Early warning device and method of window cleaning robot, window cleaning robot and storage medium

Abstract

The invention relates to an early warning device and method for a window cleaning robot, the window cleaning robot and a storage medium. According to the early warning equipment of the window cleaning robot, through the level feature alignment design of optical coupler output and switch triggering, the falling and collision events present uniform high-level response in electrical characteristics, specifically, in the falling event, an optical coupler cut-off action generates a high-level pulse through collector open circuit output; in a collision event, the mechanical switch is closed to form instantaneous high-level injection in the resistive potential-divider network. The two physical quantities are coded into the same digital characteristics in the time sequence dimension, so that the processing component can realize double-event identification only by identifying the level, and the algorithm complexity is reduced. Meanwhile, compared with a traditional scheme that a drop detection line (2), a collision detection line (2) and a power line need to be independently arranged at one corner, the design realizes about 50% of IO port resources and 40% of simplification of wire harnesses through resistance network topology reconstruction.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to an early warning device, method, window cleaning robot and storage medium for a window cleaning robot. Background Art

[0002] Window cleaning robots mostly use the vacuum adsorption method to adsorb the machine on the window for work. In order to be applicable to the scenario of traditional framed windows, a touch switch is usually arranged on the side of the window cleaning machine to indicate reaching the edge of the window. And in order to be applicable to the scenario of windows without frames on both sides or without frames on all four sides, a component for detecting falling is usually additionally arranged at each of the four corners of the window cleaning machine to prevent the window cleaning robot from falling over the window. Thus, the processing component of the window cleaning robot often has to read the signal of the falling detection and the triggering signal of the touch switch.

[0003] Currently, the inventor has found that in the traditional technology, the processing component requires multiple IO interfaces and has a large number of wire harnesses, resulting in high costs and difficult assembly. Summary of the Invention

[0004] Based on this, it is necessary to provide an early warning device, method, window cleaning robot and storage medium for a window cleaning robot with low cost and easy assembly.

[0005] To achieve the above object, on the one hand, an embodiment of the present application provides an early warning device for a window cleaning robot, including:

[0006] A body;

[0007] A switching device; the switching device includes a switch, a first voltage dividing component, a second voltage dividing component and a third voltage dividing component; the switch is arranged at the edge position of the body; the first end of the first voltage dividing component is respectively connected to one end of the switch and the processing component of the window cleaning robot, and the second end is connected to one end of the second voltage dividing component; the other end of the second voltage dividing component is connected to one end of the third voltage dividing component and is used for connecting a power supply; the other end of the third voltage dividing component is connected to the other end of the switch; wherein, the normal state of the switch is the open state, and it switches to the closed state when subjected to pressure;

[0008] A falling detection device; the falling detection device is configured to output a target level signal to the second end of the first voltage dividing component when it detects that the edge of the body leaves the glass; wherein, the processing component performs an avoidance action according to the level signal at the first end of the first voltage dividing component.

[0009] In one of the embodiments, the falling detection device includes a falling rod and an optocoupler; the falling rod is configured to block the optical path of the optocoupler when the edge of the body leaves the glass; the negative electrode of the emitting end of the optocoupler is grounded, and the positive electrode is used for connecting a power supply; the emitter of the receiving end of the optocoupler is grounded, and the collector is connected to the second end of the first voltage dividing component.

[0010] In one embodiment, the target level signal is a high-level signal; when the processing component receives the high-level signal, it performs an avoidance action.

[0011] In one embodiment, a current-limiting resistor is further included;

[0012] The positive pole of the emitting end of the optocoupler is connected to the power supply through the current-limiting resistor.

[0013] On the one hand, the present application further provides a warning method for a window cleaning robot, which is applied to the warning device of the window cleaning robot as described above; the method includes:

[0014] Receiving the level signal transmitted from the first end of the first voltage-dividing component;

[0015] Performing an avoidance action according to the level signal.

[0016] In one embodiment, the step of performing an avoidance action according to the level signal includes:

[0017] Performing an avoidance action when the level signal is a high-level signal.

[0018] On the one hand, an embodiment of the present invention further provides a window cleaning robot, including a processing component and the warning device as described above;

[0019] The processing component performs an avoidance action according to the level signal at the first end of the first voltage-dividing component.

[0020] In one embodiment, the processing component performs an avoidance action when the level signal is a high-level signal.

[0021] On the one hand, an embodiment of the present application further provides a warning device for a window cleaning robot, which is applied to the window cleaning robot as described above; the device includes:

[0022] A receiving module, configured to receive the level signal transmitted from the first end of the first voltage-dividing component;

[0023] An execution module, configured to perform an avoidance action according to the level signal.

[0024] On the other hand, an embodiment of the present invention further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0025] One of the above technical solutions has the following advantages and beneficial effects:

[0026] The warning device of the above window cleaning robot aligns the optocoupler output with the level characteristics of the switch trigger, so that the drop and collision events show a unified high-level response in electrical characteristics. Specifically, in the drop event, the cut-off action of the optocoupler generates a high-level pulse through the open collector output; in the collision event, the mechanical switch closes to form an instantaneous high-level injection in the resistor voltage division network. The two physical quantities are encoded as the same digital characteristics in the time sequence dimension, enabling the processing component to identify the double events only by recognizing the level, reducing the algorithm complexity. At the same time, compared with the traditional scheme where a separate drop detection line (2 lines), a collision detection line (2 lines), and a power line need to be arranged at each corner, this design only requires 1 IO port and 3 wire harnesses to complete the signal recognition of drops and collisions through the reconstruction of the resistor network topology, achieving a reduction of about 50% of the IO port resources and 40% of the wire harnesses. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with the present application and, together with the specification, are used to explain the principles of the present application.

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or related technologies. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0029] Figure 1 It is a first schematic structural block diagram of the warning device of the window cleaning robot in an embodiment;

[0030] Figure 2 It is a second schematic structural block diagram of the warning device of the window cleaning robot in an embodiment;

[0031] Figure 3 It is a schematic diagram of a switch, an optocoupler, and a drop rod in the warning device of the window cleaning robot in an embodiment;

[0032] Figure 4 It is a schematic flow block diagram of the warning method of the window cleaning robot in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] To facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant accompanying drawings. Embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0035] In the following description, suffixes such as "module", "component", or "unit" used to denote elements are only for the convenience of describing this application and have no specific meaning in themselves. Therefore, "module" and "component" can be used interchangeably.

[0036] As used herein, the singular forms "a", "an", and "the" may also include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprise / include" or "have" and the like specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0037] In one embodiment, as Figure 1 shown, a warning device for a window cleaning robot is provided, including:

[0038] A body;

[0039] A switching device 10; the switching device includes a switch 101, a first voltage dividing component 103, a second voltage dividing component 105, and a third voltage dividing component 107; the switch 101 is disposed at the edge position of the body; a first end of the first voltage dividing component 103 is respectively connected to one end of the switch 101 and the processing component of the window cleaning robot, and a second end is connected to one end of the second voltage dividing component 105; the other end of the second voltage dividing component 105 is connected to one end of the third voltage dividing component 107 and is used for connecting to a power supply VCC; the other end of the third voltage dividing component 107 is connected to the other end of the switch 101; wherein, the normal state of the switch 101 is an open state, and it switches to a closed state when subjected to pressure;

[0040] A drop detection device 20; the drop detection device 20 is configured to output a target level signal to the second end of the first voltage dividing component 103 when it detects that the edge of the body leaves the glass; wherein, the processing component 1100 performs an avoidance action according to the level signal at the first end of the first voltage dividing component.

[0041] Among them, the body refers to the main structure of the window cleaning robot. The opening and breaking device is used to detect whether the robot body is close to the edge of the glass when the window has a frame. The fall detection device can be any device in the art that can detect whether the edge of the body leaves the glass. In a specific example, the fall detection device can be a ranging sensor, which determines whether the edge of the body leaves the glass by detecting the distance to the glass. It can also be an infrared reflection sensor that emits modulated infrared light and detects a sudden change in the surface reflectivity of the glass (the reflectivity drops suddenly during a fall). It can also be a pressure sensor array that monitors the change in negative pressure of the adsorption module through a distributed pressure-sensitive resistor. In another example, it can be judged by the cooperation of a fall rod and an optocoupler. The fall rod is a component that can move up and down, with a spring sleeved on it. When the robot is completely on the glass, the fall rod is pushed up by the glass and the optocoupler optical path is conducted; when the corner part of the window cleaning robot extends outside the glass, the spring will eject the fall rod and the optocoupler optical path is blocked, and the signal of the optocoupler is used to judge whether the window cleaning machine has walked out of the glass boundary. Each voltage dividing component can be a resistor.

[0042] Specifically, the switch can be a micro switch or a tactile switch. It is installed on the edge of the body, and the triggering distance can be 5-10 mm from the glass edge. It is normally open; when the robot moves to the glass edge, the edge structure squeezes the switch contact to close. When a side collision occurs, that is, when the switch is forced to close, the level of the first end of the first voltage dividing component is pulled up to a high level, and the function of the third voltage dividing component is a pull-up resistor. If no side collision occurs, the level of the first end of the first voltage dividing component is affected by the level of its second end.

[0043] Furthermore, the target level signal is a high level signal. When the processing component receives the high level signal, it performs an avoidance action. When the fall detection device detects that the edge of the body leaves the glass, it outputs a high level signal to the second end of the first voltage dividing component. If no side collision occurs at this time, the first end of the first voltage dividing component is at a high level; if a side collision occurs at this time, the first end of the first voltage dividing component is still at a high level signal. When the fall detection device does not detect that the edge of the body leaves the glass, it outputs a low level signal to the second end of the first voltage dividing component. If a side collision occurs at this time, the first end of the first voltage dividing component is at a high level signal. If no side collision occurs at this time, the first end of the first voltage dividing component is at a low level. To sum up, as long as any one of the fall and collision occurs, a high level will be output. At this time, the processing component can perform an avoidance action according to the high level signal at the first end of the first voltage dividing component. If neither the fall nor the collision occurs, the first end of the first voltage dividing component is at a low level, indicating that the body is not at the edge of the glass at this time and no avoidance is required. It should be noted that the avoidance action can be any action logic performed by a window cleaning robot when it reaches the edge position, including but not limited to reverse movement, re-planning the path, etc. Through this circuit design, such asFigure 2 As shown, a wire harness 300 can be led out from the drop detection device and the opening and closing device, and they share an IO interface to be connected to the processing component.

[0044] For the warning device of the above window cleaning robot, through the design that the optocoupler output is aligned with the level characteristics triggered by the switch, the drop and collision events present a unified high-level response in electrical characteristics. Specifically, it is manifested as follows: in the drop event, the cut-off action of the optocoupler generates a high-level pulse through the open collector output; in the collision event, the mechanical switch closes to form an instantaneous high-level injection in the resistance voltage division network. The two physical quantities are encoded as the same digital feature in the time sequence dimension, enabling the processing component to realize dual-event recognition only by identifying the level, and reducing the algorithm complexity. At the same time, compared with the traditional solution where a corner needs to independently arrange a drop detection line (2 lines), a collision detection line (2 lines) and a power line, through the topological reconstruction of the resistance network, this design only requires 1 IO port and 3 wire harnesses to complete the signal recognition of drops and collisions, achieving a reduction of about 50% of the IO port resources and 40% of the wire harnesses.

[0045] In one embodiment, as Figure 2 、 Figure 3 shown, the drop detection device includes a drop rod 201 and an optocoupler 203; the drop rod 201 is configured to block the optical path of the optocoupler 203 when the edge of the body leaves the glass; the negative electrode of the emitting end of the optocoupler 203 is grounded, and the positive electrode is used to connect to the power supply; the emitter of the receiving end of the optocoupler 203 is grounded, and the collector is connected to the second end of the first voltage dividing component 103.

[0046] Among them, the drop rod is a component that can move up and down, with a spring sleeved on it. When the robot is completely on the glass, the drop rod is pushed up by the glass and the optocoupler optical path is conducted; when the corner part of the window cleaning robot extends out of the glass, the spring will pop out the drop rod and the optocoupler optical path will be blocked. Whether the window cleaning machine walks out of the glass boundary is judged by the signal of the optocoupler. The specific structure of the drop rod will not be elaborated here too much, as long as the above functions can be realized. The optocoupler can be a slot-type optocoupler, including an emitting end LED and a receiving end phototransistor. When the optical path is blocked, the collector end of the receiving end is at a high level. Further, in one embodiment, a current limiting resistor 205 is further included; the positive electrode of the emitting end of the optocoupler 203 is connected to the power supply through the current limiting resistor 205.

[0047] In one embodiment, as Figure 4 shown, a warning method for a window cleaning robot is applied to the warning device of the window cleaning robot as described above; the method includes:

[0048] S410, receiving the level signal transmitted from the first end of the first voltage dividing component;

[0049] Specifically, the level signal transmitted at the first end of the first voltage-dividing component is determined according to the on / off state of the switch and whether the optical path of the optocoupler is blocked. The level signal reflects the position of the body.

[0050] S420. Perform an avoidance action according to the level signal.

[0051] In one embodiment, the step of performing an avoidance action according to the level signal includes:

[0052] Perform an avoidance action when the level signal is a high-level signal.

[0053] Specifically, when the drop detection device detects that the edge of the body leaves the glass, it outputs a high-level signal to the second end of the first voltage-dividing component. If there is no edge collision at this time, the first end of the first voltage-dividing component is at a high level; if there is an edge collision at this time, the first end of the first voltage-dividing component is still a high-level signal. When the drop detection device does not detect that the edge of the body leaves the glass, it outputs a low-level signal to the second end of the first voltage-dividing component. If there is an edge collision at this time, the first end of the first voltage-dividing component is a high-level signal, and if there is no edge collision at this time, the first end of the first voltage-dividing component is at a low level. As shown above, as long as any one of the drop and collision occurs, a high-level output will be generated, and then an avoidance action is performed at this time to avoid collision or drop.

[0054] In one embodiment, a window cleaning robot is further provided, including a processing component and the warning device as described above; the processing component performs an avoidance action according to the level signal at the first end of the first voltage-dividing component. In one of the embodiments, the processing component performs an avoidance action when the level signal is a high-level signal. Specifically, the specific description of this window cleaning robot can refer to the description of the above warning device.

[0055] In one embodiment, a warning device for a window cleaning robot is further provided, which is applied to the window cleaning robot as described above; the device includes:

[0056] A receiving module, configured to receive the level signal transmitted at the first end of the first voltage-dividing component;

[0057] An execution module, configured to perform an avoidance action according to the level signal.

[0058] For the specific limitations of the warning device of the window cleaning robot, reference can be made to the limitations of the warning method of the window cleaning robot in the foregoing text, which will not be elaborated herein. Each module in the warning device of the above window cleaning robot can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in the form of hardware or be independent of it, or can be stored in the memory of the computer device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to the above modules. It should be noted that the division of modules in the embodiments of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0059] In one embodiment, the embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented.

[0060] Receive the level signal transmitted from the first end of the first voltage dividing component;

[0061] Execute an avoidance action according to the level signal.

[0062] In the specific implementation of the embodiments of the present application, reference can be made to the above various embodiments, and they have corresponding technical effects.

[0063] It can be understood that these embodiments described herein can be implemented by hardware, software, firmware, middleware, microcode, or their combination. For hardware implementation, the processing unit can be implemented in one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in the present application, or their combination.

[0064] For software implementation, the technologies described herein can be implemented by units that execute the functions described herein. The software code can be stored in the memory and executed by the processor. The memory can be implemented inside or outside the processor.

[0065] Those of ordinary skill in the art will realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application of the technical solution and the constraints of design limitations. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0066] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0067] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there can be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0068] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0069] In addition, the functional units in the various embodiments of this application can be integrated in one processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0070] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application, in essence, or the parts that contribute to the prior art, or parts of the technical solutions, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs that can store program codes. It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article, or device including the said element.

[0071] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. An early warning device for a window cleaning robot, characterized in that: include: ontology; Disconnecting device; The disconnecting device comprises a switch, a first voltage-dividing component, a second voltage-dividing component and a third voltage-dividing component; the switch is arranged at the edge of the body; the first end of the first voltage-dividing component is respectively connected to one end of the switch and the processing component of the window-cleaning robot, and the second end is connected to one end of the second voltage-dividing component; the other end of the second voltage-dividing component is connected to one end of the third voltage-dividing component and is used to connect to a power supply; the other end of the third voltage-dividing component is connected to the other end of the switch; wherein the switch is normally in an open state, and is switched to a closed state when subjected to pressure; A drop detection device; the drop detection device is configured to output a target level signal to the second end of the first voltage divider component when detecting that the edge of the body leaves the glass; wherein the processing component performs an avoidance action according to the level signal of the first end of the first voltage divider component.

2. The early warning device of the window cleaning robot according to claim 1, characterized in that: The drop detection device includes a drop rod and an optocoupler; the drop rod is configured to block the optical path of the optocoupler when the edge of the body leaves the glass; the negative pole of the transmitting end of the optocoupler is grounded, and the positive pole is used to connect to the power supply; the emitter of the receiving end of the optocoupler is grounded, and the collector is connected to the second end of the first voltage divider component.

3. The early warning device of the window cleaning robot according to claim 1 or 2, characterized in that: The target level signal is a high level signal; the processing component receives the high level signal and performs an avoidance action.

4. The early warning device of the window cleaning robot according to claim 2, characterized in that: Also includes current limiting resistors; The positive electrode of the transmitting end of the optical coupler is connected to the power supply through the current limiting resistor.

5. A warning method for a window cleaning robot, characterized in that: An early warning device applied to a window cleaning robot as claimed in any one of claims 1 to 4; the method comprising: receiving a level signal transmitted by the first end of the first voltage dividing component; An avoidance action is performed according to the level signal.

6. The early warning method of the window cleaning robot according to claim 5, characterized in that: According to the level signal, the step of performing an avoidance action includes: When the level signal is a high level signal, an avoidance action is performed.

7. A window cleaning robot, characterized in that: comprising a processing component and an early warning device as claimed in any one of claims 1 to 4; The processing component performs an avoidance action according to the level signal of the first end of the first voltage dividing component.

8. The window cleaning robot according to claim 7, characterized in that: The processing component performs an avoidance action when the level signal is a high level signal.

9. An early warning device for a window cleaning robot, characterized in that: Applicable to the window cleaning robot as claimed in claim 7 or 8; the device comprises: A receiving module, used for receiving a level signal transmitted by the first end of the first voltage dividing component; An execution module is used to execute an avoidance action according to the level signal.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 5 or 6 are implemented.

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