Edge detection steering system, window cleaning machine and steering movement control method

Abstract

The invention proposes an edge detection steering system, a window cleaning machine and a steering movement control method, which belong to the technical field of window cleaning machine manufacturing. The invention comprises a machine body, a machine casing, an edge detection steering system, a control unit, a walking mechanism, a fan assembly, a wiping assembly, a spray assembly and a deceleration assembly. The distance is measured in real time by a rangefinder, and the damping deceleration is performed after the distance is graded, so that the wear caused by the window cleaning machine uniformly impacting an obstacle can be reduced; a rotating ring protrudes from the outer wall of the machine casing, so that the outer wall of the machine casing does not contact the obstacle, and the problem of edge wear between the machine casing and the obstacle is solved; the rotating ring can rotate in a plane to make circular motion, and a universal wheel is embedded in the rotating ring, so that the contact between the edge steering device and the obstacle is converted into sliding friction, which significantly reduces the wear between the two contact surfaces of the rotating ring and the obstacle and reduces power consumption; a design in which an elastic ring is provided on the outer ring of the rotating ring reduces noise and mechanical vibration, and maintains the stability and precision of the machine.

Description

Technical Field

[0001] The present invention relates to the technical field of window cleaning machine manufacturing, and in particular to an edge detection steering system, a window cleaning machine and a steering movement control method. Background Art

[0002] A window cleaning machine is an automated cleaning device, mainly used to clean windows that are difficult to reach or the window surfaces of high-rise buildings. The automated cleaning process can save a lot of manpower and time, reduce the risk of people having to climb high to clean windows, reduce cleaning differences caused by human factors and enhance cleaning effects. The window cleaning robot maintains stability on the glass surface through suction cups or vacuum adsorption, and can detect the edge of the window through sensors to turn. Conventional window cleaning machines, such as the Chinese invention patent with application number 201510643496.9 and the name of a window cleaning robot, have a drop sensing switch assembly arranged at the edge of the swing structure, that is, the collision sensor is mainly arranged at the edge of the machine housing, but the direct collision between the housing of the window cleaning machine and the edge of the window is a hard friction, which will cause wear on the edges of the housing and the window; since more force is required to overcome friction, it will also increase power consumption; generate noise; generate mechanical vibration, affect the stability and accuracy of the machine, and cause the performance of the equipment to gradually decline; at the same time, it always moves at a uniform speed during operation, and has a large impact when it reaches the edge of the window. Summary of the invention

[0003] The object of the present invention is to provide an edge detection and steering system for a window cleaning machine so as to solve the problems in the prior art proposed in the above background technology, such as edge wear between the casing and the window, increased power consumption, noise generation, mechanical vibration, affecting the stability and accuracy of the machine, and uniform motion during operation and high impact force when reaching the edge of the window.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] An edge detection steering system comprises a plurality of edge steering devices symmetrically arranged on the edges and corners of a machine body, wherein an installation cavity is arranged under each edge and corner of the machine body, a column is arranged in the installation cavity, and the edge steering device is arranged in the installation cavity, wherein the edge steering device comprises a base, a swing mechanism and a steering assembly, wherein the base is in a herringbone shape and is divided into an opening portion facing the edge and corner of the machine body and an extension end provided with an opening, a lap column is arranged on one end of the swing mechanism and is installed on the opening of the extension end, the column is sequentially penetrated through the lap column with a through hole and the opening of the extension end, and a steering assembly is installed on the other end of the swing mechanism toward one side of a working surface, wherein the steering assembly comprises a rotating ring, wherein the rotating ring protrudes from the edge and corner of the machine body, wherein the rotating ring touches the edge and rotates to make a circular motion, wherein a universal wheel in contact with the working surface is embedded in the rotating ring, and protruding wing ends are arranged on both sides of the left and right sides of the middle part of the swing mechanism facing one side of the machine body, and collision switches corresponding to the two wing ends are arranged on the machine body respectively.

[0006] Furthermore, it comprises two or four edge steering devices symmetrically arranged on the corners of the machine body.

[0007] Furthermore, an elastic ring is provided on the outer ring of the rotating ring.

[0008] As a preferred technical solution of the present invention, a window cleaning machine includes a body, an edge detection steering system and a control unit, wherein the edge detection steering system is the edge detection steering system described in any one of claims 1 to 3, and is installed on the corner of the body, the control unit receives a signal from the touch switch, and the control unit controls the movement state of the edge detection steering system.

[0009] Furthermore, it also includes a walking mechanism for driving the body to move, the walking mechanism includes a driving motor, a driving wheel and a wheel skin, the driving motor is connected to the driving wheel, the driving wheel is connected to the wheel skin and drives the wheel skin to rotate, the walking mechanism is provided with two parts respectively installed on the body located on both sides of the fan assembly and having through holes, the control unit is electrically connected to the driving motor to control the walking state of the walking mechanism.

[0010] Furthermore, it also includes a fan assembly for adsorbing the machine body on the working surface, a accommodating chamber for installing the fan assembly is provided at the center of the machine body, the accommodating chamber is provided with an air vent corresponding to the suction port of the fan assembly, and a wiping assembly is also installed under the machine body, the wiping assembly includes a cleaning member and a floating plate matching the lower end surface of the machine body, the center of the floating plate is provided with a plurality of adsorption holes corresponding to the position of the suction port, the cleaning member is adhered to the surrounding of the plurality of adsorption holes and the walking mechanism through a detachable adhesive structure; an annular groove is provided under the machine body, the annular groove and the upper end surface of the floating plate form an inner chamber, the lower end surface of the floating plate and the working surface form an outer chamber, the inner chamber and the outer chamber combine to form a negative pressure chamber, the fan assembly sucks air to form the negative pressure chamber, adsorbs the floating plate on the machine body, and at the same time adsorbs the entire machine body on the working surface through the plurality of adsorption holes.

[0011] Furthermore, it also includes a casing, which is adapted to the shape of the body and wrapped in its inner cavity, and a handle is provided on the top of the casing.

[0012] Furthermore, it also includes a spray component, which includes a water tank and a spray head. The water tank is arranged in the machine body, and the water tank is connected to the spray head through a water pipe. The water tank is pressurized by a water pump to spray water out from the spray head.

[0013] Furthermore, it also includes a deceleration component, which includes a rangefinder and a multiple damper. The rangefinder is arranged on the four sides and four corners of the body, and the rangefinder is electrically connected to the control unit. The control unit is also connected to the multiple damper, and the multiple damper is arranged on the walking mechanism.

[0014] As a preferred technical solution of the present invention, a steering movement control method of a window cleaning machine comprises the following steps:

[0015] S1, the control unit of the window cleaning machine generates a travel control signal and sends it to the travel mechanism;

[0016] S2, the walking mechanism receives the walking control signal and starts walking on the glass surface of the window;

[0017] S3, the distance meter detects the distance between the window cleaning machine and the edge of the window, and sends a feedback signal to the control unit;

[0018] S4, the control unit receives the feedback signal, classifies it according to the distance between the window cleaning machine and the window edge, generates a graded deceleration signal, and sends it to the multiple damper;

[0019] S5, the multiple damper receives the graded deceleration signal and decelerates the walking mechanism in grades according to the signal level;

[0020] S6, when the window cleaning machine reaches the edge of the window at a low speed, the edge steering system contacts the edge of the window, and the edge steering system sends a feedback signal to the control unit;

[0021] S7, the control unit receives the feedback signal, generates a steering control signal, and sends it to the walking mechanism;

[0022] S8: The traveling mechanism receives the steering control signal and performs steering.

[0023] In summary, the beneficial effects of the present invention are:

[0024] By setting distance meters on the four sides and four corners of the machine body, long-distance real-time distance measurement can be carried out, and the distance between the window cleaning machine and the obstacle can be graded. Then, the window cleaning machine can be graded and decelerated according to the grade, which can reduce the wear caused by the window cleaning machine impacting the obstacle at a uniform speed;

[0025] The rotating rings at the four corners of the body protrude from the outer wall of the casing, so that the outer wall of the casing does not contact with obstacles, solving the problem of edge wear between the casing and obstacles;

[0026] The rotating ring can rotate in a plane to make circular motion. A universal wheel is embedded in the rotating ring, which changes the contact between the edge steering device and the obstacle into sliding friction, significantly reducing the wear between the two contact surfaces of the rotating ring and the obstacle and reducing power consumption;

[0027] The outer ring of the rotating ring is provided with an elastic ring to reduce noise and mechanical vibration, thus maintaining the stability and precision of the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the external structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the internal structure of the present invention;

[0030] Figure 3 It is a schematic diagram of the main structure of the present invention;

[0031] Figure 4 It is a schematic diagram of the structure of the edge detection steering system of the present invention;

[0032] Figure 5 is a partial schematic diagram of the edge detection steering system of the present invention;

[0033] Figure 6 is a bottom view of the body of the present invention;

[0034] Figure 7 is a schematic structural diagram of a fan assembly of the present invention;

[0035] Among them: 100-body, 200-casing, 210-handle, 300-edge steering device, 310-base, 320-swing mechanism, 321-wing end, 322-steering assembly, 3221-rotating ring, 3222-universal wheel, 3223-elastic ring, 330-collision switch, 400-walking mechanism, 410-drive motor, 420-drive wheel, 430-wheel skin, 500-fan assembly, 510-accommodating chamber, 520-ventilation hole, 600-wiping assembly, 610-floating plate, 6101-adsorption hole, 620-cleaning part, 630-annular groove, 700-spray assembly, 710-water tank. DETAILED DESCRIPTION

[0036] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments given here are only used to illustrate and explain the present invention, and cannot be used to limit the present invention.

[0037] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention may also have other implementations and variations thereof. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0038] like Figure 4-5 As shown, an edge detection steering system includes a plurality of edge steering devices 300 symmetrically arranged on the corners of a machine body 100, each corner of the machine body 100 is provided with an installation cavity, a column is arranged in the installation cavity, the edge steering device 300 is arranged in the installation cavity, the edge steering device 300 includes a base 310, a swing mechanism 320 and a steering assembly 322, the base 310 is in a herringbone shape and is divided into an opening portion facing the corner of the machine body 100 and an extension end with an opening, a lap column is arranged on one end of the swing mechanism 320 and is installed on the opening of the extension end, and the columns are sequentially penetrated through A lap column with a through hole and an opening at the extension end, the other end of the swing mechanism 320 is installed with a steering assembly 322 facing the working surface, the steering assembly 322 includes a rotating ring 3221, the rotating ring 3221 protrudes from the corner of the body 100, the rotating ring 3221 touches the edge and rotates in a circular motion, the rotating ring 3221 is embedded with a universal wheel 3222 that contacts the working surface, and the left and right sides of the middle part of the swing mechanism 320 facing the side of the body 100 are provided with raised wing ends 321, and collision switches 330 corresponding to the two wing ends 321 are respectively provided on the body 100.

[0039] like Figure 3 As shown, it includes two or four edge steering devices 300 symmetrically arranged on the corners of the body 100.

[0040] like Figure 5 As shown, the outer ring of the rotating ring 3221 is provided with an elastic ring 3223 .

[0041] like Figure 3-4 As shown, a window cleaning machine includes a body 100, an edge detection steering system and a control unit (not shown in the figure), wherein the edge detection steering system is the edge detection steering system as described in any one of claims 1 to 3, and is installed on the corner of the body 100, wherein the control unit receives a signal from the touch switch, and the control unit controls the movement state of the edge detection steering system.

[0042] like Figure 6 As shown, it also includes a walking mechanism 400 for driving the body 100 to move, the walking mechanism 400 includes a driving motor 410, a driving wheel 420 and a wheel skin 430, the driving motor 410 is connected to the driving wheel 420, the driving wheel 420 is connected to the wheel skin 430, and drives the wheel skin 430 to rotate, the walking mechanism 400 is provided with two parts respectively installed on the body 100 located on both sides of the fan assembly 500 and having through holes, the control unit is electrically connected to the driving motor 410, and controls the walking state of the walking mechanism 400.

[0043] like Figure 3 and Figure 7 As shown, it also includes a fan assembly 500 for adsorbing the machine body 100 on the work surface, a receiving cavity 510 for installing the fan assembly 500 is provided at the center of the machine body 100, and the receiving cavity 510 is provided with a vent hole 520 corresponding to the suction port of the fan assembly 500, and a wiping assembly 600 is also installed below the machine body 100, and the wiping assembly 600 includes a cleaning member 620 and a floating plate 610 matched with the lower end surface of the machine body 100, and the center of the floating plate 610 is provided with a plurality of adsorption holes 6101 corresponding to the position of the suction port, The cleaning member 620 is attached to the four sides surrounding the plurality of adsorption holes 6101 and the walking mechanism 400 through a detachable adhesive structure; an annular groove 630 is provided under the body 100, and the annular groove 630 and the upper end surface of the floating plate 610 form an inner chamber, and the lower end surface of the floating plate 610 and the working surface form an outer chamber, and the inner chamber and the outer chamber combine to form a negative pressure chamber, and the fan assembly 500 draws air to form the negative pressure chamber, adsorbs the floating plate 610 on the body 100, and at the same time adsorbs the entire body 100 on the working surface through the plurality of adsorption holes 6101.

[0044] like Figure 1 As shown, it also includes a housing 200 , which is adapted to the outer shape of the body 100 and wrapped in its inner cavity, and a handle 210 is provided on the top of the housing 200 .

[0045] like Figure 2As shown, it also includes a spray component 700, which includes a water tank 710 and a spray head (not shown in the figure). The water tank 710 is arranged in the body 100, and the water tank 710 is connected to the spray head (not shown in the figure) through a water pipe (not shown in the figure). The water tank 710 is pressurized by a water pump (not shown in the figure) to spray water out from the spray head (not shown in the figure).

[0046] In actual implementation, the window cleaning machine also includes a deceleration component, which includes a rangefinder and a multiple damper. The rangefinder is arranged on the four sides and four corners of the body 100. The rangefinder is electrically connected to the control unit. The control unit is also connected to the multiple damper, which is arranged on the walking mechanism 400.

[0047] A method for controlling the steering movement of a window cleaning machine comprises the following steps:

[0048] S1, the control unit of the window cleaning machine generates a travel control signal and sends it to the travel mechanism;

[0049] S2, the walking mechanism receives the walking control signal and starts walking on the glass surface of the window;

[0050] S3, the distance meter detects the distance between the window cleaning machine and the edge of the window, and sends a feedback signal to the control unit;

[0051] S4, the control unit receives the feedback signal, classifies it according to the distance between the window cleaning machine and the window edge, generates a graded deceleration signal, and sends it to the multiple damper;

[0052] S5, the multiple damper receives the graded deceleration signal and decelerates the walking mechanism in grades according to the signal level;

[0053] S6, when the window cleaning machine reaches the edge of the window at a low speed, the edge steering system contacts the edge of the window, and the edge steering system sends a feedback signal to the control unit;

[0054] S7, the control unit receives the feedback signal, generates a steering control signal, and sends it to the walking mechanism;

[0055] S8: The traveling mechanism receives the steering control signal and performs steering.

[0056] The working principle of the steering movement control method of the window cleaning machine of the present invention is: after the window cleaning machine is started, the rangefinder measures the distance in real time at a long distance, and grades the distance between the window cleaning machine and the obstacle. In this embodiment, the distance between the window cleaning machine and the obstacle is divided into two levels: the first level is 10 cm corresponding to 1 times the damping deceleration of the multiple damper, and the second level is 5 cm corresponding to 2 times the damping deceleration of the multiple damper, so that the window cleaning machine encounters the obstacle after graded deceleration, which can reduce the wear caused by the window cleaning machine uniformly impacting the obstacle; at the same time, when the window cleaning machine encounters the obstacle, the rotating ring contacts the obstacle first, and the rotating ring drives the swing mechanism to swing to one side. At this time, the wing end of the swing mechanism touches the collision switch, and the collision switch feeds back the signal to the controller. The controller processes the received signal and sends a steering signal to the walking system. After the walking mechanism receives the signal, the driving wheels on both sides of the body are driven by their respective driving motors to move at the same speed and in opposite directions, so that the window cleaning machine rotates around the center of the body when turning, realizing zero turning radius steering, improving the maneuverability and flexibility of the robot, and the elastic ring on the rotating ring can be replaced to extend the service life of the window cleaning machine.

[0057] It should be understood that the above-mentioned embodiments are one or more embodiments of the present invention, and there are many other embodiments and variations thereof based on the present invention; the variations and modifications made by ordinary technicians in this industry through the present invention without making pioneering innovations all fall within the scope of protection of the present invention.

Claims

1. A window cleaning machine, characterized in that: The window cleaning machine comprises a machine body, an edge detection steering system and a control unit. The edge detection steering system comprises a plurality of edge steering devices symmetrically arranged on the corners of the machine body. An installation cavity is arranged under each corner of the machine body. A column is arranged in the installation cavity. The edge steering device is arranged in the installation cavity. The edge steering device comprises a base, a swing mechanism and a steering assembly. The base is in a herringbone shape and is divided into an opening portion facing the corner of the machine body and an extension end with an opening. A lap column is arranged on one end of the swing mechanism and is installed on the opening of the extension end. The column is sequentially passed through the lap column with a through hole and the extension end. The opening at the extending end, the other end of the swing mechanism is installed with a steering assembly toward the working surface, the steering assembly includes a rotating ring, the rotating ring protrudes from the corner of the machine body, the rotating ring touches the edge and rotates in a circular motion, the rotating ring is embedded with a universal wheel in contact with the working surface, the left and right sides of the middle part of the swing mechanism facing the machine body are provided with raised wing ends, and collision switches corresponding to the two wing ends are respectively provided on the machine body; the edge detection steering system is installed on the corner of the machine body, the control unit receives the signal sent by the collision switch, and the control unit controls the movement state of the edge detection steering system; It also includes a fan assembly for adsorbing the machine body on the working surface, a housing chamber for installing the fan assembly is provided at the center of the machine body, the housing chamber is provided with an air vent corresponding to the suction port of the fan assembly, and a wiping assembly is also installed under the machine body, the wiping assembly includes a cleaning member and a floating plate matching the lower end surface of the machine body, the center of the floating plate is provided with a plurality of adsorption holes corresponding to the position of the suction port, and the cleaning member is attached to the surrounding of the plurality of adsorption holes and the walking mechanism through a detachable adhesive structure; an annular groove is provided under the machine body, the annular groove and the upper end surface of the floating plate form an inner chamber, the lower end surface of the floating plate and the working surface form an outer chamber, the inner chamber and the outer chamber form a negative pressure chamber, the fan assembly sucks air to form the negative pressure chamber, adsorbs the floating plate on the machine body, and at the same time adsorbs the entire machine body on the working surface through the plurality of adsorption holes; It also includes a walking mechanism for driving the body to move, the walking mechanism includes a driving motor, a driving wheel and a wheel skin, the driving motor is connected to the driving wheel, the driving wheel is connected to the wheel skin and drives the wheel skin to rotate, the walking mechanism is provided with two bodies respectively installed on both sides of the fan assembly and having through holes, the control unit is electrically connected to the driving motor to control the walking state of the walking mechanism; the driving wheels on both sides are driven by their respective driving motors to move at the same speed and in opposite directions, so that the window cleaning machine rotates about the center of the body when turning, realizing zero turning radius turning.

2. A window cleaning machine according to claim 1, characterized in that: It comprises two or four edge steering devices which are symmetrically arranged on the corners of the machine body.

3. A window cleaning machine according to claim 1, characterized in that: The outer ring of the rotating ring is sleeved with an elastic ring.

4. A window cleaning machine according to claim 1, characterized in that: It also includes a casing, which is adapted to the shape of the body and wrapped in its inner cavity, and a handle is provided on the top of the casing.

5. A window cleaning machine according to claim 4, characterized in that: It also includes a spray component, which includes a water tank and a spray head. The water tank is arranged in the machine body, and is connected to the spray head through a water pipe. The water tank is pressurized by a water pump to spray water out from the spray head.

6. A window cleaning machine according to claim 5, characterized in that: It also includes a deceleration component, which includes a rangefinder and a multiple damper. The rangefinder is arranged on the four sides and four corners of the machine body. The rangefinder is electrically connected to the control unit. The control unit is also connected to the multiple damper, and the multiple damper is arranged on the walking mechanism.

7. A method for controlling the steering movement of a window cleaning machine, characterized in that: The mobile control method is implemented by the window cleaning machine according to any one of claims 1 to 6, and the mobile control method comprises the following steps: S1, the control unit of the window cleaning machine generates a travel control signal and sends it to the travel mechanism; S2, the walking mechanism receives the walking control signal and starts walking on the glass surface of the window; S3, the distance meter detects the distance between the window cleaning machine and the edge of the window, and sends a feedback signal to the control unit; S4, the control unit receives the feedback signal, classifies it according to the distance between the window cleaning machine and the window edge, generates a graded deceleration signal, and sends it to the multiple damper; S5, the multiple damper receives the graded deceleration signal and decelerates the walking mechanism in grades according to the signal level; S6, when the window cleaning machine reaches the edge of the window at a low speed, the edge steering system contacts the edge of the window, and the edge steering system sends a feedback signal to the control unit; S7, the control unit receives the feedback signal, generates a steering control signal, and sends it to the walking mechanism; S8: The traveling mechanism receives the steering control signal and performs steering.

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