CN102894928A - Automatic window glass cleaning robot system - Google Patents
Automatic window glass cleaning robot system Download PDFInfo
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- CN102894928A CN102894928A CN2012102419190A CN201210241919A CN102894928A CN 102894928 A CN102894928 A CN 102894928A CN 2012102419190 A CN2012102419190 A CN 2012102419190A CN 201210241919 A CN201210241919 A CN 201210241919A CN 102894928 A CN102894928 A CN 102894928A
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Abstract
The invention relates to an automatic window glass cleaning robot system which is simple in structure and high in automation degree. The automatic window glass cleaning robot system comprises a cleaning robot controller and sensors, wherein the cleaning robot controller adopts a single-chip microcomputer control system (51 single-chip microcomputer and a main chip STC89C54RD+) to realize wireless control of cleaning devices, a control chip is an L298 motor driven chip, a cleaning rob is controlled to move vertically and bilaterally by a large motor and a small motor, moving direction and speed of the two motors are controlled by a remote controller. Electric sensors E18 are mounted on a moving sleeve of the cleaning robot and four sensors are mounted on two support rods for detecting positions of the cleaning devices, and automatic moving cleaning of the robot is completed.
Description
Technical field
The invention belongs to the single-chip microcomputer field, be specifically related to a kind of robot system of automatic cleaning glass window.
Background technology
Along with the development of science and technology and the extensive use of automatic technology, a lot of indexs to the Smart Home purging system, proposed more and more higher requirement such as aspects such as the automaticity of production cost, cleannes, cleaning speed, operating process, antijamming capabilities, wherein the automaticity of production cost, operating process is the most important technical indicator of Smart Home purging system.The height of operating process automaticity is the sign whether the Smart Home purging system moves to maturity, and reducing production costs is the only way which must be passed that the Smart Home cleaning equipment is popular.In many application scenarios, need this purging system to replace dangerous, loaded down with trivial details manually-operated.
In recent years, skyscraper in the city is more and more, although at present main to the windowpane cleaning of skyscraper or take by cleaning the workman that hanging basket or waist tether rope finish, but the design such as a lot of mechanisms, research institute has been arranged at present and produced some glass wiping machines that can replace manually finishing the skyscraper cleaning task etc., promote the development of cleaning industry, brought suitable economic benefit.But for the outer surface of some relatively short buildings, such as subway station, Beijing, although be not too high apart from ground, also unartificial scouring can be finished easily.
Traditional manual cleaning mode is both dangerous, and efficient is low and cost is high again.Both at home and abroad after deliberation some be used for the wall-climbing device human models that high building glass curtain wall cleans, but all also do not have at present practical.Trace it to its cause, the key issues such as the volume of robot and quality, practicality, cleaning and efficient have restricted the development of cleaning robot.
There are following characteristics in the robot that is used for the windowpane cleaning that has developed both at home and abroad at present:
(1) robot body is bulky.
(2) the robot total system is complicated.
(3) the robot additional aids is more, has increased the weight of robot.
Hence one can see that, and people are unwilling to adopt wiper mechanism to finish washing and cleaning operation, and the risk factor that adds washing and cleaning operation is not too high, so people would rather adopt artificial scouring to replace cleaning robot to clean.Accordingly, this paper author designed has gone out a kind of employing permanent magnet cleaning device has been adsorbed on the windowpane both sides, drives the lightweight robotic that this device is finished cleaning by single-chip computer control system.
Summary of the invention
It is a kind of simple in structure that this goal of the invention provides, and automaticity is relatively high, is applicable to the robot system of the automatic cleaning glass window of most of civilian windowpanes.
The technical scheme that realizes the object of the invention is: a kind of robot of automatic cleaning glass window, adopt single-chip microcomputer and wireless control system, and this system comprises:
Cleaning robot control, adopt single-chip computer control system (51 single-chip microcomputers, master chip STC89C54RD+) realization is to the controlled in wireless of this device, control chip is selected the L298 motor drive ic, by about large and small two Electric Machine Control cleaning robots, the motion of left and right sides both direction, by the direction of motion and the speed of two motors of remote controller control;
Sensor is installed position probing that four sensor markers on photoelectric sensor E18 and two support bars carry out cleaning device and is finished the voluntarily motion of robot and clean on the cleaning robot motion sleeve.
As a further improvement on the present invention, in the steering gear control system, steering wheel needs the direction of 2 frees degree to drive, adopt 2 modes that steering wheel is connected, namely a steering wheel connects laser pen as first free degree, and second steering wheel connects first steering wheel and laser pen, as second free degree.Control the rotation of 2 steering wheels by the two-way pwm signal, thereby reach the purpose of location.
As a further improvement on the present invention, robot carries out the following step:
(1) clean before with about two clips cleaning robot is fixed on the windowpane, utilize the magnetic force of permanent magnet that the inside of robot, outside cleaning device are adsorbed on the both sides of windowpane, by about large and small two Electric Machine Control cleaning robots, the motion of left and right sides both direction;
(2) after control section (51 singlechip controller) energising, can control by remote controller the direction of motion and the speed of two motors;
When (3) robot ambulation was to the edge of windowpane, four sensor markers on photoelectric sensor E18 and two support bars carried out the position probing of cleaning device, the cleaning of moving voluntarily during to the windowpane edge.
As a further improvement on the present invention, the sleeve outer end that vertically moves in the described step (2) is provided with bearing, uses the static friction of the sliding friction replacement sleeve of bearing, the service life that has greatly strengthened cleaning robot.
As a further improvement on the present invention, two support bar materials of the cleaning robot in the described step (2) are polyethylene, and density is 0.9g/cm
3, intensity is better, is difficult for flexural deformation, and material hollow shakes less.
As a further improvement on the present invention, the medium and small motor model of described step (2) is 37GB3329, no-load speed: 80r/min, load speed: 61r/min, output torque: 7kg.cm, rated power 24V0.6A, stabilization of speed, antijamming capability is strong, and intensity meets designing requirement.
As a further improvement on the present invention, large motor model: 60GAFM in the described step (2), voltage: DC24V, no-load speed: 60r/min, load speed: 46r/min, output torque: 20kg.cm, the speed of motor and output torque reach requirement after tested.
The invention provides a kind of robot and control system thereof of automatic cleaning glass window of the control principle based on 51 single-chip microcomputers, this cleaning robot is simple in structure, control is reliable, cleaning performance is better, automaticity is relatively high, is applicable to most of civilian windowpanes.
Beneficial effect of the present invention is:
(1) native system can be applied to the wiping window of residential building glass cleaning operation, and this system weight is light, simple in structure, small and exquisite flexibly, and cleaning performance is better, easy to use, and is practical;
(2) be applicable to the cleaning of most of civilian windowpanes, and a lot of parts have interchangeability, be applicable to the windowpane of different size;
(3) use a teleswitch and carry out controlled in wireless, control procedure is easy to learn, and is easy to use;
(4) security of robot is good, directly is fixed on the windowpane difficult drop-off with clip.
Description of drawings
Fig. 1 is the cleaning robot course of work sketch of the embodiment of the invention 1;
Wherein, 1-transverse movement sleeve; 2-transverse movement motor; 3-internal washing main body; 4-lengthwise movement motor; 5-lengthwise movement sleeve; The 6-photoelectric sensor; 7-gear-tooth bar; 8-aluminum clip; The 9-windowpane; The 10-bearing; 11-exterior washings main body; 12-magnet.
Fig. 2 is the embodiment of the invention 1 cleaning robot structure diagram;
Wherein, 201-sponge brush; The built-in magnet of 202-; The 203-scraper plate; 204-sensor marker; The 205-transverse support bar; The 206-transverse sleeves; The 207-gear; The 208-small machine; The 209-tooth bar; 210-cleans main body; The 211-lock-screw; The 212-clip; The 213-photoelectric sensor; The 214-sensor stand; The 215-bearing; The 216-transverse support bar; The vertical sleeve of 217-; The large motor of 218-.
The specific embodiment
Be described further below in conjunction with drawings and Examples.
As shown in Figure 1, wherein, 1-transverse movement sleeve; 2-transverse movement motor; 3-internal washing main body; 4-lengthwise movement motor; 5-lengthwise movement sleeve; The 6-photoelectric sensor; 7-gear-tooth bar; 8-aluminum clip; The 9-windowpane; The 10-bearing; 11-exterior washings main body; 12-magnet.A kind of tunable bandpass filter system cleaning robot course of work sketch, interior cleaning apparatus drives the movement of outside cleaning device about windowpane is finished, on the left and right directions, external device (ED) is again driven cleaning device, relatively move in the windowpane outside with the movement of internal drive, to finish cleaning.This device need to drive with two DC speed-reducing, with about two motors of remote controller control, about running status.Finish cleaning device by the rotating of controlling large motor, move up and down, finish the move left and right of cleaning device by the rotating of control small machine, robot movement up and down all is that the gear motion by wheel and rack moves.The below of cleaning device is provided with sponge brush as cleaning means, top and the right arrange two scraper plates addle are wiped off, first outer glass being sprayed water with little water pump and suction hose during cleaning (also can be fixed on an end of suction hose on the cleaning device, clean on one side, spray water on one side), Artificial Control allows this device go upward to the top from the glass bottom, afterwards repeatedly, top-down cleaning, during cleaning, recognition function by photoelectric sensor can make the automatic move left and right of cleaning device clean, the sleeve that moves up and down has also been installed photoelectric sensor, robot can identify the distance that moves up and down voluntarily, and is can be because of manual operation not former thereby cause robot to break down.
Fig. 2 is the cleaning robot structure diagram, wherein, and the 201-sponge brush; The built-in magnet of 202-; The 203-scraper plate; 204-sensor marker; The 205-transverse support bar; The 206-transverse sleeves; The 207-gear; The 208-small machine; The 209-tooth bar; 210-cleans main body; The 211-lock-screw; The 212-clip; The 213-photoelectric sensor; The 214-sensor stand; The 215-bearing; The 216-transverse support bar; The vertical sleeve of 217-; The large motor of 218-.Before cleaning with about two clips cleaning robot is fixed on the windowpane, utilize the magnetic force of permanent magnet that the inside of robot, outside cleaning device are adsorbed on the both sides of windowpane, by about large and small two Electric Machine Control cleaning robots, the motion of left and right sides both direction.After control section (51 singlechip controller) energising, can control by remote controller the direction of motion and the speed of two motors; The exterior washings device can be installed sparge pipe, sprays to glass surface by little water pump diversion, while can clean, spray water; The sleeve outer end that vertically moves is provided with bearing, uses the static friction of the sliding friction replacement sleeve of bearing, the service life that has greatly strengthened cleaning robot; When considering this robot ambulation to the edge of windowpane, Artificial Control its stop or counter motion cumbersome, so at cleaning robot motion sleeve the position probing that four sensor markers on photoelectric sensor E18 and two support bars carry out cleaning device has been installed, finish robot and do not need Artificial Control, and the cleaning of moving voluntarily during near the windowpane edge, the E18 range detection sensor is far away, be subjected to visible light to disturb little, low price, be easy to assembling, easy to use.
51 single-chip computer control systems, circuit design adopt LM7805 voltage stabilizing chip, transfer the voltage of 24V to 5V, and be the power supplies of 51 single-chip microcomputers, have certain error in the voltage transitions process, the voltage after the conversion generally between 4.8V-5.1V, does not affect the normal operation of single chip machine controlling circuit.Adopt 8 1N4007 diodes to hold stream, make the electric current of PWM control motor speed more level and smooth, the motor operation is more stable.During the barrier of photoelectric sensor in running into scope, the current potential of output can be dragged down, and the design is with four photoelectric sensors of pin control of four single-chip microcomputers.
Claims (6)
1. the robot system of an automatic cleaning glass window is characterized in that, this system comprises:
Cleaning robot control, adopt single-chip computer control system (51 single-chip microcomputers, master chip STC89C54RD+) realization is to the controlled in wireless of this device, control chip is selected the L298 motor drive ic, by about large and small two Electric Machine Control cleaning robots, the motion of left and right sides both direction, by the direction of motion and the speed of two motors of remote controller control;
Sensor is installed position probing that four sensor markers on photoelectric sensor E18 and two support bars carry out cleaning device and is finished the voluntarily motion of robot and clean on the cleaning robot motion sleeve.
2. the robot system of a kind of automatic cleaning glass window according to claim 1, it is characterized in that, adopt single-chip computer control system (51 single-chip microcomputers, master chip STC89C54RD+) realizes wireless (remote controller) of this device controlled, control chip is selected the L298 motor drive ic, and use IR1308 infrared decoding chip and TC9012 infrared emission chip are finished the controlled in wireless to cleaning robot.
3. the robot system of a kind of automatic cleaning glass window according to claim 1, it is characterized in that, before cleaning with about two clips cleaning robot is fixed on the windowpane, utilize the magnetic force of permanent magnet that the inside of robot, outside cleaning device are adsorbed on the both sides of windowpane, by about large and small two Electric Machine Control cleaning robots, the motion of left and right sides both direction.
4. the robot system of a kind of automatic cleaning glass window according to claim 1 and 2 is characterized in that, circuit adopts LM7805 voltage stabilizing chip, controls four photoelectric sensors with the pin of four single-chip microcomputers.
5. according to claim 1 or the robot system of 4 described a kind of automatic cleaning glass windows, it is characterized in that, steering wheel in the robot system needs the direction of 2 frees degree to drive, adopt 2 modes that steering wheel is connected, namely a steering wheel connects laser pen as first free degree, second steering wheel connects first steering wheel and this integral body of laser pen, as second free degree, by the rotation of 2 steering wheels of two-way pwm signal control.
6. according to claim 1 or the robot system of 3 described a kind of automatic cleaning glass windows, it is characterized in that robot carries out the following step:
(1) clean before with about two clips cleaning robot is fixed on the windowpane, utilize the magnetic force of permanent magnet that the inside of robot, outside cleaning device are adsorbed on the both sides of windowpane, by about large and small two Electric Machine Control cleaning robots, the motion of left and right sides both direction;
(2) after control section (51 singlechip controller) energising, by the direction of motion and the speed of two motors of remote controller control;
When (3) robot ambulation is to the edge of windowpane, the cleaning of moving voluntarily when the position probing that four sensor markers on photoelectric sensor E18 and two support bars carry out cleaning device is come the windowpane edge.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012102419190A CN102894928A (en) | 2012-07-13 | 2012-07-13 | Automatic window glass cleaning robot system |
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| CN2012102419190A CN102894928A (en) | 2012-07-13 | 2012-07-13 | Automatic window glass cleaning robot system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104545671A (en) * | 2013-10-24 | 2015-04-29 | 北京建筑大学 | Full-automatic window cleaner |
| CN104889129A (en) * | 2015-06-05 | 2015-09-09 | 无锡市羊尖盛裕机械配件厂 | Glass cleaning device |
| CN105450165A (en) * | 2015-12-24 | 2016-03-30 | 九格能源科技（天津）有限公司 | Intelligent cleaning trolley for solar panels and control system of intelligent cleaning trolley |
| CN105945965A (en) * | 2016-06-28 | 2016-09-21 | 汪红 | Intelligent window cleaning mechanical arm used for building glass |
| CN105965482A (en) * | 2016-06-28 | 2016-09-28 | 汪红 | Three-degree-of-freedom intelligent window-wiping manipulator based on parallel mechanism |
| CN105962838A (en) * | 2016-06-28 | 2016-09-28 | 汪红 | Special and automatic window wiping device for indoor building |
| CN106003085A (en) * | 2016-06-28 | 2016-10-12 | 汪红 | Full-automatic high-altitude window cleaning intelligent robot |
| CN106552782A (en) * | 2014-09-26 | 2017-04-05 | 安徽新迪机电科技有限责任公司 | A kind of cleaning method of flying disc type photovoltaic battery panel washer |
| CN106708092A (en) * | 2016-12-30 | 2017-05-24 | 歌尔科技有限公司 | Unmanned aerial vehicle (UAV) control method, UAV control device and UAV control system |
| CN109464060A (en) * | 2018-11-26 | 2019-03-15 | 西南民族大学 | A kind of novel high building glass window cleaning robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104545671A (en) * | 2013-10-24 | 2015-04-29 | 北京建筑大学 | Full-automatic window cleaner |
| CN106552782A (en) * | 2014-09-26 | 2017-04-05 | 安徽新迪机电科技有限责任公司 | A kind of cleaning method of flying disc type photovoltaic battery panel washer |
| CN106552782B (en) * | 2014-09-26 | 2019-09-27 | 安徽新迪机电科技有限责任公司 | A kind of cleaning method of flying disc type photovoltaic battery panel washer |
| CN104889129A (en) * | 2015-06-05 | 2015-09-09 | 无锡市羊尖盛裕机械配件厂 | Glass cleaning device |
| CN105450165A (en) * | 2015-12-24 | 2016-03-30 | 九格能源科技（天津）有限公司 | Intelligent cleaning trolley for solar panels and control system of intelligent cleaning trolley |
| CN105450165B (en) * | 2015-12-24 | 2017-10-31 | 九格能源科技（天津）有限公司 | A kind of solar panels intelligence cleaning dolly |
| CN106003085B (en) * | 2016-06-28 | 2018-05-15 | 哈工大机器人集团（广州）知识产权投资控股有限公司 | A kind of Full-automatic high altitude wipes window intelligent robot |
| CN106003085A (en) * | 2016-06-28 | 2016-10-12 | 汪红 | Full-automatic high-altitude window cleaning intelligent robot |
| CN105962838A (en) * | 2016-06-28 | 2016-09-28 | 汪红 | Special and automatic window wiping device for indoor building |
| CN105945965B (en) * | 2016-06-28 | 2018-05-15 | 哈工大机器人集团（广州）知识产权投资控股有限公司 | A kind of intelligent window cleaning equipment tool arm for building glass |
| CN105965482B (en) * | 2016-06-28 | 2018-05-15 | 哈工大机器人集团（广州）知识产权投资控股有限公司 | A kind of Three Degree Of Freedom intelligence window wiping robot based on parallel institution |
| CN105965482A (en) * | 2016-06-28 | 2016-09-28 | 汪红 | Three-degree-of-freedom intelligent window-wiping manipulator based on parallel mechanism |
| CN105962838B (en) * | 2016-06-28 | 2019-06-18 | 温州盛淼工业设计有限公司 | A kind of Special Automatic wiping window apparatus of interior architecture |
| CN105945965A (en) * | 2016-06-28 | 2016-09-21 | 汪红 | Intelligent window cleaning mechanical arm used for building glass |
| CN106708092A (en) * | 2016-12-30 | 2017-05-24 | 歌尔科技有限公司 | Unmanned aerial vehicle (UAV) control method, UAV control device and UAV control system |
| CN109464060A (en) * | 2018-11-26 | 2019-03-15 | 西南民族大学 | A kind of novel high building glass window cleaning robot |
| CN109464060B (en) * | 2018-11-26 | 2024-02-02 | 西南民族大学 | Novel high-rise glass window cleaning robot |
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Application publication date: 20130130 |