阅读说明：本技术 通过调节电磁强度使机器人在竖直玻璃上***的方法 (Method for enabling robot to freely move on vertical glass by adjusting electromagnetic intensity ) 是由 李学辉 杨振 王芳 单承刚 姚良威 孟凡擎 张强 陈文平 赵猛猛 王燊 张思思 于 2020-07-21 设计创作，主要内容包括：本发明提供一种通过调节电磁强度使机器人在竖直玻璃上自由运动的方法,所述机器人为一对,通过相互的电磁引力提供对玻璃的压力,所述机器人包括用于感知压力的压力传感器、用于感知姿态的重力传感器、用于感知运动角度变化的陀螺仪,所述方法主要是基于机器人的姿态以及运动状态,通过改变电磁引力的作用改变机器人作用在玻璃上的压力,使其满足自动擦玻璃的需求。本方法通过调节电磁强度来调节机器人对玻璃的压力,调节这个压力使机器人不会掉落,同时压力不过大可以自由运动,根据是否运动及运动方向的不同,压力不同,本方法能够根据运动方向自动调节压力。(The invention provides a method for enabling a robot to freely move on vertical glass by adjusting electromagnetic strength, wherein the robot is a pair, pressure on the glass is provided by mutual electromagnetic attraction, the robot comprises a pressure sensor for sensing the pressure, a gravity sensor for sensing the posture and a gyroscope for sensing the change of a movement angle, and the method is mainly based on the posture and the movement state of the robot and changes the pressure of the robot acting on the glass by changing the action of the electromagnetic attraction so as to meet the requirement of automatic glass wiping. The method adjusts the pressure of the robot on the glass by adjusting the electromagnetic strength, the robot can not fall off by adjusting the pressure, the robot can freely move without excessive pressure, and the method can automatically adjust the pressure according to the movement direction according to whether the robot moves or not and the difference of the movement direction.)

1. The method for enabling the robot to freely move on the vertical glass by adjusting the electromagnetic strength is characterized in that the robot is a pair, pressure on the glass is provided through mutual electromagnetic attraction, the robot is of a cubic structure with six faces and comprises a bottom face, a top face, an upper face, a lower face, a left face and a right face, four wheels and a plurality of electromagnets are distributed at the bottom face of the robot, the robot further comprises a pressure sensor for sensing the pressure, a gravity sensor for sensing the posture and a gyroscope for sensing the change of the movement angle, and the method comprises the following steps:

step S1, judging whether the robot is in a correct posture, if so, entering step S3, otherwise, entering step S2, wherein the correct posture is that the upper surface of the robot is in an upward state;

step S2, adjusting the posture of the robot to make the robot in a correct posture;

step S3, the posture of the robot is correct, the motion state of the robot is obtained, if the robot is in a static state, the step S4 is carried out, and if the robot is not in a static state, the step S5 is carried out;

step S4, acquiring pressure F1, and pressure F2,

adjusting the electromagnetic intensity and/or the wheel height to change the pressure of the robot on the glass to make (F1 mu 1+ F2 mu 2) mg, if the condition shown by the formula is reached, the step enters step S7, and if the condition is not reached, the step returns to S4 to continue adjustment;

Step S5, judging the motion direction of the robot through the rotation direction of the wheels of the robot;

step S6, acquiring pressure F1, and pressure F2,

if the robot moves vertically upwards, the electromagnetic intensity and/or the wheel height are adjusted to change the pressure of the robot on the glass, so that F1 mu 1-F2 mu 2 mg is achieved, the process goes to step S7 if the conditions shown by the formula are met, and if the posture of the robot is wrong in the moving process, the process returns to step S1;

if the robot moves vertically downwards, the electromagnetic intensity and/or the wheel height are adjusted to change the pressure of the robot on the glass, so that F2 mu 2 is F1 mu 1+ mg, the condition shown by the formula is reached, the step S7 is skipped, and if the posture of the robot is wrong in the moving process, the step S1 is returned;

if the robot moves horizontally to the left or horizontally to the right, the electromagnetic intensity and/or the wheel height are adjusted to change the pressure of the robot on the glass, so that F1 is F2 is mu 2, F1 is mu 1+ F2 is mu 2 mg, the condition shown by the formula is reached, the step S7 is skipped, if the posture of the robot is wrong during the movement, the step S1 is returned,

step S7, the robot finishes the pressure adjustment of the glass and enters the process of circularly monitoring the posture of the robot;

Wherein F1 is the pressure of the wheels of the robot on the glass, F2 is the pressure of other parts of the robot on the glass, mu 1 is the friction coefficient of the wheels of the robot and the glass, mu 2 is the friction coefficient of the other parts of the robot and the glass, m is the self weight of the robot, and g is the acceleration of gravity.

2. The method for enabling the robot to freely move on the vertical glass by adjusting the electromagnetic intensity as claimed in claim 1, wherein the step S1 specifically comprises:

step S11, making the robot still;

step S12, obtaining values of each axis of the gravity sensor;

and step S13, calculating and judging whether the robot is in a correct posture.

3. The method for enabling the robot to freely move on the vertical glass by adjusting the electromagnetic intensity as claimed in claim 1, wherein the step S2 specifically comprises:

step S21, adjusting the electromagnetic intensity to change the pressure of the robot on the glass, so that F1 ═ μ 1 ═ F2 ═ μ 2, and F2 ═ μ 2 ═ mg;

and step S22, calling a posture adjusting method to adjust the posture.

Technical Field

The invention mainly relates to the technical field related to control of a glass cleaning robot, in particular to a method for enabling the robot to freely move on vertical glass by adjusting electromagnetic intensity.

Background

With the gradual promotion of urbanization, more and more people enter cities to survive, the cities are larger and larger, and high-rise buildings are more and more. Glass wiping for high-rise buildings is a great problem. At present, the outside glass wiping of office buildings is professional, and the danger is extremely high due to the fact that the outside glass wiping is carried out through lifting rope equipment. In a family residential building, each family can wipe by oneself, and wiping also aims to find out the body and wipe the outside.

The current glass wiping equipment is manual, two equipment use electromagnetic attraction, and the user drags the indoor equipment to move, and the outdoor equipment follows the motion. There are typically several fixed electromagnetic intensity values to choose from, allowing the user to adjust the appropriate attraction to facilitate wiping. The movement of the manual operating device is controlled without a method, the external device moves along with the internal device through electromagnetic attraction, the external device moves passively, and the internal device falls off slightly faster than the external device in the wiping process, so that the use is very inconvenient.

The reason why the automatic glass wiping robot in the market is because no proper method for controlling the movement of the glass wiping robot exists, the robot can automatically adjust the pressure according to the actual movement requirement.

Disclosure of Invention

In order to solve the defects of the prior art, the invention combines the prior art, and starts from practical application, the invention provides a method for enabling a robot to freely move on vertical glass by adjusting the electromagnetic strength.

The technical scheme of the invention is as follows:

the method for enabling the robot to freely move on the vertical glass by adjusting the electromagnetic strength comprises the following steps of:

Step S1, judging whether the robot is in a correct posture, if so, entering step S3, otherwise, entering step S2, wherein the correct posture is that the upper surface of the robot is in an upward state;

step S2, adjusting the posture of the robot to make the robot in a correct posture;

step S3, the posture of the robot is correct, the motion state of the robot is obtained, if the robot is in a static state, the step S4 is carried out, and if the robot is not in a static state, the step S5 is carried out;

step S4, acquiring pressure F1, and pressure F2,

adjusting the electromagnetic intensity and/or the wheel height to change the pressure of the robot on the glass to make (F1 mu 1+ F2 mu 2) mg, if the condition shown by the formula is reached, the step enters step S7, and if the condition is not reached, the step returns to S4 to continue adjustment;

step S5, judging the motion direction of the robot through the rotation direction of the wheels of the robot;

step S6, acquiring pressure F1, and pressure F2,

if the robot moves vertically upwards, the electromagnetic intensity and/or the wheel height are adjusted to change the pressure of the robot on the glass, so that F1 mu 1-F2 mu 2 mg is achieved, the process goes to step S7 if the conditions shown by the formula are met, and if the posture of the robot is wrong in the moving process, the process returns to step S1;

if the robot moves vertically downwards, the electromagnetic intensity and/or the wheel height are adjusted to change the pressure of the robot on the glass, so that F2 mu 2 is F1 mu 1+ mg, the condition shown by the formula is reached, the step S7 is skipped, and if the posture of the robot is wrong in the moving process, the step S1 is returned;

If the robot moves horizontally to the left or horizontally to the right, the electromagnetic intensity and/or the wheel height are adjusted to change the pressure of the robot on the glass, so that F1 is F2 is mu 2, F1 is mu 1+ F2 is mu 2 mg, the condition shown by the formula is reached, the step S7 is skipped, if the posture of the robot is wrong during the movement, the step S1 is returned,

step S7, the robot finishes the pressure adjustment of the glass and enters the process of circularly monitoring the posture of the robot;

wherein F1 is the pressure of the wheels of the robot on the glass, F2 is the pressure of other parts of the robot on the glass, mu 1 is the friction coefficient of the wheels of the robot and the glass, mu 2 is the friction coefficient of the other parts of the robot and the glass, m is the self weight of the robot, and g is the acceleration of gravity.

Further, step S1 specifically includes:

step S11, making the robot still;

step S12, obtaining values of each axis of the gravity sensor;

and step S13, calculating and judging whether the robot is in a correct posture.

Further, step S2 specifically includes:

step S21, adjusting the electromagnetic intensity to change the pressure of the robot on the glass, so that F1 ═ μ 1 ═ F2 ═ μ 2, and F2 ═ μ 2 ═ mg;

and step S22, calling a posture adjusting method to adjust the posture.

The invention has the beneficial effects;

the invention can lead the glass wiping robot to be adsorbed on the vertical glass surface without falling off, simultaneously lead the glass wiping robot to be capable of freely moving under moderate pressure, lead the glass wiping robot to automatically wipe the glass by using the method, avoid manually probing out the body to wipe the dangerous external part, and simultaneously solve the problem that the current manual glass wiping equipment is easy to fall off in the process of wiping the glass.

Drawings

FIG. 1 is a schematic diagram of a bottom structure of a robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an internal structure of a robot according to an embodiment of the present invention;

FIG. 3 is a flow chart of the present invention.

Detailed Description

The invention is further described with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.

Fig. 1 and 2 are schematic diagrams of relevant structures of an automatic glass cleaning robot provided by the embodiment of the invention.

In this embodiment, the robot is a cubic structure with 6 faces in total, the bottom and top faces being square and the other four faces being rectangular. The side with the wheels 3 is a bottom surface, the side corresponding to the bottom surface is a top surface, and four surfaces adjacent to the bottom surface are an upper surface, a lower surface, a left surface and a right surface respectively; the upper side is opposite to the lower side, and the left side is opposite to the right side. On vertical glass, the bottom surface is in contact with the glass, the top surface is parallel to the glass, the upper surface is upward, and the lower surface is toward the ground.

The four wheels 3 are arranged in a cross shape, the center of the cross is the center of a square on the bottom surface, and when the posture is adjusted, the four wheels 3 rotate simultaneously in the same direction (the wheels rotate clockwise or anticlockwise when being seen from the wheels) at the same speed, so that the four wheels are in the correct posture, namely the upper surface of the four wheels faces upwards. When the robot moves horizontally on a vertical glass, i.e. to the left or right, only the two wheels 3 on both sides above and below move, the wheels 3 on the left and right side do not move, and retract so that the two wheels 3 do not contact the glass. The robot moves up or down, only two wheels 3 at the left and right sides move, the wheels 3 at the upper and lower sides do not move, and retract.

The periphery of the bottom surface of the robot is respectively provided with a rubber strip 4, and a layer of sponge 2 is arranged outside the bottom surface. The wheel 3, the sponge 2 and the windshield wiper rubber strip 4 are positioned on the same plane and are in contact with the glass. The sponge 2 contains water, and the robot moves up and down, left and right on the glass, so that the function of wiping the glass by using the wiper rubber strip 4 while coating water on the glass is completed, and the function of wiping the glass is also completed.

The robots are paired, the two robots are respectively positioned at two sides of glass when the glass is wiped, the cylinders at 4 corners of the bottom surface are electromagnets 1, 8 electromagnets 1 of the robots at two sides of the two glass generate attractive force after the two robots are electrified, the attractive force of the electromagnets 1 provides pressure of the robots to the glass, and therefore friction force exists between the robots and the glass, and the friction force is large enough to prevent the robots from falling off.

During the movement of the robot, the friction force required for different movement directions is different, i.e. the pressure is different. When the robot moves horizontally (including moving leftwards and rightwards), the friction force between the wheels 3 and the glass is equal to the friction force between other parts (the sponge 2 and the rubber strip 4) of the robot and the glass in the horizontal movement direction of the robot, and the direction is opposite. When the wheel moves upwards, the direction of the friction force between the wheel 3 and the glass is upward, the friction force between the sponge 2 and the rubber strip 4 and the glass is downward, and the gravity exists at the same time, so that the friction force of the wheel 3 is equal to the friction force between the sponge 2 and the rubber strip 4 and the glass plus the gravity; the friction force required is different in magnitude, i.e. pressure, for different movements. Therefore, the electromagnetic attraction of the robot needs to be adjusted according to different movement modes. The electromagnetic attraction provides the pressure of the whole robot, and under a certain whole pressure, the pressure of the wheels 3 is adjusted by adjusting the height of the wheels 3. The position of the wheel 3 can be adjusted up and down within a certain range, and the system is automatically adjusted. The wheels 3 are controlled by corresponding stepping motors 5, the wheels 3 and the motors 5 are not fixed on a bottom plate, but are fixed on a vertical column which can move up and down (the vertical column is not shown for simplifying a structural diagram), and a control system controls the size of the whole electromagnetic attraction on one hand and adjusts the height of the wheels 3 to adjust the pressure of the wheels 3 and other parts on the glass respectively on the other hand.

When the robot is used for wiping glass, the two robots are manually placed on two sides of the glass, and after the two robots are electrified, the robots generate attraction force to attract each other. The robot starts to be random at the position of the glass, the robot firstly moves to the uppermost side of the glass, the leftmost side is the upper left corner, then the robot horizontally moves to the right side, the robot moves downwards by 1 width, the robot moves leftwards, the robot moves downwards by one width after reaching the leftmost side, then the robot horizontally moves rightwards, and the steps are repeated until the whole glass is completely wiped.

Based on the glass cleaning robot provided by the above embodiments of the present invention, the embodiments of the present invention provide a control method capable of enabling the robot to stably walk on glass. In order to realize control, a corresponding sensor is arranged on the robot, the pressure sensor is arranged at the bottom of the robot and can sense pressure, the gravity sensor can sense the posture of the robot, and the gyroscope can sense the change of the motion angle.

The self mass of the robot is m, the gravity acceleration is g, the friction coefficient between the wheels of the robot and the glass is mu 1, the friction force of other parts is mu 2, the pressure of the wheels of the robot to the glass is F1, and the pressure of other parts of the robot to the glass is F2. The robot has 5 motion modes on a plane: the device comprises a first moving mechanism, a second moving mechanism, a third moving mechanism, a fourth moving mechanism, a fifth moving mechanism, a sixth moving mechanism and a sixth moving mechanism. Clockwise rotation is negative rotation and counterclockwise rotation is positive rotation.

As shown in fig. 3, the method comprises the following specific steps:

step S1, determining whether the robot is in a correct posture, if the robot is in a correct posture, the step S3 is performed, otherwise, the step S2 is performed, and the specific steps of the step S1 are as follows:

step S11, making the robot still;

step S12, obtaining values of each axis of the gravity sensor;

step S13, calculating and judging whether the robot is in a correct posture;

step S2, adjusting the posture of the robot to make the robot in a correct posture; the specific steps of step S2 are as follows:

step S21, adjusting the electromagnetic intensity and/or the wheel height to change the pressure of the robot on the glass, so that F1 ═ μ 1 ═ F2 ═ μ 2, and F2 ═ μ 2 ═ mg;

step S22, calling a posture adjusting method to adjust the posture;

step S3, the posture of the robot is correct, the motion state of the robot is obtained, if the robot is in a static state, the step S4 is carried out, and if the robot is not in a static state, the step S5 is carried out;

step S4, acquiring pressure F1, and pressure F2,

adjusting the electromagnetic intensity and/or the wheel height to change the pressure of the robot on the glass to make (F1 mu 1+ F2 mu 2) mg, and if the conditions shown in the formula are met, entering the step S7, otherwise, returning to S4 to continue adjustment;

step S5, judging the motion direction of the robot through the rotation direction of the wheels of the robot;

Step S6, acquiring pressure F1, and pressure F2,

if the robot moves vertically upwards, increasing the wheel pressure F1, reducing the pressure F2 at other positions, making F1 mu 1-F2 mu 2 mg, and jumping to step S7 if the conditions shown in the formula are met, and returning to step S1 if the posture of the robot is wrong in the moving process;

if the robot moves vertically downwards, the wheel pressure F1 is reduced, the pressure F2 at other positions is increased, the F2 mu 2 is F1 mu 1+ mg, the condition shown by the formula is reached, the step S7 is skipped, and if the posture of the robot is wrong in the moving process, the step S1 is returned;

if the robot moves horizontally to the left or the right, the wheel pressure F1 and the pressure F2 at other positions are adjusted, so that F1 is equal to F2 is equal to mu 2, and F1 is equal to mu 1+ F2 is equal to mu 2, so that the robot can be ensured to be stressed in the horizontal direction and the vertical direction in a balanced manner during the horizontal movement process, the step S7 is skipped when the conditions shown by the formula are met, if the posture of the robot is wrong during the movement process, the step S1 is returned,

and step S7, finishing the pressure adjustment of the robot on the glass, and entering the process of circularly monitoring the posture of the robot.

The method can automatically adjust the pressure of the robot on the glass according to different states, so that the robot can not fall off on the vertical glass and can move freely, the glass wiping robot can automatically wipe the glass by using the method, the dangerous external wiping by manually probing the body is not needed, and the problem that the current manual glass wiping equipment is easy to fall off in the glass wiping process is solved.