Control method for building environmental protection robot and robot using the method

A cleaning robot and control method technology, applied in the field of robots, can solve the problems of poor cleaning effect, poor coordination of multi-directional cleaning path planning, and many pipelines.

Inactive Publication Date: 2003-04-30
吴志明 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Beijing University of Aeronautics and Astronautics has disclosed a building cleaning robot named "Blue Sky Cleaner". The robot adopts the adsorption method of multiple suction cups and can cross certain obstacles, but it cannot perform continuous cleaning during alternating movements.
[0003] CN97121896 discloses a "wall-climbing robot". The robot includes propellers or ducted fans, power, moving mechanisms, control boxes and other parts. The propellers or ducted fans generate thrust directed at the wall under power drive, so that the robot Attached to the wall, the moving mechani...

Method used

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  • Control method for building environmental protection robot and robot using the method
  • Control method for building environmental protection robot and robot using the method
  • Control method for building environmental protection robot and robot using the method

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Experimental program
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Embodiment Construction

[0015] specific implementation plan

[0016] When the robot of the present invention starts to work, firstly, the propeller 12 is driven by a high-speed rotating motor 11 to generate a certain positive pressure, and the robot body is pushed to the wall surface, and is adsorbed on the wall surface by a suction cup (consisting of a negative pressure chamber 14 and a sealing ring) Above, the negative pressure is formed by the fan 13 and the suction fan 9, and when the negative pressure is insufficient, the propeller will play the role of compensating the negative pressure.

[0017] The AC servo motor 15 drives the wheel 17 to drive the robot body through the reducer 16, and under the action of the inclination sensor, it has the function of fine-tuning and correcting the robot body.

[0018] The synchronous motor 3 drives the wheel 1 through the cooperation of the clutch 2, and plays a compensating drive to the robot body. The stepper motor 5 acts on the wheel 1 through the reduce...

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Abstract

A cleaning robot for high bailding is composed of the main body, cleaning unit, control system and safety mechanism, and features that the flexible water-sealing mechanism, drive regulating system, steering regulation and compensation driving system, cleaning unit and control system are combined to reliably stay-on the wall surface and cleaning plane, curved surface, arc surface of curtain wall or ceramic tile wall. Its advantages are high cleaning effect, high recovery rate of water and continuous cleaning.

Description

technical field [0001] The invention relates to a method for controlling a building environmental protection cleaning robot and a robot using the method. Background technique [0002] Beijing University of Aeronautics and Astronautics has disclosed a building cleaning robot named "Blue Sky Cleaner". The robot adopts the adsorption method of multiple suction cups and can cross certain obstacles, but it cannot perform continuous cleaning during alternating movements. [0003] CN97121896 discloses a "wall-climbing robot". The robot includes propellers or ducted fans, power, moving mechanisms, control boxes and other parts. The propellers or ducted fans generate thrust directed at the wall under power drive, so that the robot Attached to the wall, the moving mechanism drives the robot to crawl on the wall under the control of the control box. It is believed that the wall-climbing robot can be used for various tall building wall operations, but this document does not disclose how...

Claims

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Application Information

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IPC IPC(8): A47L1/00A47L11/38B25J5/00
Inventor 吴志明
Owner 吴志明
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