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WO2018157275A1 - Window cleaning robot having an air volume measurement function and operation method therefor - Google Patents

Window cleaning robot having an air volume measurement function and operation method therefor Download PDF

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Publication number
WO2018157275A1
WO2018157275A1 PCT/CN2017/075108 CN2017075108W WO2018157275A1 WO 2018157275 A1 WO2018157275 A1 WO 2018157275A1 CN 2017075108 W CN2017075108 W CN 2017075108W WO 2018157275 A1 WO2018157275 A1 WO 2018157275A1
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WIPO (PCT)
Prior art keywords
window cleaning
cleaning robot
air volume
window
information
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Ceased
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PCT/CN2017/075108
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French (fr)
Chinese (zh)
Inventor
聂云
金岩
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Shenzhen Qianhai Zocom Information Technology Co Ltd
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Shenzhen Qianhai Zocom Information Technology Co Ltd
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Priority to PCT/CN2017/075108 priority Critical patent/WO2018157275A1/en
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the invention relates to the field of robot route planning, and in particular to a window cleaning robot with air volume detection and an operation method thereof.
  • the present invention provides a window cleaning robot with air volume detection, comprising: an air volume abnormality alarm module, configured to send an air volume abnormality alarm to a user when a working environment air volume of the window cleaning robot exceeds a safety threshold; a sensing module, configured to acquire sensing data of the window cleaning robot, the sensing data includes window size information, current position information, speed information, air volume information, wherein the window size information and the current position information are utilized
  • the laser ranging method acquires;
  • the control module is configured to plan a window cleaning route according to the sensing data; and the motor module is configured to operate according to the planned window cleaning route.
  • the air volume abnormality alarm module is further configured to send window cleaning completion information and window cleaning exception information to the user.
  • the air volume abnormality alarm module is a WIFI module.
  • the sensing module includes: a laser ranging unit, configured to laser measure the distance between the window cleaning robot and the edge of each window to obtain the window size information and the current position information; and the air volume detection a unit for sensing the air volume information of the window cleaning robot to obtain the working environment air volume of the window cleaning robot, and a turbine detecting unit configured to sense the speed information of the window cleaning robot.
  • control module includes: a sensing data processing unit for receiving and processing the sensing data from the sensing module; a window cleaning path unit for determining the sensing data according to the sensing data The processing result of the processing unit is used to plan the window cleaning path; and the bottom motor control unit is configured to generate a motor control signal according to the planned window cleaning path.
  • the invention also provides a method for operating a window cleaning robot with air volume detection, comprising: acquiring sensing data of the window cleaning robot, the sensing data including window size information, current position information, speed information, air volume information, Wherein the window size information and the current position information are acquired by a laser ranging method; planning a window cleaning route according to the sensing data; operating according to the planned window cleaning route; and when the window cleaning robot When the working environment air volume exceeds the safety threshold, an abnormal air volume alarm is issued to the user.
  • the operating method of the window cleaning robot further comprises: sending the window cleaning completion information and the window cleaning abnormal information to the user.
  • the step of issuing an air volume abnormality alarm to the user includes communicating using the WIFI module.
  • the step of acquiring the sensing data of the window cleaning robot comprises: measuring a distance between the window cleaning robot and the edge of each window of the window to obtain the window size information and the current position information; Sensing the wind volume information of the window cleaning robot to obtain the working environment air volume of the window cleaning robot; and sensing the speed information of the window cleaning robot.
  • the step of planning a window cleaning route according to the sensing data comprises: receiving and processing the sensing data from the sensing module; and planning a window cleaning path according to the processing result; And generating a motor control signal in accordance with the planned window cleaning path.
  • the window cleaning robot and the operation method thereof provided by the invention can clean the windows efficiently and safely, save user time and improve user satisfaction.
  • FIG. 1 is a block diagram of a window cleaning robot in accordance with an embodiment of the present invention.
  • FIG. 2 is a block diagram of the control module of Figure 1.
  • FIG. 3 is a block diagram of the sensing module of Figure 1.
  • FIG. 4 is a flow chart showing a method of operating a window cleaning robot in accordance with an embodiment of the present invention.
  • FIG. 1 is a block diagram of a window cleaning robot 100 in accordance with an embodiment of the present invention.
  • the window cleaning robot 100 may include an air volume abnormality alarm module 102 for issuing an air volume abnormality alarm to the user when the working environment air volume of the window cleaning robot exceeds a safety threshold.
  • the air volume abnormality alarm module 102 may be further configured to send window cleaning completion information and window cleaning exception information to the user.
  • the air volume abnormality alarm module 102 can be a WIFI module.
  • the window cleaning robot 100 may further include a sensing module 108 for acquiring sensing data of the window cleaning robot 100, the sensing data including window size information, current position information, speed information, air volume information, wherein the window The size information and the current position information are acquired using a laser ranging method (for example, a laser range finder placed on top of the machine).
  • a laser ranging method for example, a laser range finder placed on top of the machine.
  • the window cleaning robot 100 can also include a control module 106 for planning a window cleaning route based on the sensor data.
  • the window cleaning robot 100 can also include a motor module 104 for operating in accordance with the planned window cleaning route.
  • control module 106 can include: a sensing data processing unit 202 for receiving and processing the sensing data from the sensing module; a window cleaning path planning unit 204, for The processing result of the sensing data processing unit is used to plan a window cleaning path; the bottom motor control unit 206 is configured to generate a motor control signal according to the planned window cleaning path.
  • FIG. 3 is a block diagram of the sensing module 108 of FIG.
  • the sensing module 108 can include a laser ranging unit 302 for measuring the distance between the window cleaning robot 100 and the edge of each window to obtain the window size information and the current position information.
  • An air volume detecting unit 304 configured to sense the air volume information of the window cleaning robot to obtain the working environment air volume of the window cleaning robot, and a turbine detecting unit 306, configured to sense the window cleaning robot The speed information.
  • FIG. 4 is a flow chart of a method 400 of operating a window cleaning robot in accordance with an embodiment of the present invention.
  • the operating method 400 of the window cleaning robot may include the following steps:
  • Step 410 Acquire sensor data of the window cleaning robot, the sensor data includes window size information, current position information, speed information, and air volume information, wherein the window size information and the current position information are measured by using a laser Get from the method.
  • step 410 may include: laser measuring the distance between the window cleaning robot and the edge of each side of the window to obtain the window size information and the current position information; sensing the air volume of the window cleaning robot Information to obtain the working environment air volume of the window cleaning robot; and sensing the speed information of the window cleaning robot.
  • Step 420 Plan a window cleaning route according to the sensing data.
  • step 420 can include receiving and processing a location from the sensing module Sensing data; planning a window cleaning path according to the processing result; and generating a motor control signal according to the planned window cleaning path.
  • Step 430 Operate according to the planned window cleaning route.
  • Step 440 When the working environment air volume of the window cleaning robot exceeds a safety threshold, an air volume abnormality alarm is issued to the user.
  • step 440 can further include: transmitting window cleaning completion information and window cleaning exception information to the user. For example, communication is performed using a WIFI module.
  • the window cleaning robot and the method of operating the same provided by the present invention can clean windows cleanly and efficiently, saving user time and improving user satisfaction.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

A window cleaning robot having an air volume measurement function, comprising: an air volume abnormality alarm module (102), for issuing to a user an air volume abnormality alarm when the air volume of the operating environment of the window cleaning robot exceeds a safety threshold; a sensing module (108), for acquiring the sensing data of the window cleaning robot, the sensing data comprising window size information, current position information, speed information, and air volume information, the window size information and the current position information being acquired by using a laser ranging method; a control module (106), for planning a window cleaning route according to the sensing data; and a motor module (104), for operating according to the planned window cleaning route. The window cleaning robot and the operation method therefor can efficiently and safely clean windows, thereby saving user time and improving user satisfaction.

Description

具有风量检测的擦窗机器人及其操作方法Window cleaning robot with air volume detection and operation method thereof 技术领域Technical field

本发明涉及机器人路线规划领域，并且特别涉及一种具有风量检测的擦窗机器人及其操作方法。The invention relates to the field of robot route planning, and in particular to a window cleaning robot with air volume detection and an operation method thereof.

背景技术Background technique

当今，智能机器人越来越普及。随着机器人的小型化和低成本化，也逐渐进入普通用户的家庭生活中。例如，根据机器人的功能，通常可分为清扫机器人、擦窗机器人、服务机器人、看护机器人等。然而，擦窗机器人可能无法准确高效并且安全地完成擦窗作业，尤其是高空大风作业情况下。Today, smart robots are becoming more and more popular. With the miniaturization and cost reduction of robots, they have gradually entered the family life of ordinary users. For example, depending on the function of the robot, it can be generally divided into a cleaning robot, a window cleaning robot, a service robot, a care robot, and the like. However, window cleaning robots may not be able to perform window cleaning operations accurately, efficiently, and safely, especially in high-altitude winds.

因此，需要一种改进的擦窗机器人及其操作方法。Therefore, there is a need for an improved window cleaning robot and method of operation thereof.

发明内容Summary of the invention

为实现本目的，本发明提供一种具有风量检测的擦窗机器人，包括：风量异常报警模块，用于当所述擦窗机器人的工作环境风量超过安全阈值时，向用户发出风量异常报警；传感模块，用于获取所述擦窗机器人的传感数据，所述传感数据包括窗户尺寸信息、当前位置信息、速度信息、风量信息，其中所述窗户尺寸信息和所述当前位置信息是利用激光测距方法获取；控制模块，用于根据所述传感数据来规划擦窗路线；以及电机模块，用于根据所述规划的擦窗路线而运作。In order to achieve the object, the present invention provides a window cleaning robot with air volume detection, comprising: an air volume abnormality alarm module, configured to send an air volume abnormality alarm to a user when a working environment air volume of the window cleaning robot exceeds a safety threshold; a sensing module, configured to acquire sensing data of the window cleaning robot, the sensing data includes window size information, current position information, speed information, air volume information, wherein the window size information and the current position information are utilized The laser ranging method acquires; the control module is configured to plan a window cleaning route according to the sensing data; and the motor module is configured to operate according to the planned window cleaning route.

在一个实施例中，所述风量异常报警模块还配置为向用户发送擦窗完成信息和擦窗异常信息。In one embodiment, the air volume abnormality alarm module is further configured to send window cleaning completion information and window cleaning exception information to the user.

在一个实施例中，所述风量异常报警模块为WIFI模块。 In one embodiment, the air volume abnormality alarm module is a WIFI module.

在一个实施例中，所述传感模块包括：激光测距单元，用于激光测量所述擦窗机器人与窗户各面边缘的距离而得到所述窗户尺寸信息和所述当前位置信息；风量检测单元，用于感测所述擦窗机器人的所述风量信息以得到所述擦窗机器人的所述工作环境风量；以及轮机检测单元，用于感测所述擦窗机器人的所述速度信息。In one embodiment, the sensing module includes: a laser ranging unit, configured to laser measure the distance between the window cleaning robot and the edge of each window to obtain the window size information and the current position information; and the air volume detection a unit for sensing the air volume information of the window cleaning robot to obtain the working environment air volume of the window cleaning robot, and a turbine detecting unit configured to sense the speed information of the window cleaning robot.

在一个实施例中，所述控制模块包括：传感数据处理单元，用于接收并且处理来自所述传感模块的所述传感数据；擦窗路径规划单元，用于根据所述传感数据处理单元的处理结果来规划擦窗路径；以及底层电机控制单元，用于根据所述规划的擦窗路径来产生电机控制信号。In one embodiment, the control module includes: a sensing data processing unit for receiving and processing the sensing data from the sensing module; a window cleaning path unit for determining the sensing data according to the sensing data The processing result of the processing unit is used to plan the window cleaning path; and the bottom motor control unit is configured to generate a motor control signal according to the planned window cleaning path.

本发明还提供一种具有风量检测的擦窗机器人的操作方法，包括：获取所述擦窗机器人的传感数据，所述传感数据包括窗户尺寸信息、当前位置信息、速度信息、风量信息，其中所述窗户尺寸信息和所述当前位置信息是利用激光测距方法获取；根据所述传感数据来规划擦窗路线；根据所述规划的擦窗路线而运作；以及当所述擦窗机器人的工作环境风量超过安全阈值时，向用户发出风量异常报警。The invention also provides a method for operating a window cleaning robot with air volume detection, comprising: acquiring sensing data of the window cleaning robot, the sensing data including window size information, current position information, speed information, air volume information, Wherein the window size information and the current position information are acquired by a laser ranging method; planning a window cleaning route according to the sensing data; operating according to the planned window cleaning route; and when the window cleaning robot When the working environment air volume exceeds the safety threshold, an abnormal air volume alarm is issued to the user.

在一个实施例中，所述的擦窗机器人的操作方法还包括：向用户发送擦窗完成信息和擦窗异常信息。In an embodiment, the operating method of the window cleaning robot further comprises: sending the window cleaning completion information and the window cleaning abnormal information to the user.

在一个实施例中，所述向用户发出风量异常报警的步骤包括：利用WIFI模块进行通信。In one embodiment, the step of issuing an air volume abnormality alarm to the user includes communicating using the WIFI module.

在一个实施例中，所述获取所述擦窗机器人的传感数据的步骤包括：激光测量所述擦窗机器人与窗户各面边缘的距离而得到所述窗户尺寸信息和所述当前位置信息；感测所述擦窗机器人的所述风量信息以得到所述擦窗机器人的所述工作环境风量；以及感测所述擦窗机器人的所述速度信息。In one embodiment, the step of acquiring the sensing data of the window cleaning robot comprises: measuring a distance between the window cleaning robot and the edge of each window of the window to obtain the window size information and the current position information; Sensing the wind volume information of the window cleaning robot to obtain the working environment air volume of the window cleaning robot; and sensing the speed information of the window cleaning robot.

在一个实施例中，所述根据所述传感数据来规划擦窗路线的步骤包括：接收并且处理来自所述传感模块的所述传感数据；根据所述处理结果来规划擦窗路径；以及根据所述规划的擦窗路径来产生电机控制信号。 In one embodiment, the step of planning a window cleaning route according to the sensing data comprises: receiving and processing the sensing data from the sensing module; and planning a window cleaning path according to the processing result; And generating a motor control signal in accordance with the planned window cleaning path.

本发明所提供的擦窗机器人及其操作方法能够高效安全地擦干净窗户，节省用户时间，提升用户满意度。The window cleaning robot and the operation method thereof provided by the invention can clean the windows efficiently and safely, save user time and improve user satisfaction.

附图说明DRAWINGS

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.

图1所示是根据本发明实施例的擦窗机器人的框图。1 is a block diagram of a window cleaning robot in accordance with an embodiment of the present invention.

图2所示是图1中的控制模块的框图。Figure 2 is a block diagram of the control module of Figure 1.

图3所示是图1中的传感模块的框图。Figure 3 is a block diagram of the sensing module of Figure 1.

图4所示是根据本发明实施例的擦窗机器人的操作方法的流程图。4 is a flow chart showing a method of operating a window cleaning robot in accordance with an embodiment of the present invention.

具体实施方式detailed description

为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

图1所示是根据本发明实施例的擦窗机器人100的框图。1 is a block diagram of a window cleaning robot 100 in accordance with an embodiment of the present invention.

如图1所示，擦窗机器人100可包括风量异常报警模块102，用于当所述擦窗机器人的工作环境风量超过安全阈值时，向用户发出风量异常报警。在一个实施例中，所述风量异常报警模块102还可配置为向用户发送擦窗完成信息和擦窗异常信息。所述风量异常报警模块102可以是WIFI模块。As shown in FIG. 1 , the window cleaning robot 100 may include an air volume abnormality alarm module 102 for issuing an air volume abnormality alarm to the user when the working environment air volume of the window cleaning robot exceeds a safety threshold. In one embodiment, the air volume abnormality alarm module 102 may be further configured to send window cleaning completion information and window cleaning exception information to the user. The air volume abnormality alarm module 102 can be a WIFI module.

擦窗机器人100还可以包括传感模块108，用于获取所述擦窗机器人100的传感数据，所述传感数据包括窗户尺寸信息、当前位置信息、速度信息、风量信息，其中所述窗户尺寸信息和所述当前位置信息是利用激光测距方法(例如，置于机器顶部的激光测距仪)获取。 The window cleaning robot 100 may further include a sensing module 108 for acquiring sensing data of the window cleaning robot 100, the sensing data including window size information, current position information, speed information, air volume information, wherein the window The size information and the current position information are acquired using a laser ranging method (for example, a laser range finder placed on top of the machine).

擦窗机器人100还可以包括控制模块106，用于根据所述传感数据来规划擦窗路线。The window cleaning robot 100 can also include a control module 106 for planning a window cleaning route based on the sensor data.

擦窗机器人100还可以包括电机模块104，用于根据所述规划的擦窗路线而运作。The window cleaning robot 100 can also include a motor module 104 for operating in accordance with the planned window cleaning route.

图2所示是图1中的控制模块106的框图。在一个实施例中，所述控制模块106可包括：传感数据处理单元202，用于接收并且处理来自所述传感模块的所述传感数据；擦窗路径规划单元204，用于根据所述传感数据处理单元的处理结果来规划擦窗路径；底层电机控制单元206，用于根据所述规划的擦窗路径来产生电机控制信号。2 is a block diagram of the control module 106 of FIG. In one embodiment, the control module 106 can include: a sensing data processing unit 202 for receiving and processing the sensing data from the sensing module; a window cleaning path planning unit 204, for The processing result of the sensing data processing unit is used to plan a window cleaning path; the bottom motor control unit 206 is configured to generate a motor control signal according to the planned window cleaning path.

图3所示是图1中的传感模块108的框图。3 is a block diagram of the sensing module 108 of FIG.

在一个实施例中，所述传感模块108可包括：激光测距单元302，用于测量所述擦窗机器人100与窗户各面边缘的距离而得到所述窗户尺寸信息和所述当前位置信息；风量检测单元304，用于感测所述擦窗机器人的所述风量信息以得到所述擦窗机器人的所述工作环境风量；以及轮机检测单元306，用于感测所述擦窗机器人的所述速度信息。In one embodiment, the sensing module 108 can include a laser ranging unit 302 for measuring the distance between the window cleaning robot 100 and the edge of each window to obtain the window size information and the current position information. An air volume detecting unit 304, configured to sense the air volume information of the window cleaning robot to obtain the working environment air volume of the window cleaning robot, and a turbine detecting unit 306, configured to sense the window cleaning robot The speed information.

图4所示是根据本发明实施例的擦窗机器人的操作方法400的流程图。4 is a flow chart of a method 400 of operating a window cleaning robot in accordance with an embodiment of the present invention.

如图4所示，擦窗机器人的操作方法400可包括以下步骤：As shown in FIG. 4, the operating method 400 of the window cleaning robot may include the following steps:

步骤410：获取所述擦窗机器人的传感数据，所述传感数据包括窗户尺寸信息、当前位置信息、速度信息、风量信息，其中所述窗户尺寸信息和所述当前位置信息是利用激光测距方法获取。Step 410: Acquire sensor data of the window cleaning robot, the sensor data includes window size information, current position information, speed information, and air volume information, wherein the window size information and the current position information are measured by using a laser Get from the method.

在一个实施例中，步骤410可包括：激光测量所述擦窗机器人与窗户各面边缘的距离而得到所述窗户尺寸信息和所述当前位置信息；感测所述擦窗机器人的所述风量信息以得到所述擦窗机器人的所述工作环境风量；以及感测所述擦窗机器人的所述速度信息。In one embodiment, step 410 may include: laser measuring the distance between the window cleaning robot and the edge of each side of the window to obtain the window size information and the current position information; sensing the air volume of the window cleaning robot Information to obtain the working environment air volume of the window cleaning robot; and sensing the speed information of the window cleaning robot.

步骤420：根据所述传感数据来规划擦窗路线。Step 420: Plan a window cleaning route according to the sensing data.

在一个实施例中，步骤420可包括：接收并且处理来自所述传感模块的所 述传感数据；根据所述处理结果来规划擦窗路径；以及根据所述规划的擦窗路径来产生电机控制信号。In one embodiment, step 420 can include receiving and processing a location from the sensing module Sensing data; planning a window cleaning path according to the processing result; and generating a motor control signal according to the planned window cleaning path.

步骤430：根据所述规划的擦窗路线而运作。Step 430: Operate according to the planned window cleaning route.

步骤440：当所述擦窗机器人的工作环境风量超过安全阈值时，向用户发出风量异常报警。在一个实施例中，步骤440还可包括：向用户发送擦窗完成信息和擦窗异常信息。例如，利用WIFI模块进行通信。Step 440: When the working environment air volume of the window cleaning robot exceeds a safety threshold, an air volume abnormality alarm is issued to the user. In one embodiment, step 440 can further include: transmitting window cleaning completion information and window cleaning exception information to the user. For example, communication is performed using a WIFI module.

有利地，本发明所提供的擦窗机器人及其操作方法能够高效安全地擦干净窗户，节省用户时间，提升用户满意度。Advantageously, the window cleaning robot and the method of operating the same provided by the present invention can clean windows cleanly and efficiently, saving user time and improving user satisfaction.

以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。 The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.

Claims (10)

一种具有风量检测的擦窗机器人，包括：A window cleaning robot with air volume detection, comprising: 风量异常报警模块，用于当所述擦窗机器人的工作环境风量超过安全阈值时，向用户发出风量异常报警；The air volume abnormality alarm module is configured to send an air volume abnormality alarm to the user when the working environment air volume of the window cleaning robot exceeds a safety threshold; 传感模块，用于获取所述擦窗机器人的传感数据，所述传感数据包括窗户尺寸信息、当前位置信息、速度信息、风量信息，其中所述窗户尺寸信息和所述当前位置信息是利用激光测距方法获取；a sensing module, configured to acquire sensing data of the window cleaning robot, the sensing data includes window size information, current position information, speed information, air volume information, wherein the window size information and the current position information are Obtained by laser ranging method; 控制模块，用于根据所述传感数据来规划擦窗路线；以及a control module, configured to plan a window cleaning route according to the sensing data; 电机模块，用于根据所述规划的擦窗路线而运作。A motor module for operating in accordance with the planned window cleaning route. 如权利要求1所述的擦窗机器人，其特征在于，所述风量异常报警模块还配置为向用户发送擦窗完成信息和擦窗异常信息。A window cleaning robot according to claim 1, wherein said air volume abnormality alarm module is further configured to transmit a window cleaning completion information and a window cleaning abnormality information to the user. 如权利要求1所述的擦窗机器人，其特征在于，所述风量异常报警模块为WIFI模块。The window cleaning robot according to claim 1, wherein the air volume abnormality alarm module is a WIFI module. 如权利要求1所述的擦窗机器人，其特征在于，所述传感模块包括：The window cleaning robot of claim 1 wherein said sensing module comprises: 激光测距单元，用于激光测量所述擦窗机器人与窗户各面边缘的距离而得到所述窗户尺寸信息和所述当前位置信息；a laser ranging unit, configured to laser measure the distance between the window cleaning robot and the edge of each side of the window to obtain the window size information and the current position information; 风量检测单元，用于感测所述擦窗机器人的所述风量信息以得到所述擦窗机器人的所述工作环境风量；以及An air volume detecting unit, configured to sense the air volume information of the window cleaning robot to obtain the working environment air volume of the window cleaning robot; 轮机检测单元，用于感测所述擦窗机器人的所述速度信息。a turbine detecting unit, configured to sense the speed information of the window cleaning robot. 如权利要求1所述的擦窗机器人，其特征在于，所述控制模块包括：The window cleaning robot of claim 1 wherein said control module comprises: 传感数据处理单元，用于接收并且处理来自所述传感模块的所述传感数据；a sensing data processing unit for receiving and processing the sensing data from the sensing module; 擦窗路径规划单元，用于根据所述传感数据处理单元的处理结果来规划擦 窗路径；以及a window cleaning path planning unit, configured to plan a wipe according to a processing result of the sensing data processing unit Window path; 底层电机控制单元，用于根据所述规划的擦窗路径来产生电机控制信号。The bottom motor control unit is configured to generate a motor control signal according to the planned window cleaning path. 一种具有风量检测的擦窗机器人的操作方法，包括：A method for operating a window cleaning robot with air volume detection, comprising: 获取所述擦窗机器人的传感数据，所述传感数据包括窗户尺寸信息、当前位置信息、速度信息、风量信息，其中所述窗户尺寸信息和所述当前位置信息是利用激光测距方法获取；Obtaining sensing data of the window cleaning robot, the sensing data includes window size information, current position information, speed information, and air volume information, wherein the window size information and the current position information are acquired by using a laser ranging method ; 根据所述传感数据来规划擦窗路线；Planning a window cleaning route according to the sensing data; 根据所述规划的擦窗路线而运作；以及Operating according to the planned window cleaning route; 当所述擦窗机器人的工作环境风量超过安全阈值时，向用户发出风量异常报警。When the working environment air volume of the window cleaning robot exceeds a safety threshold, an abnormal air volume alarm is issued to the user. 如权利要求6所述的擦窗机器人的操作方法，还包括：The method of operating a window cleaning robot according to claim 6, further comprising: 向用户发送擦窗完成信息和擦窗异常信息。Send window completion information and window cleaning exception information to the user. 如权利要求7所述的擦窗机器人的操作方法，其特征在于，所述向用户发出风量异常报警的步骤包括：利用WIFI模块进行通信。The operating method of the window cleaning robot according to claim 7, wherein the step of issuing an air volume abnormality alarm to the user comprises: communicating using the WIFI module. 如权利要求8所述的擦窗机器人的操作方法，其特征在于，所述获取所述擦窗机器人的传感数据的步骤包括：The operating method of the window cleaning robot according to claim 8, wherein the step of acquiring the sensing data of the window cleaning robot comprises: 激光测量所述擦窗机器人与窗户各面边缘的距离而得到所述窗户尺寸信息和所述当前位置信息；Laser measuring the distance between the window cleaning robot and the edge of each side of the window to obtain the window size information and the current position information; 感测所述擦窗机器人的所述风量信息以得到所述擦窗机器人的所述工作环境风量；以及Sensing the air volume information of the window cleaning robot to obtain the working environment air volume of the window cleaning robot; 感测所述擦窗机器人的所述速度信息。The speed information of the window cleaning robot is sensed. 如权利要求6所述的擦窗机器人的操作方法，其特征在于，所述根据 所述传感数据来规划擦窗路线的步骤包括：A method of operating a window cleaning robot according to claim 6, wherein said The steps of the sensing data to plan a window cleaning route include: 接收并且处理来自所述传感模块的所述传感数据；Receiving and processing the sensory data from the sensing module; 根据所述处理结果来规划擦窗路径；以及Planning a window cleaning path according to the processing result; 根据所述规划的擦窗路径来产生电机控制信号。 A motor control signal is generated in accordance with the planned window cleaning path.
PCT/CN2017/075108 2017-02-28 2017-02-28 Window cleaning robot having an air volume measurement function and operation method therefor Ceased WO2018157275A1 (en)

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