CN103815826A - Smart glass cleaner and control method thereof - Google Patents
Smart glass cleaner and control method thereof Download PDFInfo
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- CN103815826A CN103815826A CN201410041389.4A CN201410041389A CN103815826A CN 103815826 A CN103815826 A CN 103815826A CN 201410041389 A CN201410041389 A CN 201410041389A CN 103815826 A CN103815826 A CN 103815826A
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Abstract
The invention discloses a smart glass cleaner and a control method thereof, and relates to a glass wiping mechanism and a control method thereof. The smart glass cleaner comprises a shell component, an advancing component arranged inside the shell component, an adsorbing component, a main control component, a sensing module component, a power supply component, a cleaning component, a lifting component and a subcontrol component. The control method includes S1, powering on an electromagnet; S2, utilizing an register F1 of an advancing control module of the main control component to start to collect and latch storage position information; S3, detecting whether running to the edge or not; S4, running and wiping glass; S5, judging whether climbing is suitable or not; S6, adjusting climbing position; S7, climbing and repeating S2 until cleaning work is finished. The smart glass cleaner is capable of climbing projections such as a window frame to expand working surface, dangerous behaviors of manually cleaning outer glass can be omitted, and manpower, material and financial resources can be saved.
Description
Technical field
The present invention relates to one clean the windows mechanism and method thereof, particularly a kind of Intelligent device for cleaning glass and control method thereof that is applicable to cross sash.
Background technology
Now skyscraper is many, in the time of cleaning people often there are the following problems:
1. urban environment is poor, and dust is covered with family's glass housing side outside window, and cleaning outside glass will be a dangerous behavior.
2. the glass outer walls of the most employing in mansion, city now, clean glass and will consume a lot of manpower and materials.
3. monolithic glass all can only clean in popular cleaning glass mechanism on the market, and its working face is limited in the boss such as such as window frame, if publication No. is " a kind of multifunctional glass clean robot and the control method " of " CN102961080A "; And publication No. be for " the climbing the intelligent glass clean robot of wall based on sufficient formula " of " CN103082934A " is although can cross over the boss barriers such as window frame, it uses convenient not.
Summary of the invention
The technical problem to be solved in the present invention is: a kind of Intelligent device for cleaning glass and control method thereof are provided, make it can cross the boss such as such as window frame, and simple in structure, dependable performance, reach the object of the financial resources that use manpower and material resources sparingly.
The technical scheme solving the problems of the technologies described above is: a kind of Intelligent device for cleaning glass, comprise casing assembly, be arranged on the assembly of advancing, absorbent module, induction module assembly, Power Supply Assembly, cleaning assembly in casing assembly, also include the main control component, lifting assembly, the sub-control assembly that are arranged in casing assembly;
The described assembly of advancing is for realizing the reciprocal process of integrated model forward-reverse under the control of main control component;
Described absorbent module is adsorbed in glass two sides for inhaling to realize by magnetic picture under main control component or the control of sub-control assembly;
Described induction module assembly is used for realizing integrated model signal collection to external world, and the signal of collecting is reached to main control component;
Described Power Supply Assembly is used to each assembly that power supply is provided, and completes charging process under main control component control;
Described cleaning assembly is for realizing the cleaning to glass surface under main control component control;
Described lifting assembly is crossed a series of boss with certain altitude such as sash for realizing under the control of sub-control assembly;
The input of described main control component is connected with the output of induction module assembly, Power Supply Assembly respectively, and the output of main control component is connected with the input of the assembly of advancing, Power Supply Assembly, cleaning assembly, sub-control assembly respectively;
The output of described sub-control assembly is connected with the input of absorbent module, lifting assembly respectively.
Further technical scheme of the present invention is: casing assembly comprises housing, comprises handle, key panel, support wheel, draw-in groove, bar shaped tooth, described handle, key panel are arranged on respectively on housing, and described support wheel, draw-in groove, bar shaped tooth are located at respectively in housing.
Further technical scheme more of the present invention is: the described assembly of advancing comprises motor A, gear A, gear B, gear C, power shaft, Athey wheel, crawler belt; Described motor A is fixed on the housing of crawler belt top, and described gear A is fixed on the output shaft of motor A, and gear B is fixed on housing, and gear C is fixed on power shaft, and described gear A engages with gear B, and gear B engages with gear C; Described power shaft is arranged in housing by bearing, and Athey wheel is enclosed within on power shaft, and crawler belt is enclosed within on Athey wheel; The control input end of described motor A is connected with the output of main control component.
Further technical scheme of the present invention is: described main control component comprises middle control module, the control module of advancing, absorption and control module, induction control module, cleaning control module, lifting control module, the described control module of advancing is connected with the assembly of advancing, absorption and control module is connected with absorbent module, sub-control assembly respectively, induction control module is connected with induction module assembly, cleaning control module is connected with cleaning assembly, and lifting control module is connected with sub-control assembly; The described control module of advancing comprises again motor A controller, time controller T1, register F1; Described absorption and control module comprises solenoid-operated switch K; Described sub-control assembly comprises motor B controller, time controller T2, register F2, solenoid-operated switch K.
Described absorbent module comprises electromagnet, and the input of this electromagnet is connected with the output of main control component or sub-control assembly respectively; Described induction module assembly comprises TouchSensor Q1, Q2, Q3, the Q4 for responding to outer signals, and its signal reaches the induction module Control Component processing of main control component; Described cleaning assembly comprises scraping adhesive tape, wipes cotton and for controlling the cleaning fluid provisioning component of cleaning fluid supply, described cleaning fluid provisioning component is connected with the cleaning control module output of main control component.
Described lifting assembly comprises sliding-rail sliding, gear D, gear E, gear F, gear G, gear H, gear I, motor B, drive link, described sliding-rail sliding is stuck in by buckle on the draw-in groove of casing assembly, described motor B is arranged on housing, on the output shaft of motor B, cover has described gear I, gear I engages with gear H and power is delivered to gear H, gear H engages with gear G, gear G is arranged on one end of drive link, the other end of drive link is provided with described gear F, by drive link transferring power to gear F, gear F and gear D, gear E engages with driven wheel D, gear E rotating, driven wheel D, gear E is meshed with the bar shaped tooth being located on casing assembly housing, to drive lifting and the decline of integrated model, described motor B is connected with the output of sub-control assembly.
This Intelligent device for cleaning glass is made up of first module, Unit the 4th, second unit or Unit the 3rd between Unit first, fourth;
Described casing assembly is made up of casing assembly I, casing assembly II, casing assembly III, casing assembly IV;
Described first module comprises described casing assembly I, the assembly of advancing, absorbent module, main control component, induction module assembly, Power Supply Assembly and cleaning assembly, lifting assembly, the described assembly symmetry of advancing is arranged on the left and right sides in casing assembly I, described absorbent module, main control component, Power Supply Assembly and cleaning assembly is arranged on respectively two and advances between assembly, and described induction module assembly is arranged on the base angle, both sides of casing assembly I; The described assembly of advancing, absorbent module, cleaning assembly are connected with the main control component output of this unit respectively, and induction module assembly, Power Supply Assembly are connected with the main control component input of this unit respectively;
Described second unit comprises described casing assembly II, absorbent module, Power Supply Assembly, cleaning assembly, lifting assembly and sub-control assembly, described absorbent module symmetry is arranged on the left and right sides in casing assembly II, and Power Supply Assembly, cleaning assembly, lifting assembly and sub-control assembly are arranged on respectively between two absorbent module; Described absorbent module, lifting assembly are connected with the sub-control assembly output of this second unit respectively, and Power Supply Assembly is connected with the sub-control assembly input of this second unit; Described cleaning assembly is connected with the main control component output of first module;
Described Unit the 3rd comprises described casing assembly III, the assembly of advancing, absorbent module, lifting assembly, Power Supply Assembly, cleaning assembly and sub-control assembly; The described assembly symmetry of advancing is arranged on the left and right sides in casing assembly III, and described lifting assembly, Power Supply Assembly, cleaning assembly and sub-control assembly are arranged on respectively two and advance between assembly; Described absorbent module, lifting assembly are connected with the sub-control assembly output of this Unit the 3rd respectively, and Power Supply Assembly is connected with the sub-control assembly input of this Unit the 3rd; The described assembly of advancing, cleaning assembly are connected with the main control component output of first module respectively;
Described Unit the 4th comprises described casing assembly IV, the assembly of advancing, absorbent module, induction module assembly, Power Supply Assembly, lifting assembly and sub-control assembly; The described assembly symmetry of advancing is arranged on the left and right sides in casing assembly IV, and described absorbent module, Power Supply Assembly and sub-control assembly are arranged on respectively two and advance between assembly; Described induction module assembly is arranged on the both sides drift angle of casing assembly IV; Described absorbent module is connected with the sub-control assembly output of this Unit the 4th, and Power Supply Assembly is connected with the sub-control assembly input of this Unit the 4th; The described assembly of advancing is connected with the main control component output of first module; Induction module assembly is connected with the main control component input of first module;
Described casing assembly I comprises described housing, handle, key panel, bar shaped tooth, described casing assembly II, casing assembly III includes described housing, handle, support wheel, draw-in groove, bar shaped tooth, and described casing assembly IV comprises described housing, handle, draw-in groove;
The lifting assembly of described first module comprises described sliding-rail sliding, and this sliding-rail sliding is connected with the draw-in groove of casing assembly II; The lifting assembly of described second unit, Unit the 3rd comprises described sliding-rail sliding, gear D, gear E, gear F, gear G, gear H, gear I, motor B, drive link, wherein the sliding-rail sliding of second unit is connected with the draw-in groove of casing assembly II or casing assembly III, and gear D, the gear E of second unit engage with the bar shaped tooth of casing assembly I or casing assembly II; The sliding-rail sliding of Unit the 3rd is connected with the draw-in groove of casing assembly IV, and gear D, the gear E of Unit the 3rd engage with the bar shaped tooth of casing assembly II; The lifting assembly of described Unit the 4th comprises described gear D, gear E, gear F, gear G, gear H, gear I, motor B, drive link, and gear D, the gear E of Unit the 4th engage with the bar shaped tooth of casing assembly II or casing assembly III.
Another technical scheme of the present invention is: a kind of control method of Intelligent device for cleaning glass, and the method comprises the following steps:
S1. electromagnet energising;
S2. the register F1 of the control module of advancing of main control component starts to gather storage location information latch;
S3. detect whether arrive border, if so, directly enter step S5, if not, enter step S4;
S4. advance, clean the windows, repeating step S3;
S5. judge whether to meet to cross, if so, enter step S6, if not, repeating step S3;
S6. adjust and cross position;
S7. realize and crossing, repeating step S2, until cleaning finishes.
Further technical scheme of the present invention is: it is as follows that advancing in described step S4 controlled step:
It is as follows that advancing in described step S4 controlled step:
S41. complete machine starts, when TouchSensor Q2, Q3 touch simultaneously, and left motor A M1, at the uniform velocity forward of right motor A M2, now complete machine at the uniform velocity advances;
S42. touch TouchSensor Q1, start-up time controller T1, left motor A M1 accelerate reversion, right motor A M2 at the uniform velocity reverses, the time controller T1 control time finishes, now complete machine turn retreat;
S43. start-up time controller T1, left motor A M1, right motor A M2 at the uniform velocity reverse, the time controller T1 control time finishes, now complete machine straight line retreats;
S44. start-up time controller T1, left motor A M1 at the uniform velocity reverses, right motor A M2 accelerate reversion, the time controller T1 time processed finishes;
S45. left motor A M1, at the uniform velocity forward of right motor A M2;
S46. touch TouchSensor Q1, left motor A M1, right motor A M2 at the uniform velocity reverse, and now complete machine at the uniform velocity advances;
S47. touch TouchSensor Q2, start-up time controller T1, left motor A M1 accelerates forward, at the uniform velocity forward of right motor A M2, the time controller T1 time processed finishes, now, complete machine turn retreat;
S48. start-up time controller T1, left motor A M1, at the uniform velocity forward of right motor A M2, the time controller T1 time processed finishes, now, complete machine straight line retreats;
S49. start-up time controller T1, at the uniform velocity forward of left motor A M1, right motor A M2 accelerates forward, the time controller T1 time processed finishes;
S410. left motor A M1, right motor A M2 at the uniform velocity reverse;
S411. touch TouchSensor Q2, left motor A M1, at the uniform velocity forward of right motor A M2, now complete machine advances;
S412. touch TouchSensor Q1, repeating step S42.
Further technical scheme of the present invention is: the realization in described step S7 cross control step as follows:
S71. register F1 records the initial signal of TouchSensor Q2, Q3;
S72. ought receive opposite signal TouchSensor Q1, Q4, when register F2 records last signal and is TouchSensor Q2, Q4, send a signal to first motor B controller C2, feed back to motor A controller C1 and control left motor A M1, at the uniform velocity forward of right motor A M2, first module electro-magnet switch K disconnects;
S73. first motor B controller C2 controller start-up time T2, at the uniform velocity forward of starter motor B, the time controller T2 control time finishes;
S74. send a signal to second motor B controller C2, start-up time controller T2, second unit electro-magnet switch K disconnect, start at the uniform velocity forward of second motor B, first motor B accelerates reversion, first module electro-magnet switch K closure, controller T2 control time end time;
S75. send a signal to the 3rd motor B controller C2, start-up time controller T2, the 3rd unit electro-magnet switch K disconnect, start at the uniform velocity forward of the 3rd motor B, second motor B accelerates reversion, second unit electro-magnet switch K closure, controller T2 control time end time;
S76. time controller T2 starts, and the 4th unit electro-magnet switch K disconnects, the 3rd motor B reversion, and the 3rd unit electro-magnet switch K closure, the time controller T2 control time finishes;
S77. send a signal to second each and every one motor B controller C2, time controller T2 starts, second motor B forward, and the 4th unit electro-magnet switch K closure, the time controller T2 control time finishes;
If S78. certain motor B controller is received signal 2 times, feed back to motor A controller C1, left motor A M1, right motor A M2 stop, and start at the uniform velocity reversion;
S79. when touching TouchSensor Q2, Q4, finish to cross instruction, start the instruction of advancing.
Owing to adopting technique scheme, the present invention's Intelligent device for cleaning glass and control method thereof compared with prior art, have following beneficial effect:
1. can automatically identify roadblock, realize and the action such as evade, and realize the reciprocal cleaning of integrated model:
Owing to the present invention includes casing assembly, being arranged on the assembly of advancing, absorbent module, induction module assembly, Power Supply Assembly, cleaning assembly, main control component, lifting assembly, sub-control assembly in casing assembly; By induction module assembly, the positional information detecting is transmitted back to main control component, can automatically identifies roadblock, realize and the action such as evade; To steadily be adsorbed on double-sided glass by absorbent module, can drive the reciprocal cleaning of complete machine by the module of advancing, cleaning assembly, remove the dangerous behavior of glass outside manual cleaning from, reach the object of the financial resources that use manpower and material resources sparingly.
2. can automatically cross a series of boss that have certain altitude such as similar sash:
Owing to having the present invention includes lifting assembly, power is reached gear train by motor B by lifting assembly, drive the bar shaped tooth on casing assembly to move, automatically cross a series of boss that have certain altitude such as similar sash thereby can drive complete machine to realize, expanded working face.
3. easy to use:
Due to the present invention adopt be multistage form, integrated model is organically divided into four unit, there is different programme areas each unit, and can freely assemble according to actual needs, it is very easy to use.
4. can reach outstanding cleaning effect:
Cleaning assembly of the present invention comprises scraping adhesive tape, wipes cotton and for controlling the cleaning fluid provisioning component of cleaning fluid supply, and cleaning way have dry-cleaning with wash, dry-cleaning can be removed stain, washes and realizes secondary cleaning, therefore, can reach outstanding cleaning effect.
5. applied widely:
The present invention can use for family's cleaning glass, also can use for urban skyscraper glass outer wall, and its scope of application is more extensive.
Below, the technical characterictic of the Intelligent device for cleaning glass to the present invention and control method thereof is further described in conjunction with the accompanying drawings and embodiments.
Accompanying drawing explanation
Fig. 1: the functional block diagram of the present invention's Intelligent device for cleaning glass;
The structural representation of the present invention's Intelligent device for cleaning glass described in Fig. 2-Fig. 4: embodiment mono-, wherein:
Fig. 2: front view, the A-A cutaway view of Fig. 3: Fig. 2; The B-B cutaway view of Fig. 4: Fig. 2;
Fig. 5-Fig. 7: the structural representation of Unit the 3rd, wherein:
Fig. 5: front view, the C-C cutaway view of Fig. 6: Fig. 5; The D-D cutaway view of Fig. 7: Fig. 5;
The control method FB(flow block) of Intelligent device for cleaning glass described in Fig. 8: embodiment bis-.
In above-mentioned accompanying drawing, each label is as follows:
1-casing assembly, 101-handle, 102-bar shaped tooth, 103-support wheel, 104-draw-in groove, 105-housing, 11-casing assembly I, 12-casing assembly II, 13-casing assembly III, 14-casing assembly IV;
The 2-assembly of advancing, 201-motor A, M1-left motor A, M2-right motor A,
202-gear A, 203-gear B, 204-gear C, 205-power shaft, 206-Athey wheel, 207-crawler belt,
208-bearing,
3-absorbent module, 301 electromagnet,
4-main control component, controls module in 401-, the 402-control module of advancing, and 403-absorption and control module, 404-responds to control module, 405-cleaning control module, 406-lifting control module,
5-induction module assembly, Q1, Q2, Q3, Q4-TouchSensor, 6-Power Supply Assembly,
7-cleaning assembly, the 701-adhesive tape of swiping, 702-wipes cotton, 703-cleaning fluid provisioning component,
8-lifting assembly, 801-sliding-rail sliding, 802-gear D, 803-gear E, 804-gear F, 805-gear G, 806-gear H, 807-gear I, 808-motor B, 809-drive link,
9-sub-control assembly, I-first module, II-second unit, III-Unit tri-, IV-Unit tetra-,
The gear train that 20-simplifies, comprises 202-gear A, 203-gear B, 204-gear C,
The gear train that 80-simplifies, comprises 805-gear G, 806-gear H, 807-gear I.
Specific embodiment
Embodiment mono-:
Disclosed in Fig. 1-Fig. 4 is a kind of Intelligent device for cleaning glass, comprises casing assembly 1, is arranged on the assembly 2 of advancing, absorbent module 3, main control component 4, induction module assembly 5, Power Supply Assembly 6, cleaning assembly 7, lifting assembly 8, sub-control assembly 9 in casing assembly 1;
The described assembly 2 of advancing is for realizing the reciprocal process of integrated model forward-reverse under the control of main control component 4;
Described absorbent module 3 is adsorbed in glass two sides for inhaling to realize by magnetic picture under main control component 4 or 9 controls of sub-control assembly;
Described induction module assembly 5 is for realizing integrated model signal collection to external world, and the signal of collecting is reached to main control component 4;
Described Power Supply Assembly 6 is used to each assembly that power supply is provided, and completes charging process under main control component 4 is controlled;
Described cleaning assembly 7 is for realizing the cleaning to glass surface under main control component 4 is controlled;
Described lifting assembly 8 is crossed a series of boss with certain altitude such as sash for realizing under sub-control assembly 9 is controlled;
The input of described main control component 4 is connected with the output of induction module assembly 5, Power Supply Assembly 6 respectively, and the output of main control component 4 is connected with the input of the assembly 2 of advancing, Power Supply Assembly 6, cleaning assembly 7, sub-control assembly 9 respectively;
The output of described sub-control assembly 9 is connected with the input of absorbent module 3, lifting assembly 8 respectively.
This Intelligent device for cleaning glass is made up of first module I, second unit II, second unit II, the 4th unit IV; Described casing assembly is made up of casing assembly I 11, casing assembly II 12, casing assembly IV 14; Described first module comprises casing assembly I 11, the assembly 2 of advancing, absorbent module 3, main control component 4, induction module assembly 5, Power Supply Assembly 6 and cleaning assembly 7, described assembly 2 symmetries of advancing are arranged on the left and right sides in casing assembly I 11, described absorbent module 3, main control component 4, Power Supply Assembly 6 and cleaning assembly 7 is arranged on respectively two and advances between assembly 2, and described induction module assembly 5 is arranged on the base angle, both sides of casing assembly I 11; The described assembly 2 of advancing, absorbent module 3, cleaning assembly 7 are connected with main control component 4 outputs of this unit respectively, and induction module assembly 5, Power Supply Assembly 6 are connected with main control component 4 inputs of this unit respectively;
Described second unit comprises described casing assembly II 12, absorbent module 3, Power Supply Assembly 6, cleaning assembly 7, lifting assembly 8 and sub-control assembly 9, described absorbent module 3 symmetries are arranged on the left and right sides in casing assembly II 12, Power Supply Assembly 6, cleaning assembly 7, lifting assembly 8 and sub-control assembly) be arranged on respectively between two absorbent module; Described absorbent module 3, lifting assembly 8 are connected with sub-control assembly 9 outputs of this second unit respectively, and Power Supply Assembly 6 is connected with sub-control assembly 9 inputs of this second unit; Described cleaning assembly 7 is connected with main control component 4 outputs of first module;
Described Unit the 4th comprises casing assembly IV 14, the assembly 2 of advancing, absorbent module 3, induction module assembly 5, Power Supply Assembly 6 and sub-control assembly 9; Described assembly 2 symmetries of advancing are arranged on the left and right sides in casing assembly IV 12, and described absorbent module 3, Power Supply Assembly 6 and sub-control assembly 9 is arranged on respectively two and advances between assembly 2; Described induction module assembly 5 is arranged on the both sides drift angle of casing assembly IV 12; Described absorbent module 3 is connected with sub-control assembly 9 outputs of this Unit the 4th, and Power Supply Assembly 6 is connected with sub-control assembly 9 inputs of this Unit the 4th; The described assembly 2 of advancing is connected with main control component 4 outputs of first module; Induction module assembly 5 is connected with main control component 4 inputs of first module;
Described casing assembly I 11 comprises described housing 105, handle 101, key panel, bar shaped tooth 102, described casing assembly II 12 comprises housing, handle 101, support wheel 103, draw-in groove 104, bar shaped tooth 102, and described casing assembly IV 14 comprises housing 105, handle 101, draw-in groove 104; Described handle 101 is arranged on respectively on the housing 105 of each casing assembly, key panel is arranged on the housing 105 of casing assembly I 11, described support wheel 103 is located in the housing of casing assembly II 12, draw-in groove 104 is located at respectively in the housing 105 of casing assembly II 12, casing assembly IV 14, and bar shaped tooth 102 is located at respectively in the housing 105 of casing assembly I 11, casing assembly II 12.
The described assembly 2 of advancing comprises motor A201, gear A 202, gear B 203, gear C 204, power shaft 205, Athey wheel 206, crawler belt 207; Described motor A201 is fixed on the housing of crawler belt top, and this motor A201 comprises left motor A M1, right motor A M2; Described gear A 202 is fixed on the output shaft of motor A201, and gear B 203 is fixed on housing, and gear C 204 is fixed on power shaft 205, and described gear 202A engages with gear B 203, and gear B 203 engages with gear C 204; Described power shaft 205 is arranged in housing by bearing 208, and Athey wheel 206 is enclosed within on power shaft 205, and crawler belt 207 is enclosed within on Athey wheel 206; The input of described motor A201 is connected with the output of main control component 4.
Described absorbent module 3 comprises electromagnet 301;
Described main control component 4 comprises middle control module 401, the control module of advancing 402, absorption and control module 403, induction control module 404, cleaning control module 405, lifting control module 406, the described control module of advancing is connected with the assembly 2 of advancing, absorption and control module is connected with sub-control assembly 9, induction control module is connected with induction module assembly 5, cleaning control module is connected with cleaning assembly 7, and lifting control module is connected with sub-control assembly 9; The described control module of advancing comprises motor A controller, time controller T1, register F1; Described absorption and control module comprises solenoid-operated switch K; Described sub-control assembly 9 comprises motor B controller, time controller T2, register F2, solenoid-operated switch K.
Described induction module assembly 5 comprises TouchSensor Q1, Q2, Q3, the Q4 for responding to outer signals, and its signal reaches the induction module Control Component 403 of main control component 4 and processes; Described cleaning assembly 7 comprises scraping adhesive tape 701, wipes cotton 702 and for controlling the cleaning fluid provisioning component 703 of cleaning fluid supply, described cleaning fluid provisioning component 703 is connected with cleaning control module 404 outputs of main control component 4.
Described lifting assembly 8 comprises sliding-rail sliding 801, gear D 802, gear E803, gear F804, gear G805, gear H806, gear I807, motor B808, drive link 809, described sliding-rail sliding 801 is stuck in by buckle on the draw-in groove 104 of casing assembly 1, described motor B808 is arranged on housing, on the output shaft of motor B808, cover has described gear I807, gear I807 engages with gear H806 and power is delivered to gear H806, gear H806 engages with gear G805, gear G805 is arranged on one end of drive link 809, the other end of drive link 809 is provided with described gear F804, by drive link 809 transferring power to gear F804, gear F804 and gear D 802, gear E803 engages with driven wheel D802, gear E803 rotating, driven wheel D802, gear E803 is meshed with the bar shaped tooth being located on casing assembly 1 housing, to drive lifting and the decline of integrated model, described motor B808 is connected with the output of sub-control assembly 9.
Wherein:
The lifting assembly 8 of described first module comprises described sliding-rail sliding 801, and this sliding-rail sliding 801 is connected with the draw-in groove 104 of casing assembly II; The lifting assembly 8 of described second unit comprises described sliding-rail sliding 801, gear D 802, gear E803, gear F804, gear G805, gear H806, gear I807, motor B808, drive link 809, wherein the sliding-rail sliding 801 of second unit and the draw-in groove 104 of casing assembly II are connected, and gear D 802, the gear E803 of second unit engage with the bar shaped tooth 102 of casing assembly I 11 or casing assembly II 12; The lifting assembly 8 of described Unit the 4th comprises that described gear D 802, gear E803, gear F804, gear G805, gear H806, gear I807, motor B808, the gear D 802 of drive link Unit 809, the four, gear E803 engage with the bar shaped tooth 102 of casing assembly II.
As the one conversion of the present embodiment one, described Intelligent device for cleaning glass can also be made up of first module I, second unit II, the 3rd unit II, the 4th unit IV, and in being total to, the 3rd unit III comprises that described casing assembly III 13, the assembly 2 of advancing, absorbent module 3, lifting assembly 8, Power Supply Assembly 6, cleaning assembly 7 and sub-control assembly 9(are referring to Fig. 5-Fig. 7); Described assembly 2 symmetries of advancing are arranged on the left and right sides in casing assembly III 11, and described lifting assembly 8, Power Supply Assembly 6, cleaning assembly 7 and sub-control assembly 9 is arranged on respectively two and advances between assembly 2; Described absorbent module 3, lifting assembly 8 are connected with sub-control assembly 9 outputs of this Unit the 3rd respectively, and Power Supply Assembly 6 is connected with sub-control assembly 9 inputs of this Unit the 3rd; The described assembly 2 of advancing, cleaning assembly 7 are connected with main control component 4 outputs of first module respectively; Described casing assembly III 13 is the same with casing assembly II 12, includes housing, handle 101, support wheel 103, draw-in groove 104; The sliding-rail sliding 801 of second unit is connected with the draw-in groove 104 of casing assembly III; The lifting assembly 8 of Unit the 3rd also comprises described sliding-rail sliding 801, gear D 802, gear E803, gear F804, gear G805, gear H806, gear I807, motor B808, drive link 809; The sliding-rail sliding 801 of Unit the 3rd is connected with the draw-in groove 104 of casing assembly IV, and gear D 802, the gear E803 of Unit the 3rd engage with the bar shaped tooth 102 of casing assembly II 12; Gear D 802, the gear E803 of described Unit the 4th engage with the bar shaped tooth 102 of casing assembly III 13.
As another conversion of the present embodiment one, described first module I, second unit II, the 3rd unit III, four unit of the 4th unit IV can freely be assembled according to actual needs.
Embodiment bis-:
A control method for Intelligent device for cleaning glass, the method comprises the following steps:
S1. electromagnet energising;
S2. the register F1 of the control module of advancing of main control component starts to gather storage location information latch;
S3. detect whether arrive border, if so, directly enter step S5, if not, enter step S4;
S4. advance, clean the windows, repeating step S3;
S5. judge whether to meet to cross, if so, enter step S6, if not, repeating step S3;
S6. adjust and cross position;
S7. realize and crossing, repeating step S2, until cleaning finishes.
It is as follows that advancing in above-mentioned steps S4 controlled step:
S41. complete machine starts, when TouchSensor Q2, Q3 touch simultaneously, and left motor A M1, at the uniform velocity forward of right motor A M2, now complete machine at the uniform velocity advances;
S42. touch TouchSensor Q1, start-up time controller T1, left motor A M1 accelerate reversion, right motor A M2 at the uniform velocity reverses, the time controller T1 control time finishes, now complete machine turn retreat;
S43. start-up time controller T1, left motor A M1, right motor A M2 at the uniform velocity reverse, the time controller T1 control time finishes, now complete machine straight line retreats;
S44. start-up time controller T1, left motor A M1 at the uniform velocity reverses, right motor A M2 accelerate reversion, the time controller T1 time processed finishes;
S45. left motor A M1, at the uniform velocity forward of right motor A M2;
S46. touch TouchSensor Q1, left motor A M1, right motor A M2 at the uniform velocity reverse, and now complete machine at the uniform velocity advances;
S47. touch TouchSensor Q2, start-up time controller T1, left motor A M1 accelerates forward, at the uniform velocity forward of right motor A M2, the time controller T1 time processed finishes, now, complete machine turn retreat;
S48. start-up time controller T1, left motor A M1, at the uniform velocity forward of right motor A M2, the time controller T1 time processed finishes, now, complete machine straight line retreats;
S49. start-up time controller T1, at the uniform velocity forward of left motor A M1, right motor A M2 accelerates forward, the time controller T1 time processed finishes;
S410. left motor A M1, right motor A M2 at the uniform velocity reverse;
S411. touch TouchSensor Q2, left motor A M1, at the uniform velocity forward of right motor A M2, now complete machine advances;
S412. touch TouchSensor Q1, repeating step S42.
Realization in above-mentioned steps S7 cross control step as follows:
S71. register F1 records the initial signal of TouchSensor Q2, Q3;
S72. ought receive opposite signal TouchSensor Q1, Q4, when register F2 records last signal and is TouchSensor Q2, Q4, send a signal to first motor B controller C2, feed back to motor B controller C1 and control left motor A M1, at the uniform velocity forward of right motor A M2, first module electro-magnet switch K disconnects;
S73. first motor B controller C2 controller start-up time T2, at the uniform velocity forward of starter motor B, the time controller T2 control time finishes;
S74. send a signal to second motor B controller C2, start-up time controller T2, second unit electro-magnet switch K disconnect, start at the uniform velocity forward of second motor B, first motor B accelerates reversion, first module electro-magnet switch K closure, controller T2 control time end time;
S75. send a signal to the 3rd motor B controller C2, start-up time controller T2, the 3rd unit electro-magnet switch K disconnect, start at the uniform velocity forward of the 3rd motor B, second motor B accelerates reversion, second unit electro-magnet switch K closure, controller T2 control time end time;
S76. time controller T2 starts, and the 4th unit electro-magnet switch K disconnects, the 3rd motor B reversion, and the 3rd unit electro-magnet switch K closure, the time controller T2 control time finishes;
S77. send a signal to second each and every one motor B controller C2, time controller T2 starts, second motor B forward, and the 4th unit electro-magnet switch K closure, the time controller T2 control time finishes;
If S78. certain motor B controller is received signal 2 times, feed back to motor B controller C1, left motor A M1, right motor A M2 stop, and start at the uniform velocity reversion;
S79. when touching TouchSensor Q2, Q4, finish to cross instruction, start the instruction of advancing.
The Correction and Control step of this method is as follows:
1. when the single TouchSensor of touching, start the motor A of respective side, make it accelerate rotating, at the uniform velocity rotating of the motor of opposite side (example touching Q11, starts left motor A and accelerate forward, and right motor A is forward at the uniform velocity).
2. touch simultaneously and just calculate overall startup (routine Q11, Q12 start simultaneously, just calculate overall startup) when monolateral touch sensor.
Claims (10)
1. an Intelligent device for cleaning glass, comprise casing assembly (1), be arranged on the assembly of advancing (2), absorbent module (3), induction module assembly (5), Power Supply Assembly (6), cleaning assembly (7) in casing assembly (1), it is characterized in that: also include the main control component (4), lifting assembly (8), the sub-control assembly (9) that are arranged in casing assembly (1);
The described assembly of advancing (2) is for realizing the reciprocal process of integrated model forward-reverse under the control of main control component (4);
Described absorbent module (3) is adsorbed in glass two sides for inhaling to realize by magnetic picture under main control component (4) or sub-control assembly (9) control;
Described induction module assembly (5) is for realizing integrated model signal collection to external world, and the signal of collecting is reached to main control component (4);
Described Power Supply Assembly (6) is used to each assembly that power supply is provided, and completes charging process under main control component (4) is controlled;
Described cleaning assembly (7) is for realizing the cleaning to glass surface under main control component (4) is controlled;
Described lifting assembly (8) is crossed a series of boss with certain altitude such as sash for realizing under sub-control assembly (9) is controlled;
The input of described main control component (4) is connected with the output of induction module assembly (5), Power Supply Assembly (6) respectively, and the output of main control component (4) is connected with the input of the assembly of advancing (2), Power Supply Assembly (6), cleaning assembly (7), sub-control assembly (9) respectively;
The output of described sub-control assembly (9) is connected with the input of absorbent module (3), lifting assembly (8) respectively.
2. Intelligent device for cleaning glass according to claim 1, it is characterized in that: casing assembly (1) comprises housing (105), comprises handle (101), key panel, support wheel (103), draw-in groove (104), bar shaped tooth (102), it is upper that described handle (101), key panel is arranged on respectively housing (105), and described support wheel (103), draw-in groove (104), bar shaped tooth (102) are located at respectively in housing (105).
3. Intelligent device for cleaning glass according to claim 2, is characterized in that: the described assembly of advancing (2) comprises motor A(201), gear A (202), gear B (203), gear C (204), power shaft (205), Athey wheel (206), crawler belt (207); Described motor A(201) be fixed on the housing of crawler belt top, described gear A (202) is fixed on motor A(201) output shaft on, gear B (203) is fixed on housing, gear C (204) is fixed on power shaft (205), described gear (202) A engages with gear B (203), and gear B (203) engages with gear C (204); Described power shaft (205) is arranged in housing by bearing (208), and it is upper that Athey wheel (206) is enclosed within power shaft (205), and crawler belt (207) is enclosed within on Athey wheel (206); Described motor A(201) control input end be connected with the output of main control component (4).
4. Intelligent device for cleaning glass according to claim 1, it is characterized in that: described main control component (4) comprises middle control module (401), the control module of advancing (402), absorption and control module (403), induction control module (404), cleaning control module (405), lifting control module (406), the described control module of advancing (402) is connected with the assembly of advancing (2), absorption and control module respectively with absorbent module (3), sub-control assembly (9) connects, induction control module is connected with induction module assembly (5), cleaning control module is connected with cleaning assembly (7), lifting control module is connected with sub-control assembly (9), the described control module of advancing comprises again motor A controller, time controller T1, register F1, described absorption and control module comprises solenoid-operated switch K, described sub-control assembly (9) comprises motor B controller, time controller T2, register F2, solenoid-operated switch K.
5. Intelligent device for cleaning glass according to claim 4, is characterized in that: described absorbent module (3) comprises electromagnet (301), and the input of this electromagnet is connected with the output of main control component (4) or sub-control assembly (9) respectively; Described induction module assembly (5) comprises TouchSensor Q1, Q2, Q3, the Q4 for responding to outer signals, and its signal reaches the induction module Control Component (403) of main control component (4) and processes; Described cleaning assembly (7) comprises scraping adhesive tape (701), wipes cotton (702) and for controlling the cleaning fluid provisioning component (703) of cleaning fluid supply, described cleaning fluid provisioning component (703) is connected with cleaning control module (404) output of main control component (4).
6. Intelligent device for cleaning glass according to claim 2, is characterized in that: described lifting assembly (8) comprises sliding-rail sliding (801), gear D (802), gear E(803), gear F(804), gear G(805), gear H(806), gear I(807), motor B(808), drive link (809), described sliding-rail sliding (801) is stuck in by buckle on the draw-in groove (104) of casing assembly (1), described motor B(808) be arranged on housing, motor B(808) output shaft on cover have described gear I(807), gear I(807) with gear H(806) engage and power be delivered to gear H(806), gear H(806) with gear G(805) engage, gear G(805) be arranged on one end of drive link (809), the other end of drive link (809) is provided with described gear F(804), by drive link (809) transferring power to gear F(804), gear F(804) and gear D (802), gear E(803) engage with driven wheel D(802), gear E(803) rotating, driven wheel D(802), gear E(803) be meshed with the bar shaped tooth (102) being located on casing assembly (1) housing, to drive lifting and the decline of integrated model, described motor B(808) be connected with the output of sub-control assembly (9).
7. Intelligent device for cleaning glass according to claim 6, is characterized in that: this Intelligent device for cleaning glass is made up of first module I, the 4th unit IV, second unit II or the 3rd unit III between Unit first, fourth;
Described casing assembly is made up of casing assembly I (11), casing assembly II (12), casing assembly III (13), casing assembly IV (14);
Described first module comprises described casing assembly I (11), the assembly (2) of advancing, absorbent module (3), main control component (4), induction module assembly (5), Power Supply Assembly (6) and cleaning assembly (7), lifting assembly (8), the described assembly of advancing (2) symmetry is arranged on the left and right sides in casing assembly I (11), described absorbent module (3), main control component (4), Power Supply Assembly (6) and cleaning assembly (7) are arranged on respectively between two assemblies of advancing (2), described induction module assembly (5) is arranged on the base angle, both sides of casing assembly I (11), the described assembly of advancing (2), absorbent module (3), cleaning assembly (7) are connected with main control component (4) output of this unit respectively, and induction module assembly (5), Power Supply Assembly (6) are connected with main control component (4) input of this unit respectively,
Described second unit comprises described casing assembly II (12), absorbent module (3), Power Supply Assembly (6), cleaning assembly (7), lifting assembly (8) and sub-control assembly (9), described absorbent module (3) symmetry is arranged on the left and right sides in casing assembly II (12), and Power Supply Assembly (6), cleaning assembly (7), lifting assembly (8) and sub-control assembly (9) are arranged on respectively between two absorbent module; Described absorbent module (3), lifting assembly (8) are connected with sub-control assembly (9) output of this second unit respectively, and Power Supply Assembly (6) is connected with sub-control assembly (9) input of this second unit; Described cleaning assembly (7) is connected with main control component (4) output of first module;
Described Unit the 3rd comprises described casing assembly III (13), the assembly of advancing (2), absorbent module (3), lifting assembly (8), Power Supply Assembly (6), cleaning assembly (7) and sub-control assembly (9); The described assembly of advancing (2) symmetry is arranged on the left and right sides in casing assembly III (11), and described lifting assembly (8), Power Supply Assembly (6), cleaning assembly (7) and sub-control assembly (9) are arranged on respectively between two assemblies of advancing (2); Described absorbent module (3), lifting assembly (8) are connected with sub-control assembly (9) output of this Unit the 3rd respectively, and Power Supply Assembly (6) is connected with sub-control assembly (9) input of this Unit the 3rd; The described assembly of advancing (2), cleaning assembly (7) are connected with main control component (4) output of first module respectively;
Described Unit the 4th comprises described casing assembly IV (14), the assembly of advancing (2), absorbent module (3), induction module assembly (5), Power Supply Assembly (6), lifting assembly (8) and sub-control assembly (9); The described assembly of advancing (2) symmetry is arranged on the left and right sides in casing assembly IV (12), and described absorbent module (3), Power Supply Assembly (6) and sub-control assembly (9) are arranged on respectively between two assemblies of advancing (2); Described induction module assembly (5) is arranged on the both sides drift angle of casing assembly IV (12); Described absorbent module (3) is connected with sub-control assembly (9) output of this Unit the 4th, and Power Supply Assembly (6) is connected with sub-control assembly (9) input of this Unit the 4th; The described assembly of advancing (2) is connected with main control component (4) output of first module; Induction module assembly (5) is connected with main control component (4) input of first module;
Described casing assembly I (11) comprises described housing (105), handle (101), key panel, bar shaped tooth (102), described casing assembly II (12), casing assembly III (13) includes described housing, handle (101), support wheel (103), draw-in groove (104), bar shaped tooth (102), and described casing assembly IV (14) comprises described housing (105), handle (101), draw-in groove (104);
The lifting assembly (8) of described first module comprises described sliding-rail sliding (801), and this sliding-rail sliding (801) is connected with the draw-in groove (104) of casing assembly II; The lifting assembly (8) of described second unit, Unit the 3rd comprises described sliding-rail sliding (801), gear D (802), gear E(803), gear F(804), gear G(805), gear H(806), gear I(807), motor B(808), drive link (809), wherein the sliding-rail sliding of second unit (801) is connected with the draw-in groove (104) of casing assembly II or casing assembly III, the gear D (802) of second unit, gear E(803) engage with the bar shaped tooth (102) of casing assembly I (11) or casing assembly II (12); The sliding-rail sliding (801) of Unit the 3rd is connected with the draw-in groove (104) of casing assembly IV, the gear D (802) of Unit the 3rd, gear E(803) engage with the bar shaped tooth (102) of casing assembly II (12); The lifting assembly (8) of described Unit the 4th comprises described gear D (802), gear E(803), gear F(804), gear G(805), gear H(806), gear I(807), motor B(808), drive link (809), the gear D (802) of Unit the 4th, gear E(803) engage with the bar shaped tooth (102) of casing assembly II (12) or casing assembly III (13).
8. a control method for Intelligent device for cleaning glass, is characterized in that: the method comprises the following steps:
S1. electromagnet energising;
S2. the register F1 of the control module of advancing of main control component starts to gather storage location information latch;
S3. detect whether arrive border, if so, directly enter step S5, if not, enter step S4;
S4. advance, clean the windows, repeating step S3;
S5. judge whether to meet to cross, if so, enter step S6, if not, repeating step S3;
S6. adjust and cross position;
S7. realize and crossing, repeating step S2, until cleaning finishes.
9. the control method of Intelligent device for cleaning glass according to claim 8, is characterized in that: it is as follows that advancing in described step S4 controlled step:
S41. complete machine starts, when TouchSensor Q2, Q3 touch simultaneously, and left motor A M1, at the uniform velocity forward of right motor A M2, now complete machine at the uniform velocity advances;
S42. touch TouchSensor Q1, start-up time controller T1, left motor A M1 accelerate reversion, right motor A M2 at the uniform velocity reverses, the time controller T1 control time finishes, now complete machine turn retreat;
S43. start-up time controller T1, left motor A M1, right motor A M2 at the uniform velocity reverse, the time controller T1 control time finishes, now complete machine straight line retreats;
S44. start-up time controller T1, left motor A M1 at the uniform velocity reverses, right motor A M2 accelerate reversion, the time controller T1 time processed finishes;
S45. left motor A M1, at the uniform velocity forward of right motor A M2;
S46. touch TouchSensor Q1, left motor A M1, right motor A M2 at the uniform velocity reverse, and now complete machine at the uniform velocity advances;
S47. touch TouchSensor Q2, start-up time controller T1, left motor A M1 accelerates forward, at the uniform velocity forward of right motor A M2, the time controller T1 time processed finishes, now, complete machine turn retreat;
S48. start-up time controller T1, left motor A M1, at the uniform velocity forward of right motor A M2, the time controller T1 time processed finishes, now, complete machine straight line retreats;
S49. start-up time controller T1, at the uniform velocity forward of left motor A M1, right motor A M2 accelerates forward, the time controller T1 time processed finishes;
S410. left motor A M1, right motor A M2 at the uniform velocity reverse;
S411. touch TouchSensor Q2, left motor A M1, at the uniform velocity forward of right motor A M2, now complete machine advances;
S412. touch TouchSensor Q1, repeating step S42.
10. the control method of Intelligent device for cleaning glass according to claim 8, is characterized in that: the realization in described step S7 cross control step as follows:
S71. register F1 records the initial signal of TouchSensor Q2, Q3;
S72. ought receive opposite signal TouchSensor Q1, Q4, when register F2 records last signal and is TouchSensor Q2, Q4, send a signal to first motor B controller C2, feed back to motor A controller C1 and control left motor A M1, at the uniform velocity forward of right motor A M2, first module electro-magnet switch K disconnects;
S73. first motor B controller C2 controller start-up time T2, at the uniform velocity forward of starter motor B, the time controller T2 control time finishes;
S74. send a signal to second motor B controller C2, start-up time controller T2, second unit electro-magnet switch K disconnect, start at the uniform velocity forward of second motor B, first motor B accelerates reversion, first module electro-magnet switch K closure, controller T2 control time end time;
S75. send a signal to the 3rd motor B controller C2, start-up time controller T2, the 3rd unit electro-magnet switch K disconnect, start at the uniform velocity forward of the 3rd motor B, second motor B accelerates reversion, second unit electro-magnet switch K closure, controller T2 control time end time;
S76. time controller T2 starts, and the 4th unit electro-magnet switch K disconnects, the 3rd motor B reversion, and the 3rd unit electro-magnet switch K closure, the time controller T2 control time finishes;
S77. send a signal to second each and every one motor B controller C2, time controller T2 starts, second motor B forward, and the 4th unit electro-magnet switch K closure, the time controller T2 control time finishes;
If S78. certain motor B controller is received signal 2 times, feed back to motor A controller C1, left motor A M1, right motor A M2 stop, and start at the uniform velocity reversion;
S79. when touching TouchSensor Q2, Q4, finish to cross instruction, start the instruction of advancing.
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| CN104605784A (en) * | 2015-02-13 | 2015-05-13 | 广西科技大学鹿山学院 | Obstacle surmountable safety intelligent glass cleaner |
| CN106108768A (en) * | 2016-08-10 | 2016-11-16 | 西安科技大学 | Glass-cleaning robot and the method that cleans the windows thereof with lift walking mechanism |
| CN107595194A (en) * | 2017-10-19 | 2018-01-19 | 浙江理工大学 | A kind of clearing glass carwash and its cleaning method with obstacle crossing function |
| CN107981774A (en) * | 2017-12-01 | 2018-05-04 | 黄丹蕾 | A kind of intelligent double-sided glass-cleaning robot |
| CN108120684A (en) * | 2018-01-30 | 2018-06-05 | 中国建材检验认证集团股份有限公司 | Safety partition detects robot and curtain wall detecting system |
| CN108478093A (en) * | 2018-05-25 | 2018-09-04 | 凌琦媛 | A kind of automatic window wiper |
| CN108756278A (en) * | 2018-07-27 | 2018-11-06 | 安徽赛福贝特信息技术有限公司 | A kind of glass-cleaning robot |
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Effective date of registration: 20181213 Address after: 233100 Mentai Town, Fengyang County, Chuzhou City, Anhui Province Patentee after: ANHUI QIANLI GLASSWORK Co.,Ltd. Address before: 233010 409 Wu Wan Road, Yuhui District, Bengbu, Anhui Patentee before: BENGBU JINSHI NEW MATERIAL Co.,Ltd. |
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