Pre-erasing module of window cleaning machine and intelligent avoiding method

Abstract

The invention discloses a pre-erasing module of a window cleaning machine and an intelligent avoiding method. The pre-wiping module of the window cleaning machine comprises the pre-wiping assembly, the distance measuring unit and the control unit, and the working mode that the pre-wiping assembly conducts reciprocating wiping at the front end of the window cleaning machine in advance and conducts normal wiping at the rear end of the window cleaning machine improves the cleaning effect of the window cleaning machine on slight stubborn stains on the surface of glass; meanwhile, in the pre-wiping process, if the pre-wiping assembly encounters large-particle stains, the distance measuring unit can monitor vertical displacement, generated by the pressure effect of the large-particle stains, of the scraping plate in real time, and when the monitored maximum displacement height of the scraping plate continuously exceeds the maximum jacking height acceptable by the adsorption assembly, the adsorption assembly is started; the control unit judges that the stains are stubborn large-particle stains, an avoiding program is triggered immediately, and avoiding is achieved by coordinating the walking mechanism and the edge steering device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of window cleaning robots, in particular to a pre-erasing module of a window cleaning robot and an intelligent avoidance method. BACKGROUND

[0002] With the acceleration of urbanization, the cleaning demand of high-rise building glass curtain walls and large-area windows is increasing, and the traditional manual cleaning method has problems such as low efficiency and high risk. Therefore, the window cleaning robot as a substitute for manual work has developed rapidly. The window cleaning robot is usually firmly fixed on the glass surface by the suction assembly to realize cleaning. However, different stubborn stains are often encountered during the cleaning process. For more stubborn stains, repeated wiping from different directions or even increasing the wiping intensity is usually required to clean thoroughly. Especially, some large-particle stubborn stains cannot be cleaned by normal operation of the conventional window cleaning robot. The conventional window cleaning robot generally adopts a fixed operation mode to clean in the planned window cleaning path, and the cleaning of large-particle stubborn stains is not in place. If some large-particle stains cannot be removed, the window cleaning robot cannot remove the large-particle stains and continues to move forward, which may reduce or even damage the negative pressure adsorption ability of the suction assembly of the window cleaning robot on the glass surface, affect the stability of the equipment operation, and even have the risk of falling. SUMMARY

[0003] The present application provides a pre-erasing module of a window cleaning robot and an intelligent avoidance method to solve the above problems in the prior art.

[0004] The technical scheme adopted by the present application is as follows: a pre-erasing module of a window cleaning robot, comprising a pre-wiping assembly, a distance measuring unit and a control unit, the pre-wiping assembly comprising a scraper and other auxiliary cleaning tools, the pre-wiping assembly being provided with two, respectively installed at the front and rear ends of the forward direction of the window cleaning robot, and the pre-wiping assembly at one end of the forward direction is operated each time; the pre-wiping assembly is installed on the waterproof chassis at the bottom of the machine body through the detachable buckle structure of the scraper and is connected with the motor assembly to drive the scraper to make transverse reciprocating motion in the limiting groove; the distance measuring unit comprises an elastic assembly and a displacement sensor for monitoring the vertical displacement of the scraper, the elastic assembly is installed on the waterproof chassis and is designed in a tube sleeve type to limit the entire scraper to keep horizontal transverse displacement with vertical displacement when encountering obstacles; the displacement sensor housing is fixed to the waterproof chassis, and the movable part thereof is rigidly connected with the moving part of the elastic assembly through the connecting rod. When the scraper is pressed to produce vertical displacement, the elastic assembly drives the movable part of the displacement sensor to move synchronously, so as to accurately monitor the vertical displacement change of the scraper in real time.

[0005] Further, the pre-wiping assembly is driven by a motor assembly, and the scraper plate is driven to make transverse reciprocating motion in the limiting groove at a frequency f (unit: times / second).

[0006] Further, the elastic assembly is symmetrically arranged on both sides of the waterproof chassis and is positioned by fixed connection. When the scraper plate encounters stubborn large-particle stains during cleaning, the pressure is converted into vertical displacement, which directly acts on the elastic assembly and promotes the corresponding deformation of the elastic assembly. The rigidity of the elastic assembly is adjustable, and the rigidity coefficient satisfies the relationship:

[0007]

[0008] wherein k is the rigidity coefficient of the elastic assembly, F is the pressure on the elastic assembly, and x is the deformation of the elastic assembly.

[0009] Further, the displacement sensor adopts a symmetric arrangement scheme, and two sensors are arranged perpendicularly to the mounting axis of the pre-wiping assembly and are connected to the elastic assembly, and are respectively used for monitoring the deformation stroke of the elastic assembly on both sides. In the specific embodiment, the displacement sensor is preferably a linear variable differential transformer.

[0010] Further, the control unit is configured to record the maximum displacement height h of the scraper plate in a single reciprocating motion i If h of the continuous N times i exceeds the maximum lifting height h of the adsorption assembly max , it is determined that it is a large-particle stain that cannot be wiped, and an avoidance signal is sent to the control unit, and the coordinates of the non-wipeable stain are sent to the avoidance path planning module.

[0011] Further, N≥3.

[0012] Further, the window cleaning machine control unit needs to meet the following timing requirements: when a stubborn large-particle stain is detected, the stain detection judgment process must be completed and the corresponding control instruction must be sent to the walking mechanism before the stubborn large-particle stain completely leaves the contact area of the scraper plate. This timing constraint is a key control logic to ensure safe operation of the equipment.

[0013] As a preferred technical solution of the present application, an intelligent avoidance method of a window cleaning machine comprises the following steps:

[0014] S1: Start the window cleaning machine, and the pre-erasing module starts the pre-erasing work after the window cleaning machine is started.

[0015] S2: When the pre-erasing module is normally running, the pre-wiping assembly will make transverse reciprocating motion, and when encountering a large-particle stain, the scraper plate will produce vertical displacement. The displacement sensor monitors the vertical displacement data of the scraper plate in the reciprocating motion process of the pre-wiping assembly, and transmits the received data information to the control unit.

[0016] S3: Analyzing the vertical displacement of the squeegee, according to the data provided by the displacement sensor, the squeegee displacement change is analyzed by the control unit to obtain the squeegee displacement change curve;

[0017] S4: Detecting whether the stain type is a stubborn large particle stain, if h i >h max , it is determined that it is a stubborn large particle stain, and the obstacle position is marked and the avoidance program is triggered;

[0018] S5: After triggering the avoidance program, the control unit generates a deceleration control signal and sends it to the walking mechanism;

[0019] S6: After receiving the deceleration control signal, the walking mechanism immediately starts the deceleration program and requires to complete the deceleration within the travel distance of the squeegee and the front end of the adsorption assembly, and stops moving;

[0020] S7: After the window cleaning machine stops moving, the control unit receives the obstacle position information, generates an avoidance control signal, and sends it to the walking mechanism;

[0021] S8: The walking mechanism receives the avoidance control signal, generates an avoidance path, and turns to avoid.

[0022] Further, the window cleaning machine control unit will update the path planning once every certain time according to the marked stubborn large particle stain position, and correct the path deviation according to the real-time sensor data, so that the avoidance path edge is greater than or equal to 2cm away from the obstacle.

[0023] Compared with the prior art, the embodiment of the present application has the following beneficial effects:

[0024] 1. The present application provides a pre-erasing module of a window cleaning machine, which sets a pre-wiping assembly to perform horizontal reciprocating wiping action at a frequency f. This pre-reciprocating wiping at the front end of the window cleaning machine and normal wiping at the rear end improve the cleaning effect of the device on slight stubborn stains on the glass surface, and the stubborn large particle stains are avoided, effectively avoiding invalid cleaning and improving cleaning efficiency and cleanliness.

[0025] 2. On the basis of normal operation of the pre-erasing module of the window cleaning machine, the displacement data of the squeegee during reciprocating motion of the pre-wiping assembly is obtained by the displacement sensor, and the obtained data is processed and analyzed by the control unit, according to the change of the squeegee displacement, to determine whether the stain can be removed, record the stubborn large particle stain, mark the obstacle position, generate the avoidance path, and effectively prevent the window cleaning machine from falling due to the decline or even damage of the negative pressure adsorption ability of the adsorption assembly on the glass surface caused by the running path passing through the stubborn large particle stain. BRIEF DESCRIPTION OF DRAWINGS

[0026] Fig. 1 2 is a schematic diagram of the bottom structure of a window cleaning machine provided by an embodiment of the present invention;

[0027] Fig. 2 1 is a bottom plan view of a window cleaning machine provided by an embodiment of the present invention;

[0028] Fig. 3 It is a schematic diagram of a half-section structure of a pre-erase module provided by an embodiment of the present invention.

[0029] Among them: 100- fuselage, 110- waterproof chassis, 200- cleaning module, 210- pre-wiping component, 211- scraper, 212- limit slot, 220- distance measuring unit, 221- elastic component, 300- motor component, 400- adsorption component, 410- suction net, 500- edge steering device, 600- walking mechanism. DETAILED DESCRIPTION

[0030] The present invention will be described in detail below with reference to the accompanying drawings.

[0031] like Figs. 1-2 As shown, a suction assembly 400 is installed at the bottom of the window cleaning machine body 100. This suction assembly 400 is equipped with a suction net 410, enabling the machine to adhere to the glass surface. A cleaning module 200, covering the waterproof chassis 110 at the bottom of the machine body 100, is responsible for cleaning the glass. With the machine's front end as the front end and the left and right sides perpendicular to the direction of travel as the machine's left and right sides, the running mechanisms 600 are symmetrically mounted on either side of the machine body 100. Edge steering devices 500 are positioned at the four corners of the machine body 100, working together to achieve movement and steering. A motor assembly 300, built into the core area of ​​the machine body 100, provides power for the running mechanisms 600, edge steering devices 500, and cleaning module 200. The control unit coordinates the operation of these modules to ensure stable movement of the machine under various operating conditions.

[0032] like Fig. 3As shown, a pre-wiping module of a window cleaning machine comprises a pre-wiping assembly 210, a distance measuring unit 220 and a control unit, the pre-wiping assembly 210 comprises a squeegee 211 and other auxiliary cleaning tools, the pre-wiping assembly 210 is provided with two, respectively installed at the front and rear ends of the walking forward direction of the window cleaning machine, and the pre-wiping assembly 210 at one end of the walking forward direction operates each time; the pre-wiping assembly 210 is installed on the waterproof chassis 110 at the bottom of the machine body 100 through the detachable buckle structure of the squeegee 211, and is connected with the motor assembly 300 to drive the squeegee 211 to make transverse reciprocating motion in the limiting groove 212; the distance measuring unit 220 comprises an elastic assembly 221 and a displacement sensor for monitoring the vertical displacement of the squeegee 211, the elastic assembly 221 is installed on the waterproof chassis 110, and through the tube sleeve design, the entire squeegee can be limited to keep horizontal transverse displacement and only accompany vertical displacement when encountering obstacles; the displacement sensor shell is fixed on the waterproof chassis 110, and the movable part thereof is rigidly connected with the moving part of the elastic assembly 221 through the connecting rod. When the squeegee 211 is pressed to produce vertical displacement, the elastic assembly 221 drives the movable part of the displacement sensor to move synchronously, so as to accurately monitor the vertical displacement change of the squeegee 211 in real time.

[0033] In the embodiment, the pre-wiping assembly 210 is driven by the motor assembly 300 to drive the squeegee 211 to make transverse reciprocating motion in the limiting groove 212 at a frequency f (unit: times / second).

[0034] Further preferred embodiment, the elastic assembly 201 is symmetrically arranged on both sides of the waterproof chassis 110, and is positioned through fixed connection. When the squeegee 211 encounters stubborn large particle stains during cleaning, the pressure will be converted into vertical displacement, which directly acts on the elastic assembly 201 and promotes it to produce corresponding deformation. The rigidity of the elastic assembly can be adjusted, and the rigidity coefficient satisfies the relationship:

[0035]

[0036] Wherein, k is the rigidity coefficient of the elastic assembly, F is the pressure borne by the elastic assembly, and x is the deformation of the elastic assembly.

[0037] Further preferred embodiment, the displacement sensor (not shown in the figure) adopts a symmetric arrangement scheme, two sensors are arranged perpendicular to the mounting axis of the pre-wiping assembly 210, and are connected with the elastic assembly 221, and are respectively used for monitoring the deformation stroke of the elastic assembly on both sides. In the specific embodiment, the displacement sensor is preferably a linear variable differential transformer.

[0038] Linear variable differential transformer (LVDT) is a precision displacement sensor based on electromagnetic induction principle. It has strong anti-interference ability, can work in humid environment, is suitable for glass cleaning scene, and has long service life. When monitoring the displacement of the pre-wiping assembly, the sampling frequency f s should be at least 2 times the highest frequency of the signal, but in actual engineering, it is usually set to 5-10 times to balance the redundancy.

[0039] In a further preferred embodiment, the control unit is configured to record the maximum displacement height h i of the squeegee 211 in a single reciprocating motion i If h max exceeds the maximum lifting height h i of the adsorption assembly for N consecutive times, it is determined that it is a large particle stain that cannot be wiped, and an avoidance signal is sent to the control unit, and the coordinates of the non-wipeable stain are sent to the avoidance path planning module.

[0040] As preferred, N≥3.

[0041] In a further preferred embodiment, the window cleaning machine control unit needs to meet the following timing requirements: when a stubborn large particle stain is detected, the stain detection judgment process must be completed and the corresponding control instruction must be sent to the walking mechanism 600 before the stubborn large particle stain completely leaves the contact area of the squeegee 211. This timing constraint is a key control logic to ensure safe operation of the equipment.

[0042] In an embodiment, the working process of pre-wiping is as follows: when the window cleaning machine starts working, the pre-wiping assembly 210 performs transverse reciprocating motion at a frequency of 10 Hz and a stroke of 15 mm. The displacement sensor collects the height data of the pre-wiping assembly in real time, and the control unit records the maximum height h i of each reciprocating motion i If h max is detected for 4 consecutive times, it is determined that there is a stubborn large particle stain in the current area, which is marked as an obstacle and triggers the avoidance program.

[0043] For a commonly used glass window cleaning machine, the walking speed is 8 cm / s, the squeegee width is 4 cm, and h max is set to 0.3-0.5 cm. When the pre-wiping assembly 210 performs transverse reciprocating motion at a frequency of 10 Hz, the control unit will complete 4 height detections within 0.4 s, and the walking distance of the window cleaning machine within 0.4 s is 3.2 cm. Before the stubborn large particle stain completely leaves the contact area of the squeegee 211, the control unit has generated a speed reduction instruction sent to the walking mechanism 600.

[0044] A smart avoidance method for a window cleaning machine, comprising the following steps:

[0045] S1: start the window cleaning machine, after the window cleaning machine starts, the pre-erasing module starts the pre-erasing work;

[0046] S2: when the pre-erasing module is normally running, the pre-wiping assembly performs horizontal reciprocating motion, and when encountering large-particle stains, the scraper 211 generates vertical displacement, the displacement sensor (not shown in the figure) monitors the vertical displacement data of the scraper 211 in the reciprocating motion process of the pre-wiping assembly 210, and transmits the received data information to the control unit;

[0047] S3: analyze the vertical displacement of the scraper 211, according to the data provided by the displacement sensor, analyze the displacement change of the scraper 211 through the control unit, and obtain the displacement change curve of the scraper 211;

[0048] S4: detect whether the stain type is a stubborn large-particle stain, if h i >h max for N consecutive times, it is determined that it is a stubborn large-particle stain, and the obstacle position is marked and the avoidance program is triggered, where N = 4;

[0049] S5: after triggering the avoidance program, the control unit generates a deceleration control signal and sends it to the walking mechanism 600;

[0050] S6: after the walking mechanism 600 receives the deceleration control signal, it immediately starts the deceleration program, the normal running speed of the window cleaning machine is 8 cm / s, and the braking acceleration setting range is 0.3-0.5 m / s 2 . Based on the kinematic formula v 2 = 2as, under the condition of the minimum braking acceleration 0.3 m / s 2 , the theoretical braking distance required for the window cleaning machine to completely stop is 1.07 cm. The braking distance is strictly controlled within the stroke range (> 1.07 cm) of the scraper 211 and the front end of the adsorption assembly 400, to ensure that the equipment can smoothly decelerate and completely stop within the predetermined distance, avoiding the entry of stubborn large-particle stains into the adsorption assembly 400 and damaging its negative pressure adsorption ability on the glass surface;

[0051] S7: after the window cleaning machine stops running, the control unit receives the obstacle position information, generates an avoidance control signal, and sends it to the walking mechanism 600;

[0052] S8: the walking mechanism 600 receives the avoidance control signal, generates an avoidance path, and performs steering avoidance.

[0053] In a further preferred embodiment, the window cleaning machine control unit updates the path planning once every certain time according to the marked stubborn large-particle stain position, and corrects the path deviation according to the real-time sensor data, so that the edge of the avoidance path is ≥2 cm away from the obstacle.

[0054] In the description provided herein, numerous specific details are described. However, it is understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0055] Furthermore, those skilled in the art will appreciate that although some embodiments herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of the present invention and to form different embodiments. Any of the claimed embodiments may be used in any combination.

Claims

1. A pre-wiping module for a window cleaning machine, comprising a pre-wiping component, a distance measuring unit, and a control unit, characterized in that: The pre-wiping assembly includes a scraper and other auxiliary cleaning tools. There are two pre-wiping assemblies, which are respectively installed at the front and rear ends of the window cleaning machine in the forward direction of travel. Each time the machine works, the pre-wiping assembly at one end in the forward direction of travel is in operation; the pre-wiping assembly is installed on the waterproof chassis at the bottom of the fuselage through the detachable snap-on structure of the scraper, and is connected to the motor assembly to drive the scraper to perform horizontal reciprocating motion in the limit groove; the ranging unit includes an elastic component and a displacement sensor for monitoring the vertical displacement of the scraper. The elastic component is installed on the waterproof chassis and, through a sleeve-type design, limits the entire scraper to maintain horizontal lateral movement and accompanied by vertical displacement when encountering an obstacle; the displacement sensor housing is fixed to the waterproof chassis, and its movable parts are rigidly connected to the movable parts of the elastic component through a connecting rod; when the scraper is compressed to produce vertical displacement, the elastic component drives the movable parts of the displacement sensor to move synchronously.

2. The pre-erasing module of a window cleaning machine according to claim 1, characterized in that: The pre-wiping assembly is driven by a motor assembly to drive the scraper to perform transverse reciprocating motion in the limiting groove at a frequency f, where the unit of frequency f is times / second.

3. The pre-erasing module of a window cleaning machine according to claim 1, characterized in that: The elastic components are symmetrically arranged on both sides of the waterproof chassis and are positioned through fixed connections. When the scraper encounters stubborn large-particle stains during the cleaning process, the pressure it receives will be converted into vertical displacement, directly acting on the elastic components and causing them to produce corresponding deformation.

4. The pre-erasing module of a window cleaning machine according to claim 1, characterized in that: The displacement sensors are arranged symmetrically. Two sensors are arranged perpendicular to the installation axis of the pre-wiping component and are connected to the elastic component to monitor the deformation stroke of the elastic components on both sides respectively.

5. The pre-erasing module of a window cleaning machine according to claim 1, characterized in that: The control unit is configured to record the maximum displacement height h of the scraper in a single reciprocating motion i , if h i Both exceed the maximum acceptable lifting height h of the adsorption component max , it is determined to be an indelible large particle stain, and an avoidance signal is sent to the control unit at the same time, and the coordinates of the indelible stain are sent to the avoidance path planning module.

6. The pre-erasing module of a window cleaning machine according to claim 1, characterized in that: The window cleaning machine control unit must meet the following timing requirements: when stubborn large-particle stains are detected, the stain detection and judgment process must be completed before the stubborn large-particle stains completely leave the scraper contact area, and the corresponding control instructions must be generated and sent to the walking mechanism.

7. An intelligent avoidance method for a window cleaning machine, characterized in that: The following steps are involved: S1: Start the window cleaning machine. After the window cleaning machine is started, the pre-erasing module starts the pre-erasing operation; S2: When the pre-wiping module operates normally, the pre-wiping assembly will perform a horizontal reciprocating motion. When encountering large particles of dirt, the scraper will produce a vertical displacement. The displacement sensor will monitor the vertical displacement data of the scraper during the reciprocating motion of the pre-wiping assembly and transmit the received data information to the control unit; S3: Analyze the vertical displacement of the scraper. According to the data provided by the displacement sensor, the control unit performs data analysis on the displacement change of the scraper to obtain a scraper displacement change curve. S4: Detect and determine whether the stain type is a stubborn large particle stain. If N consecutive h i >h max , it is determined to be a stubborn large particle stain, and the obstacle position is marked and the avoidance program is triggered; S5: After the avoidance program is triggered, the control unit generates a deceleration control signal and sends it to the traveling mechanism; S6: After receiving the deceleration control signal, the walking mechanism immediately starts the deceleration program and requires to complete the deceleration within the travel distance between the scraper and the front end of the adsorption component and stop moving; S7: After the window cleaning machine stops moving, the control unit receives the obstacle location information, generates an avoidance control signal, and sends it to the traveling mechanism; S8: The traveling mechanism receives the avoidance control signal, generates an avoidance path, and performs steering avoidance.

8. The pre-erasing module of a window cleaning machine according to claim 1, characterized in that: The window cleaning machine control unit will update the path planning at regular intervals based on the marked locations of stubborn large-particle stains, and correct the path deviation based on real-time sensor data to avoid obstacles with a distance of ≥2cm from the edge of the path.

Images