Edge detection sensor for window cleaning robot
By using a combination of infrared sensors and software algorithms on the window cleaning robot, the problems of time-consuming edge detection and mechanical wear were solved, achieving efficient and reliable edge detection and ensuring the stable operation of the robot.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN DEYITAI TECH
- Filing Date
- 2025-04-21
- Publication Date
- 2026-04-21
AI Technical Summary
Existing window cleaning robots suffer from problems such as time-consuming edge detection, frequent collisions, and easy damage to mechanical switches, which affect operational efficiency and stability.
By employing one or more pairs of infrared transmitting and receiving sensors with the signal directions forming an acute angle, combined with software algorithms, glass edges and obstacles are detected, avoiding physical collisions and wear, and improving detection accuracy and reliability.
It enables efficient edge detection without collision, reduces mechanical wear, improves the operating efficiency and stability of the window cleaning robot, and lowers the failure rate.
Smart Images
Figure CN224152674U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of window cleaning robot accessories, specifically to an edge detection sensor for window cleaning robots. Background Technology
[0002] Existing window cleaning robots have several shortcomings in edge detection. For detecting the edges of side windows, a common approach is to use an indirect method involving gyroscope tilt angle detection during movement. This means that an edge is considered encountered only when the robot's tilt angle remains unchanged while the walking mechanism is in motion. This method requires a collision with the edge and a delay to determine the tilt angle change, resulting in frequent collisions with the edge during operation, especially at higher speeds. This negatively impacts both the robot and the edge, and the time-consuming detection process reduces the robot's efficiency. For frameless glass edges, mechanical spring-loaded physical switches are used for detection. As the robot moves, the switch contacts and rubs against the glass under the action of the spring. Changes in the switch position trigger a microswitch to detect the bottom edge. However, physical switches suffer from poor contact and wear and jamming of moving parts, severely affecting the robot's normal operation. Summary of the Invention
[0003] The purpose of this invention is to address the shortcomings and deficiencies of existing technologies by providing an edge detection sensor for window cleaning robots. This photoelectric sensor can detect obstacles at specific distances. The sensor consists of one or more pairs of infrared transmitting and receiving sensors, characterized by the transmission and receiving directions forming a certain angle, with the most sensitive detection occurring at the intersection of the straight lines of the transmission and receiving directions.
[0004] To achieve the above objectives, the present invention adopts the following technical solution: it includes a housing 1, an infrared signal receiving diode 2, an infrared signal emitting diode 3, an infrared signal receiving diode mounting slot 4, and an infrared signal emitting diode mounting slot 5; the housing 1 has two sets of mounting slots in the middle, including a set of longitudinal mounting slots and a set of transverse mounting slots, each set of mounting slots consisting of an infrared signal receiving diode mounting slot 4 and an infrared signal emitting diode mounting slot 5, and the infrared signal receiving diode 2 and the infrared signal emitting diode 3 are installed at the corresponding positions of the infrared signal receiving diode mounting slot 4 and the infrared signal emitting diode mounting slot 5.
[0005] Furthermore, the infrared signal receiving diode 2 and the infrared signal emitting diode 3 are provided with multiple sets, not limited to two or three sets.
[0006] Furthermore, the infrared signal receiving diode 2 and the infrared signal emitting diode 3 are positioned at an acute angle to each other in terms of signal receiving and transmitting directions.
[0007] The working principle of this utility model is as follows: By integrating multiple infrared light emitting and receiving sensors in different directions and combining them with software algorithms, the edge detection of the cleaning surface frame and the edge of the glass plane without edge is realized in the environment in which the window cleaning robot is used.
[0008] The technical solution of this utility model is: a novel edge detection sensor for a window cleaning robot, comprising the following main functional modules:
[0009] 1. Two pairs of infrared emitting and receiving sensors, with one infrared emitting diode and one infrared receiving diode forming a pair, each pair responsible for one direction.
[0010] The transmission and reception directions of each transmitting and corresponding receiving photoelectric sensor are not parallel. The angle between them is an acute angle. The intersection of the transmission direction and the infrared receiving direction forms the plane containing the detection surface.
[0011] The microcontroller is used to detect the signal changes of each set of photoelectric signals when there are no obstacles or reflective objects to analyze the presence of obstacles at the location and the gaps at the bottom edge of the glass.
[0012] The infrared emitting diode operates intermittently. The microcontroller detects the signal strength received by the infrared receiving sensor in two states: emitting infrared light and not emitting infrared light. Through signal comparison and algorithm filtering, interference from sunlight and other infrared signals can be filtered out, improving the reliability and accuracy of detection.
[0013] After adopting the above technical solution, the beneficial effects of this utility model are as follows: Compared with the traditional side frame detection method, this utility model does not require collision with the edge and long waiting time for the tilt angle to change, avoids damage to the machine and frame caused by frequent collisions, improves detection efficiency, and speeds up the working process of the window cleaning robot.
[0014] By abandoning the physical switches that are prone to poor contact, wear and jamming, and adopting infrared transmitting and receiving sensors, the reliability of edge detection is greatly improved, the abnormal operation of the robot caused by detection device failure is reduced, and the window cleaning robot is guaranteed to work stably and efficiently. Attached Figure Description
[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0016] Figure 1 This is a schematic diagram of the structure of this utility model;
[0017] Figure 2 This is a schematic diagram of the internal structure of this utility model;
[0018] Figure 3 This is a schematic diagram of the overall working principle of this utility model;
[0019] Figure 4 It corresponds Figure 3 A schematic diagram of the internal working principle;
[0020] Figure 5 This is a schematic diagram of the outer shell 1 in this utility model;
[0021] Figure 6 It corresponds Figure 5 A right-side isometric view;
[0022] Figure 7 It corresponds Figure 6 A right-side isometric view.
[0023] Explanation of reference numerals in the attached diagram: 1. Housing; 2. Infrared signal receiving diode; 3. Infrared signal emitting diode; 4. Infrared signal receiving diode mounting slot; 5. Infrared signal emitting diode mounting slot. Detailed Implementation
[0024] See Figure 1-7 As shown, the technical solution adopted in this specific embodiment is:
[0025] Sensor installation
[0026] During the design phase of the window cleaning robot, it is necessary to reserve a dedicated installation location and interface for the edge detection sensor. Typically, the sensor can be installed on the bottom of the window cleaning robot near the four corners to maximize the detection range and comprehensively cover any glass edges and obstacles encountered.
[0027] During installation, the sensor must be fixed strictly according to its design orientation to ensure that the outer casing 1 is securely connected to the window cleaning robot body, avoiding any shaking or displacement. Special attention should be paid to the installation angles of the infrared signal receiving diode 2 and the infrared signal emitting diode 3, ensuring that their signal receiving and transmitting directions form a predetermined acute angle, with deviations controlled within a minimal range to guarantee detection accuracy.
[0028] After completing the mechanical installation of the sensors, proceed with the circuit connection. Accurately connect the wiring of infrared signal receiving diode 2 and infrared signal emitting diode 3 to the microcontroller control circuit inside the window cleaning robot, ensuring a secure connection without the risk of short circuits or open circuits. Implement proper insulation protection measures for the wiring to prevent sensor malfunctions due to wiring issues during robot operation.
[0029] Inspection process during window cleaning robot operation
[0030] Initial operating state: When the window cleaning robot starts and begins to perform the window cleaning task, the edge detection sensor simultaneously enters the working state. Infrared emitting diode 3 begins to emit infrared light according to the predetermined intermittent working mode. The emission period can be set according to the actual application scenario and detection accuracy requirements, for example, it can be set to emit infrared light once every 10 milliseconds, and the duration of each emission is 1 millisecond.
[0031] Detection Process - Obstacle-Free Situation: During the normal movement of the window cleaning robot on the glass surface, if there are no obstacles or glass edges in the detection area, the infrared light emitted by the infrared emitting diode 3 will only be scattered by a small amount due to environmental factors after propagation through the air. The signal strength received by the infrared signal receiving diode 2 will remain relatively stable within a preset reference value range. The microcontroller continuously monitors the signal strength received by the infrared signal receiving diode 2. When the signal strength is within the reference value range, it determines that the current position of the window cleaning robot is safe and has not approached any edges or obstacles. The window cleaning robot continues to operate normally according to the preset path.
[0032] Detection Process - Encountering Obstacles or Edges: As the window cleaning robot approaches the side frame of a window or the bottom edge of a frameless window, the infrared light emitted by the infrared emitting diode 3 will encounter obstacles or be altered by the reflective properties of the glass edge. If it encounters a side frame, the infrared light will be reflected back, causing a significant increase in the signal strength received by the infrared signal receiving diode 2. If it encounters a gap at the bottom edge of the glass, the lack of reflective material will cause a sharp decrease in the signal strength received by the infrared signal receiving diode 2. The microcontroller detects these significant changes in signal strength in real time. When the signal strength change exceeds a preset threshold, it determines that the window cleaning robot has approached an edge or encountered an obstacle.
[0033] Microcontroller signal processing and motion control of window cleaning robot
[0034] Signal Comparison and Algorithm Filtering: During the detection process, the microcontroller not only monitors the signal strength received by infrared signal receiving diode 2 when infrared light is emitted, but also simultaneously monitors the background signal strength when infrared light is not emitted. By subtracting the background signal strength from the infrared signal strength, a relatively accurate effective signal strength value is obtained. Then, a preset algorithm is used to filter this effective signal strength value, such as the Kalman filter algorithm. This algorithm can effectively remove abnormal signal fluctuations caused by interference factors such as environmental noise and sunlight, further improving the accuracy and stability of the detection signal.
[0035] Motion control of the window cleaning robot: After signal comparison and algorithm filtering, the microcontroller determines that the window cleaning robot is approaching an edge or encountering an obstacle, and immediately sends corresponding instructions to the drive control system of the window cleaning robot. If a side frame is detected, the drive control system controls the window cleaning robot to adjust its walking direction, for example, by changing its path with a gentle turning motion to avoid colliding with the frame, while reducing its walking speed to continue working more cautiously; if the bottom edge of the frameless glass is detected, the drive control system controls the window cleaning robot to stop moving downwards and to perform a backtracking operation according to a preset return path or pattern to prevent the robot from falling.
[0036] The above description is only used to illustrate the technical solution of this utility model and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.
Claims
1. An edge detection sensor for a window cleaning robot, characterized by: It includes a housing (1), an infrared signal receiving diode (2), an infrared signal emitting diode (3), an infrared signal receiving diode mounting slot (4), and an infrared signal emitting diode mounting slot (5); the housing (1) has two sets of mounting slots in the middle, including a set of longitudinal mounting slots and a set of transverse mounting slots. Each set of mounting slots consists of an infrared signal receiving diode mounting slot (4) and an infrared signal emitting diode mounting slot (5). The infrared signal receiving diode (2) and the infrared signal emitting diode (3) are installed at the positions corresponding to the infrared signal receiving diode mounting slot (4) and the infrared signal emitting diode mounting slot (5).
2. An edge detection sensor for a window cleaning robot according to claim 1, characterized in that: The infrared signal receiving diode (2) and infrared signal emitting diode (3) are provided with multiple sets, not limited to two or three sets.
3. An edge detection sensor for a window cleaning robot according to claim 1, characterized in that: The infrared signal receiving diode (2) and the infrared signal emitting diode (3) are in an acute angle direction for receiving and transmitting signals.