Window cleaning machine capable of automatically crossing obstacles

Abstract

The utility model belongs to the technical field of window cleaning machines, and particularly relates to a window cleaning machine capable of automatically crossing obstacles, which comprises a power device, the power device comprises a portable power shell, transmission parts are arranged at two ends of the power shell, and each transmission part comprises a connecting shaft. And a main window cleaning mechanism and a secondary window cleaning structure are mounted on the surfaces of the middles of the two connecting shafts correspondingly, and the main window cleaning mechanism and the secondary window cleaning structure comprise a main window cleaning shell and a secondary window cleaning shell which are symmetrically arranged in the radial direction correspondingly. According to the window cleaning machine capable of automatically crossing the obstacle, the power device is arranged to lift or adjust the main window cleaning shell or the secondary window cleaning shell through the transmission part according to the instruction to achieve the obstacle crossing action, the effect that the window cleaning machine intelligently calculates and sends the corresponding instruction to cross the obstacle can be achieved, and each step does not need to be manually and remotely controlled.

Description

Technical Field

[0001] The utility model relates to the technical field of window cleaning machines, in particular to a window cleaning machine capable of automatically overcoming obstacles. Background Art

[0002] In the prior art, for example, a control method for an intelligent window cleaning machine and an intelligent window cleaning machine with a publication number of CN 111839332 B disclosed on a Chinese patent website use the control method for an intelligent window cleaning machine to adjust the suction force of a fan. After the intelligent window cleaning machine automatically adjusts the suction force of the fan, the cleaning quality, travel efficiency and cleaning coverage of the intelligent window cleaning machine are improved.

[0003] Another example is the high-rise intelligent window cleaning machine with announcement number CN 117338194 A, which mainly assists the glass cleaning of the main body of the window cleaning machine through the designed auxiliary components, and through the provided cleaning auxiliary structure, it can remove and adsorb impurities and dust adhered to the cleaning soft strip in the auxiliary component, thereby ensuring the quality of its cleaning work on the sides and corners where the window frame and the glass are connected; furthermore, when the corners where the window frame and the glass are connected are diameters, auxiliary cleaning work is performed by arranging a replacement structure on the bearing column, which is convenient for disassembly and assembly, thereby improving the overall flexibility of its cleaning work; therefore, the utility model solves the problem that the window cleaning robot in the prior art lacks an auxiliary mechanism for cleaning the sides and corners where the window frame and the glass are connected, thereby improving the quality of cleaning work.

[0004] For example, the walking device of the inclined climbing window cleaning machine with announcement number CN 219895555 U is convenient for cleaning the dust on the surface of the walking track during the use of the inclined climbing window cleaning machine body, thereby ensuring the cleaning effect and efficiency of the glass, and at the same time greatly improving the safety of the inclined climbing window cleaning machine body during use.

[0005] The above three prior arts show that the cleaning performance of the window cleaning machine can be improved by increasing the cleaning effect and cleaning efficiency of the glass by increasing the suction of the fan, adding an auxiliary cleaning mechanism or a walking device. However, in actual use, the window glass cannot be fully enclosed. The window glass needs to be supported and fixed by a window frame and other brackets. There will also be a height difference between two adjacent pieces of glass, and the glass glue used for sealing will also be higher or lower than the glass surface due to thermal expansion and contraction. At the same time, when encountering a glass corner, the window cleaning machine cannot cross the obstacle to clean the other glass surface. Utility Model Content

[0006] Based on the existing technical problems, the utility model proposes a window cleaning machine which can automatically overcome obstacles.

[0007] The utility model provides an automatic obstacle-crossing window cleaning machine, which comprises a power device. The power device comprises a portable power shell. Both ends of the power shell are provided with transmission components, and the transmission components comprise a connecting shaft.

[0008] The middle surfaces of the two connecting shafts are respectively installed with a main window wiping mechanism and a secondary window wiping structure.

[0009] The main window wiping mechanism and the secondary window wiping structure respectively include a main window wiping shell and a secondary window wiping shell which are radially symmetrically arranged. Cameras for identifying obstacles at the front and rear ends of the window wiping machine are fixedly installed on the opposite middle surfaces of the main window wiping shell and the secondary window wiping shell.

[0010] The camera transmits the obstacle video captured in the forward direction to the controller to calculate the shape and size of the obstacle. The controller then sends instructions to the power device based on the shape and size information of the obstacle. The power device lifts or adjusts the main window wiping shell or the secondary window wiping shell through the transmission component according to the instructions to achieve the obstacle surmounting action.

[0011] Preferably, a hand-held lifting rod is provided in the middle of the upper surface of the power shell, and a powerful arm driving motor is fixedly installed on the inner walls at both ends of the power shell, and a posture adjustment motor is fixedly installed on the inner walls on both sides of the opposite ends of the main window cleaning shell and the secondary window cleaning shell.

[0012] Preferably, the transmission component includes a mechanical arm connected to the lever arm driving motor and the posture adjustment motor, the lever arm driving motor adjusts the obstacle clearance height between the power shell and the main window wiping shell and the secondary window wiping shell through the mechanical arm, and the two posture adjustment motors respectively adjust the obstacle clearance angles between the mechanical arm and the main window wiping shell and the secondary window wiping shell.

[0013] Through the above technical solution, motors are set at the four corner points to facilitate precise control. At the same time, the lever arm drive motor and the posture adjustment motor both use dual-output shaft motors to make the lever arm movement amplitudes on both sides consistent.

[0014] Preferably, infrared depth sensors for real-time detection of the distance between the end surface of the main window-wiping housing or the secondary window-wiping housing and the obstacle are fixedly mounted on the opposite middle surfaces of the main window-wiping housing and the secondary window-wiping housing.

[0015] Through the above technical solution, the camera and the infrared depth sensor are located on the same horizontal line, which facilitates the unification of the reference position used for calculation.

[0016] Preferably, the height from the lower surface of the power housing to the lower surface of the main window cleaning housing or the secondary window cleaning housing is H, and the height of the obstacle is H / , the infrared depth sensor detects the straight-line distance between the infrared depth sensor and the obstacle as L, and the camera detects the horizontal elevation angle of the highest point of the obstacle as θ and the depression angle of the lowest point of the obstacle as θ / ;

[0017] Then H / =a+b=L*tan(θ+θ / );

[0018] Among them, a is the height of the opposite side of the horizontal elevation angle θ, and b is the depression angle θ / The height of the opposite side.

[0019] Through the above technical solution, trigonometric functions are used to achieve accurate calculation of each key parameter.

[0020] Preferably, the height H of the obstacle / The height H from the lower surface of the power shell to the lower surface of the main window cleaning shell or the secondary window cleaning shell is compared. When H>H / , then the command action that crosses the height of the obstacle is allowed to be executed.

[0021] Through the above technical solution, the height of the obstacle can be accurately calculated to determine whether the window cleaning machine can pass normally.

[0022] Preferably, the main window cleaning housing or the secondary window cleaning housing is lifted H / After the height is determined, the vertical height of the camera from the upper surface of the primary window cleaning housing or the secondary window cleaning housing is b, and the distance from the outermost edge of the obstacle detected by the infrared depth sensor is L / / , then L / / is the hypotenuse in trigonometric function, b is the opposite side in trigonometric function, we can get

[0023]

[0024] Then, the obtained θ / / L / =L / / *cosθ / / -L;

[0025] Where L / is the width of the obstacle.

[0026] Through the above technical solution, the width of the obstacle can be accurately calculated using trigonometric functions to make accurate measurements for the crossing action.

[0027] Preferably, the maximum span width of the opposite end faces of the main window cleaning housing and the secondary window cleaning housing is B, when B>L / , then the command action that crosses the width of the obstacle is allowed to be executed.

[0028] Through the above technical solution, only when the maximum span width B>L / Only then can the crossing instruction be given.

[0029] Preferably, the lower surfaces of the main window-wiping shell and the secondary window-wiping shell are both provided with wiping cloths, and the middle portions of the wiping cloths are hollowed out.

[0030] Through the above technical solution, the wiping cloth can clean the dust on the glass surface, thereby facilitating the adsorption of the window cleaning machine.

[0031] Preferably, suction cups are installed on the lower surfaces of the main window-wiping shell and the secondary window-wiping shell, located in the middle of the hollowed-out wiping cloth, and moving wheels are fixedly installed on the lower surfaces of the suction cups.

[0032] Through the above technical solution, the walking effect can be achieved. At the same time, the shaft end of the suction cup can be connected to a motor and set to a rotatable state, thereby driving the moving wheel to transmit together, thereby achieving the turning effect of the entire window cleaning machine.

[0033] The beneficial effects of the present invention are:

[0034] 1. By setting up a main window cleaning shell and a secondary window cleaning shell, at least two window cleaning machines are integrated together to form a new window cleaning machine. The two window cleaning machines not only have greater cleaning efficiency, but can also be connected together through a power shell to form the principle of bionic two legs, thereby realizing interactive walking and crossing obstacles.

[0035] 2. By setting a power device to lift or adjust the main window cleaning shell or the secondary window cleaning shell through the transmission component according to the instruction to achieve the obstacle-crossing action, the window cleaning machine can realize intelligent calculation and send corresponding instructions to achieve the obstacle-crossing effect without manual remote control of each step. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of an automatic obstacle-crossing window cleaning machine proposed by the utility model;

[0037] Figure 2 A side view of a window cleaning machine capable of automatically overcoming obstacles proposed by the utility model;

[0038] Figure 3 A bottom view of a window cleaning machine capable of automatically overcoming obstacles proposed by the utility model;

[0039] Figure 4A side view of the obstacle height calculation of the automatic obstacle-crossing window cleaning machine proposed by the utility model;

[0040] Figure 5 This is a side view of the obstacle width calculation of the automatic obstacle-crossing window cleaning machine proposed by the utility model;

[0041] Figure 6 This is a state diagram of an automatic obstacle-crossing window cleaning machine proposed in the utility model;

[0042] Figure 7 This is a diagram of the corner crossing state of the automatic obstacle-crossing window cleaning machine proposed by the utility model.

[0043] In the figure: 1. Power shell; 11. Lifting rod; 12. Lever drive motor; 13. Posture adjustment motor; 2. Connecting shaft; 21. Mechanical arm; 3. Main window cleaning shell; 4. Secondary window cleaning shell; 5. Camera; 51. Infrared depth sensor; 6. Obstacle; 7. Wiping cloth; 8. Suction cup; 9. Moving wheel. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0045] Reference Figure 1-Figure 7 , a window cleaning machine that can automatically overcome obstacles, such as Figure 1 As shown, it includes a power device, which includes a hand-held power shell 1. Transmission components are provided at both ends of the power shell 1, and the transmission components include a connecting shaft 2.

[0046] like Figure 1-Figure 3 As shown, in order to achieve the effect of interactive window wiping, a main window wiping mechanism and a secondary window wiping structure are respectively installed on the middle surfaces of the two connecting shafts 2.

[0047] The main window wiping mechanism and the secondary window wiping structure are specifically constructed as follows: the main window wiping mechanism and the secondary window wiping structure respectively include a main window wiping shell 3 and a secondary window wiping shell 4 which are radially symmetrically arranged; cameras 5 for identifying obstacles 6 at the front and rear ends of the window wiping machine are fixedly installed on the opposite middle surfaces of the main window wiping shell 3 and the secondary window wiping shell 4.

[0048] The power device is specifically composed as follows: a hand-held lifting rod 11 is provided in the middle of the upper surface of the power shell 1, and a powerful arm driving motor 12 is fixedly installed on the inner walls at both ends of the power shell 1, and a posture adjustment motor 13 is fixedly installed on the inner walls on both sides of the opposite ends of the main window cleaning shell 3 and the secondary window cleaning shell 4.

[0049] The transmission component is as follows: the transmission component includes a mechanical arm 21 connected to the arm drive motor 12 and the posture adjustment motor 13. The arm drive motor 12 adjusts the obstacle clearance height between the power shell 1 and the main window cleaning housing 3 and the secondary window cleaning housing 4 through the mechanical arm 21. The two posture adjustment motors 13 respectively adjust the obstacle clearance angles between the mechanical arm 21 and the main window cleaning housing 3 and the secondary window cleaning housing 4. Motors are set at the four corner points for precise control. At the same time, the arm drive motor 12 and the posture adjustment motor 13 are both double-output shaft motors, so that the arm movements on both sides are consistent.

[0050] By providing a main window cleaning shell 3 and a secondary window cleaning shell 4, at least two window cleaning machines are integrated together to form a new window cleaning machine. The two window cleaning machines not only have greater cleaning efficiency, but can also be connected together through the power shell 1 to form the principle of bionic two legs, thereby realizing interactive walking and crossing obstacles.

[0051] like Figure 4 As shown, in order to accurately calculate whether the window cleaning machine can perform an obstacle-crossing action, the camera 5 transmits the video of the obstacle 6 captured in the forward direction to the controller to calculate the shape and size of the obstacle 6. Thereafter, the controller sends an instruction to the power device according to the shape and size information of the obstacle 6. The power device lifts or adjusts the main window cleaning shell 3 or the secondary window cleaning shell 4 through the transmission component according to the instruction to realize the obstacle-crossing action.

[0052] The shape and size of the obstacle 6 are calculated as follows: an infrared depth sensor 51 for real-time detection of the distance between the end surface of the main window cleaning housing 3 or the secondary window cleaning housing 4 and the obstacle 6 is fixedly installed on the middle surfaces of the main window cleaning housing 3 and the secondary window cleaning housing 4. The camera 5 and the infrared depth sensor 51 are located on the same horizontal line, which is convenient for unifying the reference position used for calculation.

[0053] Calculate the height of the obstacle 6: the height from the lower surface of the power housing 1 to the lower surface of the main window cleaning housing 3 or the secondary window cleaning housing 4 is H, and the height of the obstacle 6 is H / , the infrared depth sensor 51 detects that the straight-line length distance between the infrared depth sensor 51 and the obstacle 6 is L, and the camera 5 detects that the horizontal elevation angle of the highest point of the obstacle 6 is θ and the depression angle of the lowest point of the obstacle 6 is θ / ;

[0054] Then H / =a+b=L*tan(θ+θ / );

[0055] Among them, a is the height of the opposite side of the horizontal elevation angle θ, and b is the depression angle θ / The height of the opposite side. Use trigonometric functions to accurately calculate each key parameter.

[0056] Determine whether the obstacle clearance height is met: the height H of the obstacle 6 / The height H from the lower surface of the power housing 1 to the lower surface of the main window cleaning housing 3 or the secondary window cleaning housing 4 is compared. When H>H / , then the command action of crossing the height of the obstacle 6 is allowed to be executed. The height of the obstacle 6 can be accurately calculated to determine whether the window cleaning machine can pass normally. If not, the information is fed back to the background or the operator terminal, and the window cleaning machine returns to the previous step, so that the main window cleaning housing 3 and the secondary window cleaning housing 4 are both adsorbed on the glass window.

[0057] like Figure 5 As shown, the width of the obstacle 6 is measured: the main window cleaning housing 3 or the secondary window cleaning housing 4 is lifted H / After the height is set, the vertical height of the camera 5 from the upper surface of the main window cleaning housing 3 or the secondary window cleaning housing 4 is b, and the distance from the outermost edge of the obstacle 6 detected by the infrared depth sensor 51 is L / / , then L / / is the hypotenuse in trigonometric function, b is the opposite side in trigonometric function, we can get

[0058]

[0059] Then, the obtained θ / / L / =L / / *cosθ / / -L;

[0060] Where L / is the width of the obstacle 6. The width of the obstacle 6 is accurately calculated using trigonometric functions to accurately measure the crossing action.

[0061] Determine whether the obstacle crossing width is met: the maximum span width of the opposite end faces of the main window cleaning housing 3 and the secondary window cleaning housing 4 is B. When B>L / When the maximum span width B>L, the command action of crossing the width of the obstacle 6 is allowed to be executed. / If it does not meet the requirements, the information will be fed back to the backend or the operator terminal, and the window cleaning machine will return to the previous step, so that the main window cleaning housing 3 and the secondary window cleaning housing 4 are both adsorbed on the glass window to prevent them from falling.

[0062] like Figure 3As shown, the window cleaning machine further comprises: the lower surfaces of the main window cleaning housing 3 and the secondary window cleaning housing 4 are both provided with a wiping cloth 7, and the middle part of the wiping cloth 7 is hollowed out. The wiping cloth 7 can clean the dust on the glass surface, thereby facilitating the adsorption of the window cleaning machine.

[0063] Preferably, the lower surfaces of the main window cleaning housing 3 and the secondary window cleaning housing 4 are both provided with suction cups 8 in the middle of the hollowed-out cleaning cloth 7, and the lower surfaces of the suction cups 8 are both fixedly provided with moving wheels 9. The walking effect can be achieved, and the shaft ends of the suction cups 8 can be connected to a motor and set in a rotatable state, thereby driving the moving wheels 9 to transmit together, thereby achieving the turning effect of the entire window cleaning machine.

[0064] By setting up a power device to lift or adjust the main window cleaning shell 3 or the secondary window cleaning shell 4 through the transmission component according to the instruction to achieve the obstacle surmounting action, the intelligent calculation of the window cleaning machine can be realized, and the corresponding instructions can be sent to achieve the obstacle surmounting effect without manual remote control of each step.

[0065] The specific obstacle-crossing action is achieved as follows: the suction cups 8 at the bottom of the main window-wiping housing 3 and the secondary window-wiping housing 4 contain a vacuum pump for adsorbing on the glass. During the window-wiping process, if a window frame is encountered, the window frame can be identified and the motion flipping mechanism can be activated. When the suction cups 8 in the main window-wiping housing 3 and the secondary window-wiping housing 4 work together, the suction cups 8 of the main window-wiping housing 3 maintain suction, and the suction cups 8 in the secondary window-wiping housing 4 are released, so that the secondary window-wiping housing 4 is lifted up to perform a flipping action and reaches the opposite side of the window frame, and then the suction cups 8 on the secondary window-wiping housing 4 maintain suction, and the suction cups 8 of the main window-wiping housing 3 are released and flip over the window frame to achieve the purpose of crossing obstacles. At the same time, the main and secondary suction cups can improve the efficiency of window wiping.

[0066] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A window cleaning machine capable of automatically overcoming obstacles, characterized in that: The power device comprises a power device, the power device comprises a portable power shell (1), both ends of the power shell (1) are provided with transmission components, and the transmission components comprise a connecting shaft (2); A main window-wiping mechanism and a secondary window-wiping structure are respectively installed on the middle surfaces of the two connecting shafts (2); The main window-wiping mechanism and the secondary window-wiping structure respectively comprise a main window-wiping housing (3) and a secondary window-wiping housing (4) which are arranged in radial symmetry, and cameras (5) for identifying obstacles (6) at the front and rear ends of the window-wiping machine are fixedly mounted on the middle surfaces of the main window-wiping housing (3) and the secondary window-wiping housing (4) which face away from each other; The camera (5) transmits a video of an obstacle (6) captured in the forward direction to a controller to calculate the shape and size of the obstacle (6), and then the controller sends an instruction to the power device according to the shape and size information of the obstacle (6), and the power device lifts or adjusts the main window-wiping housing (3) or the secondary window-wiping housing (4) through the transmission component according to the instruction to achieve the action of overcoming the obstacle; An infrared depth sensor (51) for real-time detection of the distance between the end surface of the main window-wiping housing (3) or the secondary window-wiping housing (4) and the obstacle (6) is fixedly mounted on the middle surfaces of the main window-wiping housing (3) and the secondary window-wiping housing (4) facing each other; The height from the lower surface of the power housing (1) to the lower surface of the main window cleaning housing (3) or the secondary window cleaning housing (4) is H, and the height of the obstacle (6) is H / The infrared depth sensor (51) detects that the straight-line length distance between the infrared depth sensor (51) and the obstacle (6) is L, and the camera (5) detects that the horizontal elevation angle of the highest point of the obstacle (6) is θ and the depression angle of the lowest point of the obstacle (6) is θ. / ; Then H / = a + b = L * tan(θ + θ / ); Among them, a is the height of the opposite side of the horizontal elevation angle θ, and b is the depression angle θ / Height of opposite side; The height H of the obstacle (6) / The height H from the lower surface of the power housing (1) to the lower surface of the main window cleaning housing (3) or the secondary window cleaning housing (4) is compared. When H>H / , then the command action of crossing the height of the obstacle (6) is allowed to be executed; The main window-wiping housing (3) or the secondary window-wiping housing (4) is lifted H / After the height is determined, the vertical height of the camera (5) from the upper surface of the primary window cleaning housing (3) or the secondary window cleaning housing (4) is b, and the distance from the outermost edge of the obstacle (6) detected by the infrared depth sensor (51) is L. / / , then L / / is the hypotenuse in trigonometric function, b is the opposite side in trigonometric function, we can get Then, the obtained θ / / L / =L / / *cosθ / / -L; Where L / is the width of the obstacle (6); The maximum span width of the opposite end faces of the main window cleaning housing (3) and the secondary window cleaning housing (4) is B. When B>L / , then the command action that crosses the width of the obstacle (6) is allowed to be executed.

2. The automatic obstacle-crossing window cleaning machine according to claim 1, characterized in that: A hand-carrying lifting rod (11) is provided in the middle of the upper surface of the power shell (1), and a force arm driving motor (12) is fixedly mounted on the inner walls at both ends of the power shell (1), and a posture adjustment motor (13) is fixedly mounted on the inner walls at both sides of the opposite ends of the main window cleaning shell (3) and the secondary window cleaning shell (4).

3. The automatic obstacle-crossing window cleaning machine according to claim 2, characterized in that: The transmission component comprises a mechanical arm (21) connected to the force arm driving motor (12) and the posture adjustment motor (13); the force arm driving motor (12) adjusts the obstacle clearance height between the power shell (1) and the main window wiping shell (3) and the secondary window wiping shell (4) through the mechanical arm (21); and the two posture adjustment motors (13) respectively adjust the obstacle clearance angles between the mechanical arm (21) and the main window wiping shell (3) and the secondary window wiping shell (4).

4. The automatic obstacle-crossing window cleaning machine according to claim 1, characterized in that: The lower surfaces of the main window-wiping housing (3) and the secondary window-wiping housing (4) are both provided with wiping cloths (7), and the middle portion of the wiping cloths (7) is hollowed out.

5. The automatic obstacle-crossing window cleaning machine according to claim 4, characterized in that: Suction cups (8) are installed on the lower surfaces of the main window-wiping housing (3) and the secondary window-wiping housing (4) in the middle of the hollowed-out wiping cloth (7), and moving wheels (9) are fixedly installed on the lower surfaces of the suction cups (8).

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