applied in the field of wall-climbing robots, can solve problems such as slow moving speed, failure to overcome obstacles, and large volume, and achieve the effect of increasing the anti-torsion ability

Active Publication Date: 2017-05-31
赵东来
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, none of the current home-based commercial glass-wiping robots have this function, and they can only work on a single glass surface
However, some obstacle-surpassing window-cleaning robots under development have not been successfully transformed into products due to their shortcomings such as huge size, complex structure, and slow moving speed.
Limited by the size of the window, commercialized glass-wiping robots must be small and flexible. However, the miniaturized glass-wiping robots have weak anti-torsion capabilities and cannot provide the torque required to overcome obstacles. Upward twisting and skidding, resulting in failure to overcome obstacles

Method used

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  • Window cleaning robot and obstacle crossing mode control method thereof
  • Window cleaning robot and obstacle crossing mode control method thereof
  • Window cleaning robot and obstacle crossing mode control method thereof

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Embodiment Construction

[0030] The control method of the obstacle-crossing mode of the glass-wiping robot of the present invention will be further described below in conjunction with the accompanying drawings and specific implementation.

[0031] Such as figure 1 As shown, the glass-wiping robot includes a glass-wiping robot one 1, a glass-wiping robot two 2 and an intermediate link 3, wherein each glass-wiping robot includes a mobile device 4 and an adsorption device 5 suction cups, each glass-wiping robot Both have the function of moving and absorbing; through the intermediate connecting rod 3, the sub-glass-wiping robot 1 and the sub-glass-wiping robot 2 are connected to each other.

[0032] Such as figure 2 , image 3 As shown, there is a definite transmission relationship between the intermediate link 3 and the sub-robot 1 and the sub-robot 2. By controlling the intermediate link 3, the sub-robot 1 and the sub-robot 2 can be parallel to the glass respectively. The surface 6 and the plane per...

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Abstract

The invention belongs to the field of wall-climbing robots, and relates to a window cleaning robot and an obstacle crossing mode control method thereof. The window cleaning robot comprises a first window cleaning sub-robot body, a second window cleaning sub-robot body and a middle connecting rod, and the specific control method of an obstacle crossing mode is determined according to obstacle crossing instructions of different directions. In the obstacle crossing process, a robot shell abuts against a glass frame, the torsion resistance of the robot is enhanced through the counterforce of the glass frame, and the small window cleaning robot achieves stable and reliable obstacle crossing functions.

Description

technical field [0001] The invention belongs to the field of wall-climbing robots, and in particular relates to a glass-wiping robot and a control method for its obstacle-climbing mode. Background technique [0002] With the rapid development of robot technology, glass-wiping robots belonging to the field of wall-climbing robots have achieved certain applications and developments in various occasions. Because glass windows are usually combined by multiple glass window frames, in order to complete the glass scrubbing operation, the robot must have the ability to cross the window frame. However, none of the current household-type commercialized glass-wiping robots has this function, and they can only work within a single glass surface. However, some window-cleaning robots that can overcome obstacles in development have not been able to be successfully transformed into products due to their huge volume, complex structure, and slow moving speed. Limited by the size of the wind...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A47L1/02
CPCA47L1/02A47L2201/04
Inventor 赵东来李金哲许婷常佳琪苏伟黄祥辉金宗李侯坦张威
Owner 赵东来
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