CN103815826B - Smart glass cleaner and control method thereof - Google Patents
Smart glass cleaner and control method thereof Download PDFInfo
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- CN103815826B CN103815826B CN201410041389.4A CN201410041389A CN103815826B CN 103815826 B CN103815826 B CN 103815826B CN 201410041389 A CN201410041389 A CN 201410041389A CN 103815826 B CN103815826 B CN 103815826B
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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
Mechanism and its method the present invention relates to one kind cleans the windows, particularly a kind of are applied to the intelligent glass crossing sash
Glass cleaner and its control method.
Background technology
Skyscraper is relatively more now, and when cleaning, people are frequently present of following problem：
1. urban environment is poor, and dust is covered with outside homes windowpane, cleaning outside glass by be one dangerous
Behavior.
2. mansion majority in city adopts glass outer wall now, and cleaning glass will consume a lot of manpower and materials.
3. single sheet all can only clean in cleaning glass mechanism popular on the market, and its work surface is limited to such as window frame etc.
In boss, such as publication No. is " a kind of multifunctional glass clean robot and the control method " of " CN102961080A "；And announce
Number for " CN103082934A " " climbing the intelligent glass clean robot of wall based on sufficient formula " although the boss such as window frame can be crossed over
Barrier, but its use not convenient.
Content of the invention
The technical problem to be solved in the present invention is：There is provided a kind of Intelligent device for cleaning glass and its control method so as to permissible
Cross the boss such as such as window frame, and structure is simple, dependable performance, reaches the purpose of the financial resources that use manpower and material resources sparingly.
Solve above-mentioned technical problem technical scheme be：A kind of Intelligent device for cleaning glass, including casing assembly, installs outside
Traveling assembly in shell component, absorbent module, induction module assembly, Power Supply Assembly, cleaning assembly, also include and are arranged on shell
Main control component in assembly, lifting assembly, sub-control assembly；
Described traveling assembly is used for realizing the reciprocal process of integrated model forward-reverse under the control of main control component；
Described absorbent module is used for realizing absorption by magnetic force is attracting under main control component or sub-control assembly control
On glass two sides；
Described induction module assembly is used for realizing integrated model signal collection to external world, and the signal collected is passed
To main control component；
Described Power Supply Assembly is used for providing power supply for each assembly, and completes charging process under main control component control；
Described cleaning assembly is used for realizing the cleaning to glass surface under main control component control；
Described lifting assembly is used for realizing crossing that sash etc. is a series of to have certain height under sub-control assembly controls
The boss of degree；
The input of described main control component is connected with the outfan of induction module assembly, Power Supply Assembly respectively, master control
The outfan of assembly processed is connected with the input of traveling assembly, Power Supply Assembly, cleaning assembly, sub-control assembly respectively；
The outfan of described sub-control assembly is connected with the input of absorbent module, lifting assembly respectively.
The further technical scheme of the present invention is：Casing assembly include housing, include handle, key panel, support wheel,
Draw-in groove, bar shaped tooth, described handle, key panel are separately mounted on housing, and described support wheel, draw-in groove, bar shaped tooth divide
It is not located in housing.
The further technical scheme of the present invention is：Described traveling assembly include motor A, gear A, gear B, gear C,
Input shaft, Athey wheel, crawler belt；Described motor A is fixed on the housing above crawler belt, and described gear A is fixed on motor A's
On output shaft, gear B is fixed on housing, and gear C is fixed on input shaft, and described gear A is engaged with gear B, gear B with
Gear C engages；Described input shaft is arranged in housing by bearing, and Athey wheel is enclosed within input shaft, and crawler belt is enclosed within Athey wheel
On；The described control signal of motor A is connected with the outfan of main control component.
The further technical scheme of the present invention is：Described main control component include middle control module, traveling control module,
Absorption and control module, sensing control module, cleaning control module, lifting control module, described traveling control module and traveling
Assembly connects, and absorption and control module is connected with absorbent module, sub-control assembly respectively, senses control module and induction module assembly
Connect, cleaning control module is connected with cleaning assembly, and lifting control module is connected with sub-control assembly；Described traveling controls mould
Block includes motor A controller, time controller T1, depositor F1 again；Described absorption and control module includes solenoid-operated switch
K；Described sub-control assembly includes motor B controller, time controller T2, depositor F2, solenoid-operated switch K.
Described absorbent module includes electric magnet, the input of this electric magnet respectively with main control component or sub-control assembly
Outfan connect；Described induction module assembly includes TouchSensor Q1, Q2, Q3, the Q4 for sensing outer signals, its
The induction module control assembly that signal reaches main control component is processed；Described cleaning assembly include swipe adhesive tape, wipe cotton,
And for controlling the cleanout fluid provisioning component of cleanout fluid supply, described cleanout fluid provisioning component is clear with main control component
Wash control module outfan to connect.
Described lifting assembly include 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 on the draw-in groove of casing assembly by buckle, and described motor B is arranged on housing, electricity
Described gear I is cased with the output shaft of machine B, gear I engages and transfer power to gear H, gear H and gear G with gear H
Engagement, gear G is arranged on one end of drive link, and the other end of drive link is provided with described gear F, dynamic by drive link transmission
To gear F, gear F engages with driving gear D, gear E rotating power with gear D, gear E, driving gear D, gear E be located at
Bar shaped tooth on casing assembly housing is meshed, to drive lifting and the decline of integrated model；Described motor B and sub-control group
The outfan of part connects.
This Intelligent device for cleaning glass is by first module, Unit the 4th, the second unit being located between Unit first, fourth or the
Triad becomes；
Described casing assembly is made up of casing assembly I, casing assembly II, casing assembly III, casing assembly IV；
Described first module includes described casing assembly I, traveling assembly, absorbent module, main control component, sensing mould
Block assembly, Power Supply Assembly and cleaning assembly, lifting assembly, described traveling assembly is symmetrically mounted on the left side in casing assembly I
Right both sides, described absorbent module, main control component, Power Supply Assembly and cleaning assembly be separately mounted to two traveling assemblies it
Between, described induction module assembly is arranged on the both sides base angle of casing assembly I；Described traveling assembly, absorbent module, cleaning group
Part is connected with the main control component outfan of this unit respectively, the master control with this unit respectively of induction module assembly, Power Supply Assembly
Component inputs processed connect；
Described second unit includes described casing assembly II, absorbent module, Power Supply Assembly, cleaning assembly, lifting group
Part and sub-control assembly, described absorbent module is symmetrically mounted on the left and right sides in casing assembly II, Power Supply Assembly, cleaning
Assembly, lifting assembly and sub-control assembly are separately mounted between two absorbent module；Described absorbent module, lifting assembly
It is connected with the sub-control assembly outfan of this second unit respectively, the sub-control component inputs of Power Supply Assembly and this second unit
Connect；Described cleaning assembly is connected with the main control component outfan of first module；
Described Unit the 3rd includes described casing assembly III, traveling assembly, absorbent module, lifting assembly, power supply group
Part, cleaning assembly and sub-control assembly；Described traveling assembly is symmetrically mounted on the left and right sides in casing assembly III, described
Lifting assembly, Power Supply Assembly, cleaning assembly and sub-control assembly be separately mounted between two traveling assemblies；Described suction
Attached assembly, lifting assembly are connected with the sub-control assembly outfan of this Unit the 3rd respectively, Power Supply Assembly and originally Unit the 3rd
Sub-control component inputs connect；Described traveling assembly, the cleaning assembly main control component outfan with first module respectively
Connect；
Described Unit the 4th includes described casing assembly IV, traveling assembly, absorbent module, induction module assembly, confession
Electrical component, lifting assembly and sub-control assembly；Described traveling assembly is symmetrically mounted on the left and right sides in casing assembly IV,
Described absorbent module, Power Supply Assembly and sub-control assembly are separately mounted between two traveling assemblies；Described sensing mould
Block assembly is arranged on the both sides drift angle of casing assembly IV；Described absorbent module and the sub-control assembly outfan of this Unit the 4th
Connect, Power Supply Assembly is connected with the sub-control component inputs of this Unit the 4th；Described traveling assembly and the master of first module
Control assembly outfan connects；Induction module assembly is connected with the main control component input of first module；
Described casing assembly I includes described housing, handle, key panel, bar shaped tooth, described casing assembly
IIth, casing assembly III all includes described housing, handle, support wheel, draw-in groove, bar shaped tooth, and described casing assembly IV includes
Described housing, handle, draw-in groove；
The lifting assembly of described first module includes described sliding-rail sliding, the draw-in groove of this sliding-rail sliding and casing assembly II
Connect；Described second unit, the lifting assembly of Unit the 3rd include described sliding-rail sliding, gear D, gear E, gear F, gear
G, gear H, gear I, motor B, drive link, the wherein sliding-rail sliding of second unit and the card of casing assembly II or casing assembly III
Groove connects, and the gear D of second unit, gear E are engaged with the bar shaped tooth of casing assembly I or casing assembly II；The cunning of Unit the 3rd
Rail slide block is connected with the draw-in groove of casing assembly IV, and the gear D of Unit the 3rd, gear E are engaged with the bar shaped tooth of casing assembly II；
The lifting assembly of described Unit the 4th includes described gear D, gear E, gear F, gear G, gear H, gear I, motor B, biography
Lever, the gear D of Unit the 4th, gear E are engaged 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, the method includes following step
Suddenly：
S1. electric magnet energising；
S2. the depositor F1 of the traveling control module of main control component starts to gather storage location information and latch；
S3. detect whether border, if it is, being directly entered step S5, if it is not, then entering step S4；
S4. advance, clean the windows, repeat step S3；
S5. judge whether to meet to cross, if it is, entering step S6, if it is not, then repeat step S3；
S6. position is crossed in adjustment；
S7. realize crossing, repeat step S2, until cleaning terminates.
The further technical scheme of the present invention is：Traveling rate-determining steps in described step S4 are as follows：
Traveling rate-determining steps in described step S4 are as follows：
S41. whole machine starts, and when TouchSensor Q2, Q3 touch simultaneously, left motor A M1, right motor A M2 are at the uniform velocity
Rotate forward, now whole machine at the uniform velocity advances；
S42. touch TouchSensor Q1, starting time controller T1, left motor A M1 accelerate reversion, right motor A
M2 at the uniform velocity inverts, and time controller T1 control time terminates, and now whole machine is turned and retreated；
S43. starting time controller T1, left motor A M1, right motor A M2 at the uniform velocity invert, and time controller T1 is controlled
Time processed terminates, and now whole machine straight line retreats；
S44. starting time controller T1, left motor A M1 at the uniform velocity invert, and right motor A M2 accelerates reversion, time
The controller T1 time terminates；
S45. left motor A M1, right motor A M2 at the uniform velocity rotate forward；
S46. touch TouchSensor Q1, left motor A M1, right motor A M2 at the uniform velocity invert, now whole machine at the uniform velocity before
Enter；
S47. touch TouchSensor Q2, starting time controller T1, left motor A M1 accelerate to rotate forward, right motor A
M2 at the uniform velocity rotates forward, and the time controller T1 time terminates, and now, whole machine is turned and retreated；
S48. starting time controller T1, left motor A M1, right motor A M2 at the uniform velocity rotate forward, time controller T1 system
Time terminates, and now, whole machine straight line retreats；
S49. starting time controller T1, left motor A M1 at the uniform velocity rotate forward, and right motor A M2 accelerates to rotate forward, the time
The controller T1 time terminates；
S410. left motor A M1, right motor A M2 at the uniform velocity invert；
S411. touch TouchSensor Q2, left motor A M1, right motor A M2 at the uniform velocity rotate forward, and now whole machine advances；
S412. TouchSensor Q1, repeat step S42 are touched.
The further technical scheme of the present invention is：It is as follows that rate-determining steps are crossed in realization in described step S7：
S71. depositor F1 records the initial signal of TouchSensor Q2, Q3；
S72. when receiving opposite signal TouchSensor Q1, Q4, it is to touch sense that depositor F2 records last signal
When answering device Q2, Q4, send a signal to first motor B controller C2, feed back to motor A controller C1 and control left motor A
M1, right motor A M2 at the uniform velocity rotate forward, and first module electro-magnet switch K disconnects；
S73. first motor B controller C2 starting time controller T2, starts motor B and at the uniform velocity rotates forward, time controller
T2 control time terminates；
S74. second motor B controller C2, starting time controller T2, second unit electro-magnet switch are sent a signal to
K disconnects, and starts second motor B and at the uniform velocity rotates forward, and first motor B accelerates reversion, and first module electro-magnet switch K closes, knot
Bundle time controller T2 control time；
S75. the 3rd motor B controller C2, starting time controller T2 are sent a signal to, the 3rd unit electric magnet is opened
Close K to disconnect, start the 3rd motor B and at the uniform velocity rotate forward, second motor B accelerates reversion, and second unit electro-magnet switch K closes,
End time controller T2 control time；
S76. time controller T2 starts, and the 4th unit electro-magnet switch K disconnects, the 3rd motor B reversion, and the 3rd is single
First electro-magnet switch K closure, time controller T2 control time terminates；
S77. send a signal to second motor B controller C2, time controller T2 starts, and second motor B is just
Turn, the 4th unit electro-magnet switch K closure, time controller T2 control time terminates；
If S78. certain motor B controller receives 2 signals, feed back to motor A controller C1, left motor A M1,
Right motor A M2 stops, and starts at the uniform velocity to invert；
S79. when touching TouchSensor Q2, Q4, terminate to cross instruction, start instruction of advancing.
Due to adopting technique scheme, the Intelligent device for cleaning glass of the present invention and its control method and prior art phase
Ratio has the advantages that：
1. can realize evading etc. action, and realize the reciprocal cleaning of integrated model with automatic identification roadblock：
Because the present invention includes casing assembly, the traveling assembly being arranged in casing assembly, absorbent module, induction module group
Part, Power Supply Assembly, cleaning assembly, main control component, lifting assembly, sub-control assembly；To be detected by induction module assembly
Positional information be transmitted back to main control component, can automatic identification roadblock, realize evading etc. action；To steadily be inhaled by absorbent module
It is attached on double-sided glass, the reciprocal cleaning of whole machine can be driven by traveling module, cleaning assembly, remove glass outside manual cleaning from
The behavior of the danger of glass, reaches the purpose of the financial resources that use manpower and material resources sparingly.
2. can automatically cross a series of boss having certain altitude such as similar sash：
Because the present invention includes lifting assembly, power is reached by gear train by the motor B of lifting assembly, drive shell
Bar shaped tooth on assembly moves, thus whole machine realization can be driven automatically to cross, similar sash etc. is a series of the convex of certain altitude
Platform, expands work surface.
3. easy to use：
Because the present invention uses multi-level form, integrated model is organically divided into four units, each unit has not
Same programme area, and can be according to being actually needed free assembling, it is very easy to use.
4. outstanding cleaning effect can be reached:
The cleaning assembly of the present invention includes scraping adhesive tape, wipes cotton and the cleaning for controlling cleanout fluid supply
Liquid provisioning component, and cleaning way has dry-cleaning and washes, and dry-cleaning can remove stain, wash and realize secondary cleaning, because
This, can reach outstanding cleaning effect.
5. applied widely：
The present invention can be for family's cleaning glass using it is also possible to use for urban skyscraper glass outer wall, and it is suitable for
Scope is than wide.
Below, the technical characteristic of the Intelligent device for cleaning glass to the present invention and its control method is made in conjunction with the accompanying drawings and embodiments
Further instruction.
Brief description
Fig. 1：The functional block diagram of the Intelligent device for cleaning glass of the present invention；
Fig. 2-Fig. 4：The structural representation of the Intelligent device for cleaning glass of the present invention described in embodiment one, wherein：
Fig. 2：Front view, Fig. 3：The A-A sectional view of Fig. 2；Fig. 4：The B-B sectional view of Fig. 2；
Fig. 5-Fig. 7：The structural representation of Unit the 3rd, wherein：
Fig. 5：Front view, Fig. 6：The C-C sectional view of Fig. 5；Fig. 7：The D-D sectional view of Fig. 5；
Fig. 8：The control method FB(flow block) of Intelligent device for cleaning glass described in embodiment two.
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, outside 11-
Shell component I, 12- casing assembly II, 13- casing assembly III, 14- casing assembly IV；
2- traveling assembly, 201- motor A, M1- left motor A, M2- right motor A,
202- gear A, 203- gear B, 204- gear C, 205- input shaft, 206- Athey wheel, 207- crawler belt,
208- bearing,
3- absorbent module, 301 electric magnet,
4- main control component, controls module, 402- traveling control module, 403- absorption and control module, 404- senses in 401-
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, 701- swipes adhesive tape, and 702- wipes cotton, 703- cleanout 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, Unit III-the three, Unit IV-the four,
The gear train that 20- simplifies, including 202- gear A, 203- gear B, 204- gear C,
The gear train that 80- simplifies, including 805- gear G, 806- gear H, 807- gear I.
Specific embodiment
Embodiment one：
Disclosed in Fig. 1-Fig. 4 is a kind of Intelligent device for cleaning glass, including casing assembly 1, is arranged in casing assembly 1
Traveling assembly 2, 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；
Described traveling assembly 2 is used for realizing the reciprocal mistake of integrated model forward-reverse under the control of main control component 4
Journey；
Described absorbent module 3 is used for realizing inhaling by magnetic force is attracting under main control component 4 or sub-control assembly 9 control
Invest on glass two sides；
Described induction module assembly 5 is used for realizing integrated model signal collection to external world, and by the signal collected
Reach main control component 4；
Described Power Supply Assembly 6 is used for providing power supply for each assembly, and completes to charge under main control component 4 controls
Journey；
Described cleaning assembly 7 is used for realizing the cleaning under main control component 4 controls to glass surface；
Described lifting assembly 8 be used for realizing crossing under sub-control assembly 9 controls sash etc. a series of have certain
The boss of height；
The input of described main control component 4 is connected with the outfan of induction module assembly 5, Power Supply Assembly 6 respectively, main
The outfan of control assembly 4 is connected with the input of traveling assembly 2, Power Supply Assembly 6, cleaning assembly 7, sub-control assembly 9 respectively；
The outfan 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 be made up of casing assembly I 11, casing assembly II 12, casing assembly IV 14；Described first module includes shell
Assembly I 11, traveling assembly 2, absorbent module 3, main control component 4, induction module assembly 5, Power Supply Assembly 6 and cleaning assembly 7,
Described traveling assembly 2 is symmetrically mounted 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 separately mounted between two traveling assemblies 2, and described induction module assembly 5 is installed outside
The both sides base angle of shell component I 11；Described traveling assembly 2, absorbent module 3, the cleaning assembly 7 main control group with this unit respectively
Part 4 outfan connects, and induction module assembly 5, Power Supply Assembly 6 are connected with main control component 4 input of this unit respectively；
Described second unit includes described casing assembly II 12, absorbent module 3, Power Supply Assembly 6, cleaning assembly 7, lift
Rise assembly 8 and sub-control assembly 9, described absorbent module 3 is symmetrically mounted 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）It is separately mounted between two absorbent module；Described absorption
Assembly 3, lifting assembly 8 are connected with sub-control assembly 9 outfan of this second unit respectively, Power Supply Assembly 6 and this second unit
Sub-control assembly 9 input connect；Described cleaning assembly 7 is connected with main control component 4 outfan of first module；
Described Unit the 4th includes casing assembly IV 14, traveling assembly 2, absorbent module 3, induction module assembly 5, power supply
Assembly 6 and sub-control assembly 9；Described traveling assembly 2 is symmetrically mounted on the left and right sides in casing assembly IV 12, described
Absorbent module 3, Power Supply Assembly 6 and sub-control assembly 9 are separately mounted between two traveling assemblies 2；Described induction module
Assembly 5 is arranged on the both sides drift angle of casing assembly IV 12；Described absorbent module 3 is defeated with the sub-control assembly 9 of this Unit the 4th
Go out end to connect, Power Supply Assembly 6 is connected with sub-control assembly 9 input of this Unit the 4th；Described traveling assembly 2 and first is single
Main control component 4 outfan of unit connects；Induction module assembly 5 is connected with main control component 4 input of first module；
Described casing assembly I 11 includes described housing 105, handle 101, key panel, bar shaped tooth 102, described
Casing assembly II 12 include housing, handle 101, support wheel 103, draw-in groove 104, bar shaped tooth 102, described casing assembly IV
14 include housing 105, handle 101, draw-in groove 104；Described handle 101 is separately mounted to the housing 105 of each casing assembly
On, key panel is arranged on the housing 105 of casing assembly I 11, and described support wheel 103 is located at the housing of casing assembly II 12
Interior, draw-in groove 104 is respectively provided in the housing 105 of casing assembly II 12, casing assembly IV 14, and bar shaped tooth 102 is respectively provided at shell
In assembly I 11, the housing 105 of casing assembly II 12.
Described traveling assembly 2 includes motor A201, gear A 202, gear B 203, gear C 204, input shaft 205, crawler belt
Wheel 206, crawler belt 207；Described motor A201 is fixed on the housing above crawler belt, and this motor A201 includes 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,
Gear C 204 is fixed on input shaft 205, and described gear 202A is engaged with gear B 203, and gear B 203 is nibbled with gear C 204
Close；Described input shaft 205 is arranged in housing by bearing 208, and Athey wheel 206 is enclosed within input shaft 205,207 sets of crawler belt
On Athey wheel 206；The input of described motor A201 is connected with the outfan of main control component 4,.
Described absorbent module 3 includes electric magnet 301；
Described main control component 4 includes middle control module 401, traveling control module 402, absorption and control module 403, sensing
Control module 404, cleaning control module 405, lifting control module 406, described traveling control module is with traveling assembly 2 even
Connect, absorption and control module is connected with sub-control assembly 9, sensing control module is connected with induction module assembly 5, cleaning control module
It is connected with cleaning assembly 7, lifting control module is connected with sub-control assembly 9；Described traveling control module includes motor A and controls
Device, time controller T1, depositor F1；Described absorption and control module includes solenoid-operated switch K；Described sub-control assembly
9 include motor B controller, time controller T2, depositor F2, solenoid-operated switch K.
Described induction module assembly 5 includes TouchSensor Q1, Q2, Q3, the Q4 for sensing outer signals, its signal
The induction module control assembly 403 reaching main control component 4 is processed；Described cleaning assembly 7 includes scraping adhesive tape 701, wipes
Cotton 702 and for controlling the cleanout fluid provisioning component 703 of cleanout fluid supply, described cleanout fluid provisioning component 703 with
Cleaning control module 404 outfan of main control component 4 connects.
Described lifting assembly 8 includes sliding-rail sliding 801, gear D 802, gear E803, gear F804, gear G805, tooth
Wheel H806, gear I807, motor B808, drive link 809；Described sliding-rail sliding 801 is stuck in the card of casing assembly 1 by buckle
On groove 104, described motor B808 is arranged on housing, and the output shaft of motor B808 is cased with described gear I807, gear
I807 engages and transfers power to gear H806 with gear H806, and gear H806 is engaged with gear G805, and gear G805 installs
In one end of drive link 809, the other end of drive link 809 is provided with described gear F804, transmits power by drive link 809
To gear F804, gear F804 is engaged with gear D 802, gear E803 with driving gear D802, gear E803 rotating, drives
Gear D 802, gear E803 are meshed with the bar shaped tooth being located on casing assembly 1 housing, with drive the lifting of integrated model with
Fall；Described motor B808 is connected with the outfan of sub-control assembly 9.
Wherein：
The lifting assembly 8 of described first module includes described sliding-rail sliding 801, this sliding-rail sliding 801 and casing assembly
II draw-in groove 104 connects；The lifting assembly 8 of described second unit includes described sliding-rail sliding 801, gear D 802, gear
E803, gear F804, gear G805, gear H806, gear I807, motor B808, drive link 809, the wherein cunning of second unit
Rail slide block 801 is connected with the draw-in groove 104 of casing assembly II, the gear D 802 of second unit, gear E803 and casing assembly I 11 or
The bar shaped tooth 102 of casing assembly II 12 engages；The lifting assembly 8 of described Unit the 4th includes described gear D 802, gear
E803, gear F804, gear G805, gear H806, gear I807, motor B808, drive link 809, the gear of Unit the 4th
D802, gear E803 are engaged with the bar shaped tooth 102 of casing assembly II.
As one kind conversion of the present embodiment one, described Intelligent device for cleaning glass can also be by first module I, second
Unit II, the 3rd unit II, the 4th unit IV form, and in being total to, the 3rd unit III includes described casing assembly III 13, traveling group
Part 2, absorbent module 3, lifting assembly 8, Power Supply Assembly 6, cleaning assembly 7 and sub-control assembly 9（Referring to Fig. 5-Fig. 7）；Described
Traveling assembly 2 be symmetrically mounted on the left and right sides in casing assembly III 11, described lifting assembly 8, Power Supply Assembly 6, cleaning
Assembly 7 and sub-control assembly 9 are separately mounted between two traveling assemblies 2；Described absorbent module 3, lifting assembly 8 are distinguished
It is connected with sub-control assembly 9 outfan of this Unit the 3rd, sub-control assembly 9 input of Power Supply Assembly 6 and this Unit the 3rd
Connect；Described traveling assembly 2, cleaning assembly 7 are connected with main control component 4 outfan of first module respectively；Described is outer
Shell component III 13, as casing assembly II 12, all includes housing, handle 101, support wheel 103, draw-in groove 104；Second unit
Sliding-rail sliding 801 be connected with the draw-in groove 104 of casing assembly III；The lifting assembly 8 of Unit the 3rd also includes described slide rail and slides
Block 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, the gear D 802 of Unit the 3rd, gear
E803 is engaged with the bar shaped tooth 102 of casing assembly II 12；The gear D 802 of described Unit the 4th, gear E803 and casing assembly III
13 bar shaped tooth 102 engages.
As another conversion of the present embodiment one, described first module I, second unit II, the 3rd unit the III, the 4th
IV 4 units of unit can be according to being actually needed free assembling.
Embodiment two：
A kind of control method of Intelligent device for cleaning glass, the method comprises the following steps：
S1. electric magnet energising；
S2. the depositor F1 of the traveling control module of main control component starts to gather storage location information and latch；
S3. detect whether border, if it is, being directly entered step S5, if it is not, then entering step S4；
S4. advance, clean the windows, repeat step S3；
S5. judge whether to meet to cross, if it is, entering step S6, if it is not, then repeat step S3；
S6. position is crossed in adjustment；
S7. realize crossing, repeat step S2, until cleaning terminates.
Traveling rate-determining steps in above-mentioned steps S4 are as follows：
S41. whole machine starts, and when TouchSensor Q2, Q3 touch simultaneously, left motor A M1, right motor A M2 are at the uniform velocity
Rotate forward, now whole machine at the uniform velocity advances；
S42. touch TouchSensor Q1, starting time controller T1, left motor A M1 accelerate reversion, right motor A
M2 at the uniform velocity inverts, and time controller T1 control time terminates, and now whole machine is turned and retreated；
S43. starting time controller T1, left motor A M1, right motor A M2 at the uniform velocity invert, and time controller T1 is controlled
Time processed terminates, and now whole machine straight line retreats；
S44. starting time controller T1, left motor A M1 at the uniform velocity invert, and right motor A M2 accelerates reversion, time
The controller T1 time terminates；
S45. left motor A M1, right motor A M2 at the uniform velocity rotate forward；
S46. touch TouchSensor Q1, left motor A M1, right motor A M2 at the uniform velocity invert, now whole machine at the uniform velocity before
Enter；
S47. touch TouchSensor Q2, starting time controller T1, left motor A M1 accelerate to rotate forward, right motor A
M2 at the uniform velocity rotates forward, and the time controller T1 time terminates, and now, whole machine is turned and retreated；
S48. starting time controller T1, left motor A M1, right motor A M2 at the uniform velocity rotate forward, time controller T1 system
Time terminates, and now, whole machine straight line retreats；
S49. starting time controller T1, left motor A M1 at the uniform velocity rotate forward, and right motor A M2 accelerates to rotate forward, the time
The controller T1 time terminates；
S410. left motor A M1, right motor A M2 at the uniform velocity invert；
S411. touch TouchSensor Q2, left motor A M1, right motor A M2 at the uniform velocity rotate forward, and now whole machine advances；
S412. TouchSensor Q1, repeat step S42 are touched.
It is as follows that rate-determining steps are crossed in realization in above-mentioned steps S7：
S71. depositor F1 records the initial signal of TouchSensor Q2, Q3；
S72. when receiving opposite signal TouchSensor Q1, Q4, it is to touch sense that depositor F2 records last signal
When answering device Q2, Q4, send a signal to first motor B controller C2, feed back to motor B controller C1 and control left motor A
M1, right motor A M2 at the uniform velocity rotate forward, and first module electro-magnet switch K disconnects；
S73. first motor B controller C2 starting time controller T2, starts motor B and at the uniform velocity rotates forward, time controller
T2 control time terminates；
S74. second motor B controller C2, starting time controller T2, second unit electro-magnet switch are sent a signal to
K disconnects, and starts second motor B and at the uniform velocity rotates forward, and first motor B accelerates reversion, and first module electro-magnet switch K closes, knot
Bundle time controller T2 control time；
S75. the 3rd motor B controller C2, starting time controller T2 are sent a signal to, the 3rd unit electric magnet is opened
Close K to disconnect, start the 3rd motor B and at the uniform velocity rotate forward, second motor B accelerates reversion, and second unit electro-magnet switch K closes,
End time controller T2 control time；
S76. time controller T2 starts, and the 4th unit electro-magnet switch K disconnects, the 3rd motor B reversion, and the 3rd is single
First electro-magnet switch K closure, time controller T2 control time terminates；
S77. send a signal to second motor B controller C2, time controller T2 starts, and second motor B is just
Turn, the 4th unit electro-magnet switch K closure, time controller T2 control time terminates；
If S78. certain motor B controller receives 2 signals, feed back to motor B controller C1, left motor A M1,
Right motor A M2 stops, and starts at the uniform velocity to invert；
S79. when touching TouchSensor Q2, Q4, terminate to cross instruction, start instruction of advancing.
The Correction and Control step of this method is as follows：
1. when touching single TouchSensor, then start the motor A of respective side so as to accelerate rotating, the electricity of opposite side
Machine at the uniform velocity rotating（Example touching Q11, starts left motor A and accelerates to rotate forward, right motor A at the uniform velocity rotates forward）.
2. when monolateral touch sensor touches just calculation overall startup simultaneously（Example Q11, Q12 start simultaneously, just calculate overall opening
Dynamic）.
Claims (5)
1. a kind of Intelligent device for cleaning glass, including casing assembly（1）, be arranged on casing assembly（1）Interior traveling assembly（2）, inhale
Attached assembly（3）, induction module assembly（5）, Power Supply Assembly（6）, cleaning assembly（7）It is characterised in that：Also include installation outside
Shell component（1）Interior main control component（4）, lifting assembly（8）, sub-control assembly（9）；
Described traveling assembly（2）For realizing in main control component（4）Control under integrated model forward-reverse reciprocal mistake
Journey；
Described absorbent module（3）For in main control component（4）Or sub-control assembly（9）Pass through the attracting realization of magnetic force under controlling
It is adsorbed on glass two sides；
Described induction module assembly（5）For realizing integrated model signal collection to external world, and the signal collected is passed
To main control component（4）；
Described Power Supply Assembly（6）For providing power supply for each assembly, and in main control component（4）Complete to charge under control
Journey；
Described cleaning assembly（7）For realizing in main control component（4）Cleaning to glass surface under control；
Described lifting assembly（8）For realizing in sub-control assembly（9）Cross under control sash etc. a series of have certain
The boss of height；
Described main control component（4）Input respectively with induction module assembly（5）, Power Supply Assembly（6）Outfan connect,
Main control component（4）Outfan respectively with traveling assembly（2）, Power Supply Assembly（6）, cleaning assembly（7）, sub-control assembly（9）
Input connect；
Described sub-control assembly（9）Outfan respectively with absorbent module（3）, lifting assembly（8）Input connect；
Casing assembly（1）Including housing（105）, include handle（101）, key panel, support wheel（103), draw-in groove（104）、
Bar shaped tooth（102）, described handle（101）, key panel be separately mounted to housing（105）On, described support wheel
（103), draw-in groove（104）, bar shaped tooth（102）It is respectively provided at housing（105）Interior；
Described lifting assembly（8）Including 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）By card
Buckle is in casing assembly（1）Draw-in groove（104）On, described motor B（808）It is arranged on housing, motor B（808）Output
Described gear I is cased with axle（807）, gear I（807）With gear H（806）Engage and transfer power to gear H（806）,
Gear H（806）With gear G（805）Engagement, gear G（805）It is arranged on drive link（809）One end, drive link（809）Another
One end is provided with described gear F（804）, by drive link（809）Transmit power to gear F（804）, gear F（804）With tooth
Wheel D（802）, gear E（803）Engagement is with driving gear D（802）, gear E（803）Rotating, driving gear D（802）, gear E
（803）Be located at casing assembly（1）Bar shaped tooth on housing（102）It is meshed, to drive lifting and the decline of integrated model；Institute
The motor B stating（808）With sub-control assembly（9）Outfan connect.
2. Intelligent device for cleaning glass according to claim 1 it is characterised in that：Described traveling assembly（2）Including motor A
（201）, gear A（202）, gear B（203）, gear C（204）, input shaft（205）, Athey wheel（206）, crawler belt（207）；Described
Motor A（201）It is fixed on the housing above crawler belt, described gear A（202）It is fixed on motor A（201）Output shaft
On, gear B（203）It is fixed on housing, gear C（204）It is fixed on input shaft（205）On, described gear（202）A and tooth
Wheel B（203）Engagement, gear B（203）With gear C（204）Engagement；Described input shaft（205）By bearing（208）It is arranged on
In housing, Athey wheel（206）It is enclosed within input shaft（205）On, crawler belt（207）It is enclosed within Athey wheel（206）On；Described motor A（201）
Control signal and main control component（4）Outfan connect.
3. Intelligent device for cleaning glass according to claim 1 it is characterised in that：Described main control component（4）Including in
Control module（401）, traveling control module（402）, absorption and control module（403）, sensing control module（404）, cleaning control mould
Block（405）, lifting control module（406）, described traveling control module（402）With traveling assembly（2）Connect, absorption and control mould
Block respectively with absorbent module（3）, sub-control assembly（9）Connect, sense control module and induction module assembly（5）Connect, cleaning
Control module and cleaning assembly（7）Connection, lifting control module and sub-control assembly（9）Connect；Described traveling control module
Include motor A controller, time controller T1, depositor F1 again；Described absorption and control module includes solenoid-operated switch K；
Described sub-control assembly（9）Including motor B controller, time controller T2, depositor F2, solenoid-operated switch K.
4. Intelligent device for cleaning glass according to claim 3 it is characterised in that：Described absorbent module（3）Including electromagnetism
Ferrum（301）, the input of this electric magnet respectively with main control component（4）Or sub-control assembly（9）Outfan connect；Described
Induction module assembly（5）Including TouchSensor Q1, Q2, Q3, Q4 for sensing outer signals, its signal reaches main control group
Part（4）Induction module control assembly（403）Process；Described cleaning assembly（7）Including scraping adhesive tape（701）, wipe cotton
（702）, and for controlling the cleanout fluid provisioning component of cleanout fluid supply（703）, described cleanout fluid provisioning component（703）
With main control component（4）Cleaning control module（404）Outfan connects.
5. Intelligent device for cleaning glass according to claim 1 it is characterised in that：This Intelligent device for cleaning glass is by first module
Ith, the 4th unit IV, the second unit II being located between Unit first, fourth or the 3rd unit III form；
Described casing assembly is by casing assembly I（11）, casing assembly II（12）, casing assembly III（13）, casing assembly IV
（14）Constitute；
Described first module includes described casing assembly I（11）, traveling assembly（2）, absorbent module（3）, main control component
（4）, induction module assembly（5）, Power Supply Assembly（6）And cleaning assembly（7）, lifting assembly（8）, described traveling assembly（2）
It is symmetrically mounted on casing assembly I（11）The interior left and right sides, described absorbent module（3）, main control component（4）, Power Supply Assembly
（6）And cleaning assembly（7）It is separately mounted to two traveling assemblies（2）Between, described induction module assembly（5）Install outside
Shell component I（11）Both sides base angle；Described traveling assembly（2）, absorbent module（3）, cleaning assembly（7）Respectively with this unit
Main control component（4）Outfan connects, induction module assembly（5）, Power Supply Assembly（6）Main control component with this unit respectively
（4）Input connects；
Described second unit includes 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）It is symmetrically mounted on casing assembly II（12）Interior
The left and right sides, Power Supply Assembly（6）, cleaning assembly（7）, lifting assembly（8）And sub-control assembly（9）It is separately mounted to two
Between absorbent module；Described absorbent module（3）, lifting assembly（8）Sub-control assembly with this second unit respectively（9）Output
End connects, Power Supply Assembly（6）Sub-control assembly with this second unit（9）Input connects；Described cleaning assembly（7）With
The main control component of Unit one（4）Outfan connects；
Described Unit the 3rd includes described casing assembly III（13）, traveling assembly（2）, absorbent module（3）, lifting assembly
（8）, Power Supply Assembly（6）, cleaning assembly（7）And sub-control assembly（9）；Described traveling assembly（2）It is symmetrically mounted on shell
Assembly III（11）The interior left and right sides, described lifting assembly（8）, Power Supply Assembly（6）, cleaning assembly（7）And sub-control group
Part（9）It is separately mounted to two traveling assemblies（2）Between；Described absorbent module（3）, lifting assembly（8）Respectively with the originally the 3rd
The sub-control assembly of unit（9）Outfan connects, Power Supply Assembly（6）Sub-control assembly with this Unit the 3rd（9）Input is even
Connect；Described traveling assembly（2）, cleaning assembly（7）Main control component with first module respectively（4）Outfan connects；
Described Unit the 4th includes described casing assembly IV（14）, traveling assembly（2）, absorbent module（3）, induction module group
Part（5）, Power Supply Assembly（6）, lifting assembly (8) and sub-control assembly（9）；Described traveling assembly（2）It is symmetrically installed outside
Shell component IV（12）The interior left and right sides, described absorbent module（3）, Power Supply Assembly（6）And sub-control assembly（9）Pacify respectively
It is contained in two traveling assemblies（2）Between；Described induction module assembly（5）It is arranged on casing assembly IV（12）Both sides drift angle；
Described absorbent module（3）Sub-control assembly with this Unit the 4th（9）Outfan connects, Power Supply Assembly（6）With this 4th list
The sub-control assembly of unit（9）Input connects；Described traveling assembly（2）Main control component with first module（4）Outfan
Connect；Induction module assembly（5）Main control component with first module（4）Input connects；
Described casing assembly I（11）Including described housing（105）, handle（101）, key panel, bar shaped tooth（102）,
Described casing assembly II（12）, casing assembly III（13）All include described housing, handle（101）, support wheel（103)、
Draw-in groove（104）, bar shaped tooth（102）, described casing assembly IV（14）Including described housing（105）, handle（101）, card
Groove（104）；
The lifting assembly of described first module（8）Including described sliding-rail sliding（801）, this sliding-rail sliding（801）With shell group
The draw-in groove of part II（104）Connect；Described second unit, the lifting assembly of Unit the 3rd（8）Including 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）, the sliding-rail sliding of wherein second unit（801）Draw-in groove with casing assembly II or casing assembly III
（104）Connect, the gear D of second unit（802）, gear E（803）With casing assembly I（11）Or casing assembly II（12）Bar
Shape tooth（102）Engagement；The sliding-rail sliding of Unit the 3rd（801）Draw-in groove with casing assembly IV（104）Connect, Unit the 3rd
Gear D（802）, gear E（803）With casing assembly II（12）Bar shaped tooth（102）Engagement；The lifting assembly of described Unit the 4th
（8）Including 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 of Unit the 4th（802）, gear E（803）With casing assembly II（12）
Or casing assembly III（13）Bar shaped tooth（102）Engagement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410041389.4A CN103815826B (en) | 2014-01-28 | 2014-01-28 | Smart glass cleaner and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410041389.4A CN103815826B (en) | 2014-01-28 | 2014-01-28 | Smart glass cleaner and control method thereof |
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| CN103815826B true CN103815826B (en) | 2017-02-15 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104605784B (en) * | 2015-02-13 | 2017-01-25 | 广西科技大学鹿山学院 | Obstacle surmountable safety intelligent glass cleaner |
| CN106108768B (en) * | 2016-08-10 | 2018-08-10 | 西安科技大学 | Glass-cleaning robot with lift walking mechanism and its method that cleans the windows |
| CN107595194B (en) * | 2017-10-19 | 2020-08-25 | 浙江理工大学 | Glass cleaning vehicle with obstacle crossing function and cleaning method thereof |
| CN107981774B (en) * | 2017-12-01 | 2021-01-26 | 济源职业技术学院 | Intelligent double-sided glass wiping 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19928869C2 (en) * | 1999-06-24 | 2001-04-26 | Frank Schlosser | Autonomous cleaning device movably arranged on a wall of an object to be cleaned |
| JP3994950B2 (en) * | 2003-09-19 | 2007-10-24 | ソニー株式会社 | Environment recognition apparatus and method, path planning apparatus and method, and robot apparatus |
| CN102133067B (en) * | 2011-03-17 | 2012-11-07 | 任涛 | Window cleaning robot |
| KR101294820B1 (en) * | 2011-08-17 | 2013-08-08 | 엘지전자 주식회사 | A robot cleaner for cleaning a window and a control method thereof |
| CN102657492A (en) * | 2012-05-01 | 2012-09-12 | 成都理工大学 | Automated glass scrubber |
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Effective date of registration: 20181120 Address after: 233010 409 Wu Wan Road, Yuhui District, Bengbu, Anhui Patentee after: BENGBU JINSHI NEW MATERIAL Co.,Ltd. Address before: 230031 B-1014, 10 floor, business office building, Wo Ye garden, Shushan District, Hefei, Anhui. Patentee before: HEFEI WISDOM LOTUT INTELLECTUAL PROPERTY Co.,Ltd. Effective date of registration: 20181120 Address after: 230031 B-1014, 10 floor, business office building, Wo Ye garden, Shushan District, Hefei, Anhui. Patentee after: HEFEI WISDOM LOTUT INTELLECTUAL PROPERTY Co.,Ltd. Address before: No. 99 Xinliu Avenue, Yufeng District, Liuzhou City, Guangxi Zhuang Autonomous Region Patentee before: Liuzhou Institute of Technology |
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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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