Window cleaning device and barrier avoiding method

Abstract

The invention discloses a window cleaning device and a barrier avoiding method. The window cleaning device comprises a driver and a follower, wherein magnets of different magnetic poles are respectively arranged inside the driver and the follower, so that the follower moves following the driver. The driver comprises a control unit, a driving unit, a walking unit and a sensing component, wherein the driving unit drives the walking unit to walk, the control unit is respectively connected with the driving unit and the sensing component, the sensing component comprises a first sensing unit situated at the front end of the driver and a second sensing unit situated at the side of the driver, and the first sensing unit and the second sensing unit are situated at the same side of the driver. The driver is provided with a side-close mode. In the side-close mode, the control unit controls the driver to walk close to the side according to received signals of the second sensing unit, the first sensing unit senses a barrier in front of the driver, the control unit controls the driving unit to drive the walking unit according to the signals sent out by the first sensing unit, so that the driver is enabled to avoid the barrier. The window cleaning device can be used for evenly cleaning glass and avoids the barrier in the cleaning process by means of the barrier avoiding method.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a glass-wiping device and an obstacle avoidance method. Background technique [0002] In daily life, the windows need to be cleaned frequently, and the use of automatic window cleaning devices eliminates the cumbersome labor and provides convenience for cleaning work. The automatic window-cleaning robot commonly used at present usually includes a driver and a follower. The front ends of the driver and the follower are equipped with rags. The two machines are respectively adsorbed on both sides of the window glass by magnetic force, and the driver is driven by the program. The accompanying machine and the driving machine run together on the window glass, so that the rag wipes on both sides of the glass, cleaning both sides of the glass at the same time. Usually, a sensing unit is also provided at the front end of the mop to sense obstacles such as window co...

AI Technical Summary

Problems solved by technology

In the prior art, the sensing unit usually used to detect obstacles is located in the middle of the front end of the device. If during operation, the two ends of the striking plate encounter a smaller obstacle (such as the handle of the window), the sensing unit will If it cannot perceive, the robot will not be able to make avoiding actions, and the device will be caught in a dilemma.

Images