CN106166041B - A kind of remote-controlled double-side window-cleaning robot and its method that cleans the windows - Google Patents
A kind of remote-controlled double-side window-cleaning robot and its method that cleans the windows Download PDFInfo
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- CN106166041B CN106166041B CN201610653093.7A CN201610653093A CN106166041B CN 106166041 B CN106166041 B CN 106166041B CN 201610653093 A CN201610653093 A CN 201610653093A CN 106166041 B CN106166041 B CN 106166041B
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- movable motor
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- 238000004140 cleaning Methods 0.000 title claims abstract description 90
- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000011521 glass Substances 0.000 claims abstract description 137
- 230000009184 walking Effects 0.000 claims abstract description 114
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000004891 communication Methods 0.000 claims description 139
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 31
- 230000001133 acceleration Effects 0.000 claims description 8
- 230000013011 mating Effects 0.000 claims description 8
- 239000007921 spray Substances 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 7
- 239000004677 Nylon Substances 0.000 claims description 4
- 229920001778 nylon Polymers 0.000 claims description 4
- 230000001939 inductive effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims 1
- 238000005406 washing Methods 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 5
- 230000001737 promoting effect Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 7
- 230000005611 electricity Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 244000309464 bull Species 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000009991 scouring Methods 0.000 description 2
- 241001062009 Indigofera Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000005357 flat glass Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
- A47L1/03—Power-driven machines or devices cleaning both sides of a window simultaneously
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2063—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for creeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses a kind of remote-controlled double-side window-cleaning robots, including remote controler, for being separately positioned on glass inner side and glass outer side and the initiative part and follower that cooperate and the safety power supply dual-purpose line for security protection and for powering for initiative part and follower；Initiative part includes initiative part bottom plate, initiative part shell, initiative part driving mechanism, initiative part wiper mechanism and initiative part control system, and follower includes follower bottom plate, follower shell, follower walking mechanism, magnetic force adjusting apparatus, follower wiper mechanism and follower control system.The invention also discloses a kind of methods that cleans the windows of remote-controlled double-side window-cleaning robot.Of the invention novel in design reasonable, working efficiency is high, safe and convenient to use, convenient for promoting the use of.
Description
Technical field
The invention belongs to attracting cleaner for window glass to have technical field, and in particular to a kind of remote-controlled double-side window-cleaning robot
And its method that cleans the windows.
Background technology
In daily life, people wipe indoor glass with rag；But for outdoor glass, especially skyscraper, people
If standing cleans glass outside window, operating process it is not only dangerous but also be not easy to wipe it is complete, clean.Have a kind of double-face window cleaner now, lead to
It crosses and the window-cleaning device of two carry magnets is clamped to glass to be wiped, when indoor window-cleaning device works, outside cleans the windows
Device indoor window-cleaning device movement since magnetic action follows, is cleaned, but this double while can realizing two sides inside and outside glass
Face window cleaner is that manually, operation is laborious mostly, and wipes window process arbitrariness is also big, can cause some regions nuzzle up multipass, certain
The problem of a little region leakages are wiped.Moreover, only several double-face window cleaners in the prior art, all only there are four turn brush, it is impossible to realize
Straighforward operation, and without water injector, it is difficult to the very thick situation of outdoor glass dust is adapted to, is susceptible to blocking so that can not be just
Often work.
Invention content
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that it is new to provide a kind of design
It is clever, compact-sized rationally, use simple operation, highly practical, convenient for promoting the use of remote-controlled double-side window-cleaning robot.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of remote-controlled double-side window-cleaning machine
People, it is characterised in that：Including remote controler, for be separately positioned on glass inner side and glass outer side and cooperate initiative part and
Follower and the safety power supply dual-purpose line for security protection and for powering for initiative part and follower；
The initiative part includes initiative part bottom plate, initiative part shell, initiative part driving mechanism, initiative part wiper mechanism and master
Dynamic portion's control system, the initiative part shell are arranged at the top of initiative part bottom plate, and the initiative part driving mechanism includes being arranged on
The movable motor being fixedly connected in initiative part shell and with initiative part bottom plate is fixedly connected on the output shaft of the movable motor
Stretch out the positive transport wheel of initiative part housing exterior；The initiative part wiper mechanism includes the active being arranged in initiative part shell
Portion clean motor and with the initiative part gear wheel that is fixedly connected of output shaft of initiative part cleaning motor and with initiative part gear wheel
The initiative part middle gear of engagement and initiative part pinion gear are fixedly connected on the initiative part gear wheel and reach initiative part bottom plate bottom
The initiative part in portion smears greatly disk, is fixedly connected in the initiative part for reaching initiative part bottom base plate and smears on the initiative part middle gear
Disk is fixedly connected in the initiative part pinion gear and reaches the initiative part of initiative part bottom base plate and small smear disk, the initiative part bottom
Plate bottom is fixedly connected with initiative part rag item and initiative part wiper blade；The initiative part control system includes being arranged on initiative part
Initiative part circuit board in shell and the initiative part supplying cell being arranged on initiative part circuit board, initiative part microcontroller,
Movable motor driver, initiative part cleaning motor driver, for the first communication module that communicates with remote controler and for from
The second communication module of dynamic portion's communication, the input of the initiative part microcontroller are terminated with before being separately positioned on initiative part bottom plate
Side middle position, rear side middle position, left side front end, left side rear end, right side front and six initiative parts of right side rear end
Pressure sensor and be arranged on initiative part bottom plate middle position obliquity sensor, the first communication module and
Two communication modules connect with initiative part microcontroller, the movable motor driver and initiative part cleaning motor driver with
The output terminal connection of initiative part microcontroller, the movable motor are connect with the output terminal of movable motor driver, the active
Portion cleans motor and is connect with the output terminal of initiative part cleaning motor driver；The bottom of the initiative part bottom plate is provided with initiative part
Magnetic patch；
The follower includes follower bottom plate, follower shell, follower walking mechanism, magnetic force adjusting apparatus, driven
Portion's wiper mechanism and follower control system, the follower shell are arranged at the top of follower bottom plate, the follower walking
Mechanism includes being rotatably connected on follower bottom plate and stretches out the driven traveling wheel of follower housing exterior；The magnetic force adjustment dress
Put the magnetic force including being erected at follower enclosure and adjust stent, magnetic force adjustment cradle top be threaded with it is driven
Portion's outer casing screw connection and the magnetic force stretched out outside follower cover top portion adjust knob, and the magnetic force adjustment frame bottom, which is fixed, to be connected
It is connected to the follower magnetic patch for stretching out follower housing exterior；The follower wiper mechanism includes being arranged in follower shell
Follower cleans motor and big with the follower gear wheel that is fixedly connected of output shaft of follower cleaning motor and with follower
The follower middle gear and follower pinion gear of gear engagement, are fixedly connected on the follower gear wheel and reach follower bottom
The follower of plate bottom smears greatly disk, is fixedly connected in the follower for reaching follower bottom base plate on the follower middle gear
Disk is smeared, is fixedly connected in the follower pinion gear and is reached the follower of follower bottom base plate and small smear disk, the follower
Bottom base plate is fixedly connected with follower rag item and follower wiper blade；The follower control system includes being arranged on driven
Follower circuit board in portion's shell and the follower supplying cell being arranged on follower circuit board, follower microcontroller
Device, follower cleaning motor driver and the third communication module that communicates for the second communication module with initiative part, it is described from
The input of dynamic portion's microcontroller be terminated with being separately positioned on the front side middle position of follower bottom plate, rear side middle position,
Left side front end, left side rear end, right side front and right side rear end six follower pressure sensors, the third communication module with
Follower microcontroller connects, and the follower cleaning motor driver is connect with the output terminal of follower microcontroller, described
Follower cleans motor and is connect with the output terminal of follower cleaning motor driver.
A kind of above-mentioned remote-controlled double-side window-cleaning robot, it is characterised in that：The initiative part further includes initiative part
Water jet, the initiative part water jet includes being arranged in initiative part shell and one end reaches initiative part bottom base plate, another
The initiative part sparge pipe of initiative part housing exterior is stretched out at end, is provided in initiative part shell on the initiative part sparge pipe
Initiative part micro pump and initiative part solenoid valve, one end that the initiative part sparge pipe reaches initiative part bottom base plate are connected with
Initiative part nozzle；The bottom of the initiative part bottom plate is provided with light emitting diode, the light emitting diode and initiative part microcontroller
The output terminal connection of device, the output terminal of the initiative part microcontroller be further connected with initiative part electromagnetic valve driver with for connecting or
Disconnect active relay of the initiative part supplying cell for the current supply circuit of initiative part micro pump power supply, the initiative part solenoid valve
It is connect with the output terminal of initiative part electromagnetic valve driver, the initiative part relay is connected on initiative part supplying cell as initiative part
In the current supply circuit of micro pump power supply；The follower further includes follower water jet, and the follower water jet includes setting
It puts in follower shell and one end reaches the follower spray of follower bottom base plate, other end stretching follower housing exterior
Water pipe is provided with follower micro pump and follower solenoid valve in follower shell on the follower sparge pipe,
One end that the follower sparge pipe reaches follower bottom base plate is connected with follower nozzle；The bottom of the follower bottom plate
Portion is provided with for the photoelectric sensor of inducing luminous diode institute isolychn, the photoelectric sensor and follower microcontroller
Input terminal connection, the output of the follower microcontroller is terminated with follower electromagnetic valve driver and for being switched on or switched off
Follower supplying cell for follower micro pump power supply current supply circuit follower relay, the follower solenoid valve with
The output terminal connection of follower electromagnetic valve driver, it is micro- for follower that the follower relay is connected on follower supplying cell
In the current supply circuit of type water pump power supply.
A kind of above-mentioned remote-controlled double-side window-cleaning robot, it is characterised in that：The initiative part shell passes through screw
It is fixedly connected at the top of initiative part bottom plate, the initiative part circuit board is fixedly connected on by screw at the top of initiative part bottom plate, institute
It states active magnetic patch and initiative part bottom base plate is fixedly connected on by screw.
A kind of above-mentioned remote-controlled double-side window-cleaning robot, it is characterised in that：The follower shell passes through screw
It is fixedly connected at the top of follower bottom plate, the follower circuit board is fixedly connected on by screw at the top of follower bottom plate, institute
It states follower magnetic patch and magnetic force adjustment frame bottom is fixedly connected on by screw.
A kind of above-mentioned remote-controlled double-side window-cleaning robot, it is characterised in that：The movable motor and actively walking
The quantity of wheel is two, and the quantity of the corresponding movable motor driver is two, and two positive transport wheels are set respectively
Put the left and right sides middle position in initiative part bottom plate；The quantity of the initiative part rag item and initiative part wiper blade is two
A, two initiative part rag items are separately positioned on the front and rear sides bottom of initiative part bottom plate, and the initiative part wiper blade is set
Put the side in initiative part rag item；The quantity that the initiative part gear wheel and initiative part smear greatly disk is one, the active
The quantity that disk is smeared in portion's middle gear and initiative part is four, the initiative part pinion gear and initiative part it is small smear disk quantity be
Two, the quantity of the initiative part magnetic patch is eight.
A kind of above-mentioned remote-controlled double-side window-cleaning robot, it is characterised in that：The quantity of the driven traveling wheel is equal
It it is two, two driven traveling wheels are separately positioned on the left and right sides middle position of follower bottom plate；The follower
The quantity of rag item and follower wiper blade is two, and two follower rag items are separately positioned on follower bottom plate
Front and rear sides bottom, the follower wiper blade are arranged on the side of follower rag item；The follower gear wheel and driven
The quantity that disk is smeared greatly in portion is one, and the quantity that disk is smeared in the follower middle gear and follower is four, described driven
Portion's pinion gear and the small quantity for smearing disk of follower are two, and the quantity of the follower magnetic patch is two.
A kind of above-mentioned remote-controlled double-side window-cleaning robot, it is characterised in that：The remote controler is IR remote controller,
The first communication module is infrared communication module, and the second communication module and third communication module are infrared communication mould
Block, radio communication module or bluetooth communication.
The invention also discloses a kind of wiping glass for realizing remote-controlled double-side window-cleaning robot convenient, that working efficiency is high
Glass method, which is characterized in that this method includes the following steps：
Step 1: initiative part and follower are separately placed in the corresponding position in the middle part of the both side surface of glass, rotate
The magnetic force adjustment knob of the magnetic force adjusting apparatus, enables initiative part and follower to be adsorbed every glass and fixes, and follower can be with
Initiative part movement；
Step 2: remote controller, starts initiative part；The initiative part microcontroller of initiative part is connect by first communication module
After the enabling signal for receiving remote controler transmission, the letter that obliquity sensor and six initiative part pressure sensors detect is acquired in real time
Number, and enabling signal is sent to follower by second communication module, the follower microcontroller of follower passes through the third communication
After module receives the enabling signal of initiative part transmission, the signal that six follower pressure sensors detect is acquired in real time；
Step 3: the signal that initiative part microcontroller detects first according to obliquity sensor, judge initiative part with again
Angle between power acceleration direction, and export control signal and give movable motor driver, movable motor driver driving walking electricity
Machine moves, and movable motor drives positive transport wheel walking, adjusts the position of initiative part, initiative part is made to be parallel to acceleration of gravity side
To；Follower adjusts position with initiative part；When initiative part and follower position are adjusted, initiative part microcontroller starts to count
When；
Step 4: initiative part microcontroller, which exports control signal, gives movable motor driver, the driving of movable motor driver
Movable motor moves, and movable motor drives positive transport wheel walking, and driven traveling wheel is driven, makes initiative part and follower to glass
Top advance, when initiative part microcontroller receives the initiative part pressure for the front side middle position for being arranged on initiative part bottom plate
Sensor output signal, and follower microcontroller receives the follower for the front side middle position for being arranged on follower bottom plate
Pressure sensor output signal, and pass through third communication module and when second communication module is transferred to initiative part microcontroller, say
The front end of bright initiative part and the front end of follower encounter glass frame, and initiative part and follower reach the middle part of glass
Top, at this point, initiative part microcontroller stops control positive transport wheel walking, driven traveling wheel stops walking, initiative part micro-control
Device processed stops timing, and the period of record is stored as t1；
Step 5: initiative part microcontroller, which exports control signal, gives movable motor driver, the driving of movable motor driver
Movable motor moves, and movable motor drives positive transport wheel walking, and driven traveling wheel is driven, and initiative part and follower is made to turn right
90 °, gradually close to the upper right corner of glass, initiative part microcontroller starts timing when walking starts, when initiative part microcontroller
It is defeated to receive the front side middle position for being arranged on initiative part bottom plate, left side front end and the initiative part pressure sensor of left side rear end
Go out signal, and follower microcontroller receives the front side middle position for being arranged on follower bottom plate, left side front end and left side
The follower pressure sensor output signal of rear end, and pass through third communication module and second communication module to be transferred to initiative part micro-
During controller, illustrate that the front end of initiative part and the front end and left side of left side and follower encounter glass frame, actively
Portion and follower reach the upper right corner of glass, at this point, initiative part microcontroller stops control positive transport wheel walking, driven row
It walks wheel and stops walking, initiative part microcontroller stops timing, and the period of record is stored as t2；
Step 6: initiative part microcontroller, which exports control signal, gives movable motor driver, the driving of movable motor driver
Movable motor moves, and movable motor drives positive transport wheel walking, and driven traveling wheel is driven, makes initiative part and follower to glass
The upper left corner retreat, walking start when initiative part microcontroller start timing, be arranged on master when initiative part microcontroller receives
Rear side middle position, left side front end and the initiative part of the left side rear end pressure sensor output signal of dynamic portion's bottom plate, and it is driven
Portion's microcontroller receives the rear side middle position for being arranged on follower bottom plate, left side front end and the follower pressure of left side rear end
Force sensor output signal, and pass through third communication module and when second communication module is transferred to initiative part microcontroller, explanation
The rear end and left side of initiative part and the rear end of follower and left side encounter glass frame, and initiative part and follower reach
The upper left corner of glass, at this point, initiative part microcontroller stops control positive transport wheel walking, driven traveling wheel stops walking,
Initiative part microcontroller stops timing, and the period of record is stored as t3；
Step 7: initiative part microcontroller, which exports control signal, gives movable motor driver, the driving of movable motor driver
Movable motor moves, and movable motor drives positive transport wheel walking, and driven traveling wheel is driven, and initiative part and follower is made to turn right 5 °
Advance after~15 °, when initiative part microcontroller receives the initiative part pressure for the front side middle position for being arranged on initiative part bottom plate
Force sensor output signal, and follower microcontroller receives the driven of the front side middle position that is arranged on follower bottom plate
Portion's pressure sensor output signal, and pass through third communication module and when second communication module is transferred to initiative part microcontroller,
Illustrate that the front end of initiative part and the front end of follower encounter glass frame, at this point, initiative part and follower elder generation Basic Reverse Turn
Turn left again after rapid seven angles turned right when starting and retreat after 5 °~15 °, initiative part is arranged on when initiative part microcontroller receives
The initiative part pressure sensor output signal of the rear side middle position of bottom plate, and follower microcontroller receive be arranged on from
The follower pressure sensor output signal of the rear side middle position of dynamic portion's bottom plate, and pass through third communication module and second and lead to
When believing module transfer to initiative part microcontroller, illustrate that the rear end of initiative part and the rear end of follower encounter glass edge
Frame；
Step 8: step 7 is repeated, until initiative part microcontroller receives the front side for being arranged on initiative part bottom plate
The initiative part pressure sensor output signal of middle position, right side front and right side rear end, and follower microcontroller receives
To front side middle position, right side front and the follower pressure sensor of the right side rear end output letter for being arranged on follower bottom plate
Number, and pass through third communication module and when second communication module is transferred to initiative part microcontroller, illustrate initiative part front end and
The front end and right side of right side and follower encounter glass frame, and initiative part and follower reach the bottom right of glass
Angle, at this point, initiative part microcontroller stops control positive transport wheel walking, driven traveling wheel stops walking；
Step 9: initiative part microcontroller, which exports control signal, gives movable motor driver, the driving of movable motor driver
Movable motor moves, and movable motor drives positive transport wheel walking, and driven traveling wheel is driven, and initiative part and follower is made to turn left
Advance after 90 °, initiative part microcontroller starts timing when walking starts, and initiative part is arranged on when initiative part microcontroller receives
Front side middle position, right side front and the initiative part of the right side rear end pressure sensor output signal of bottom plate, and follower is micro-
Controller receives the front side middle position for being arranged on follower bottom plate, right side front and the follower pressure of right side rear end and passes
Sensor output signal, and pass through third communication module and when second communication module is transferred to initiative part microcontroller, illustrate actively
The front end and right side in portion and the front end of follower and right side encounter glass frame, and initiative part and follower reach glass
The upper right corner of glass, at this point, initiative part microcontroller stops control positive transport wheel walking, driven traveling wheel stops walking, actively
Portion's microcontroller stops timing, and the period of record is stored as t4；
Step 10: initiative part microcontroller, which exports control signal, gives movable motor driver, the driving of movable motor driver
Movable motor moves, and movable motor drives positive transport wheel walking, and driven traveling wheel is driven, and initiative part and follower is made to turn left
Advance after 90 °, front side middle position, right side front and the right side of initiative part bottom plate are arranged on when initiative part microcontroller receives
The initiative part pressure sensor output signal of side rear end, and follower microcontroller receives the front side for being arranged on follower bottom plate
The follower pressure sensor output signal of middle position, right side front and right side rear end, and pass through third communication module and
When second communication module is transferred to initiative part microcontroller, illustrate the front end of initiative part and right side and the front end and the right side of follower
Side encounters glass frame, and initiative part and follower reach the upper left corner of glass, at this point, initiative part microcontroller stops
Positive transport wheel walking is controlled, driven traveling wheel stops walking；
Step 11: initiative part microcontroller, which exports control signal, gives movable motor driver, movable motor driver drives
Dynamic movable motor movement, movable motor drive positive transport wheel walking, and driven traveling wheel is driven, and initiative part and follower is made to turn left
Advance after 90 °, front side middle position, right side front and the right side of initiative part bottom plate are arranged on when initiative part microcontroller receives
The initiative part pressure sensor output signal of side rear end, and follower microcontroller receives the front side for being arranged on follower bottom plate
The follower pressure sensor output signal of middle position, right side front and right side rear end, and pass through third communication module and
When second communication module is transferred to initiative part microcontroller, illustrate the front end of initiative part and right side and the front end and the right side of follower
Side encounters glass frame, and initiative part and follower reach the lower left corner of glass, at this point, initiative part microcontroller stops
Positive transport wheel walking is controlled, driven traveling wheel stops walking；
Step 12: initiative part microcontroller, which exports control signal, gives movable motor driver, movable motor driver drives
Dynamic movable motor movement, movable motor drive positive transport wheel walking, and driven traveling wheel is driven, and initiative part and follower is made to turn left
Advance after 90 °, initiative part microcontroller starts timing, advance t when walking starts3-t2After time, initiative part microcontroller stops
Positive transport wheel walking is controlled, driven traveling wheel stops walking；
Step 13: initiative part microcontroller, which exports control signal, gives movable motor driver, movable motor driver drives
Dynamic movable motor movement, movable motor drive positive transport wheel walking, and driven traveling wheel is driven, and initiative part and follower is made to turn left
Advance after 90 °, initiative part microcontroller starts timing, advance t when walking starts4-t1After time, initiative part microcontroller stops
Positive transport wheel walking is controlled, driven traveling wheel stops walking；
During performing above step four to step 13, it is clear to initiative part that initiative part microcontroller exports control signal
Motor driver, initiative part cleaning motor driver driving initiative part cleaning motor movement are washed, initiative part cleaning motor drives master
Dynamic portion's bull gear drive, initiative part gear wheel drives initiative part to smear disk rotation greatly, and drives initiative part middle gear and initiative part small
Gear rotates, and initiative part middle gear drives and disk rotation is smeared in initiative part, and initiative part pinion gear drives initiative part is small to smear disk rotation,
Under the mating reaction of initiative part rag item and initiative part wiper blade, the side side of glass is cleaned；Meanwhile follower is micro-
Controller exports control signal and cleans motor driver, follower cleaning motor driver driving follower cleaning electricity to follower
Machine moves, and follower cleaning motor drives follower bull gear drive, and follower gear wheel drives follower to smear disk rotation greatly, and
Follower middle gear and follower pinion rotation are driven, follower middle gear, which drives, smears disk rotation in follower, follower is small
Gear drives follower is small to smear disk rotation, under the mating reaction of follower rag item and follower wiper blade, to the another of glass
It is cleaned side side.
The above-mentioned method that cleans the windows, it is characterised in that：Safety power supply dual-purpose is also wound using nylon grume after step 1
Safety power supply dual-purpose line is simultaneously fixed on indoor column by line.
The above-mentioned method that cleans the windows, it is characterised in that：During performing step 4 to step 13, initiative part microcontroller
Device control light emitting diode is lighted, and follower microcontroller acquires the signal of a photoelectric sensor output every 30s, when driven
When the current value that portion's microcontroller collects photoelectric sensor output is more than or equal to preset current threshold, illustrate that glass is saturating
Lightness is good, and follower micro pump and initiative part micro pump do not start；When follower microcontroller collects photoelectric sensing
When the current value of device output is less than preset current threshold, illustrate glass dirt, follower microcontroller is dirty by glass
Signal initiative part microcontroller is transferred to by third communication module and second communication module, initiative part microcontroller control master
Dynamic portion's electromagnetic valve driver driving initiative part solenoid valve is opened, and initiative part relay is controlled to connect based on initiative part supplying cell
The current supply circuit of dynamic portion's micro pump power supply, initiative part micro pump start, are sprayed at after water is pressurizeed by initiative part nozzle
The side side of glass；Meanwhile follower microcontroller control follower electromagnetic valve driver driving follower solenoid valve is opened,
And follower relay is controlled to connect the current supply circuit that follower supplying cell is the power supply of follower micro pump, follower is miniature
Starting mode of pump is sprayed at the opposite side side of glass by follower nozzle after water is pressurizeed；When follower microcontroller acquires
When the current value exported to photoelectric sensor is more than or equal to preset current threshold again, illustrate that glass has cleaned up,
The signal that glass has cleaned up is transferred to actively by follower microcontroller by third communication module and second communication module
Portion's microcontroller, initiative part microcontroller control initiative part electromagnetic valve driver driving initiative part solenoid valve are closed, and control master
Dynamic portion's relay disconnects the current supply circuit that initiative part supplying cell is the power supply of initiative part micro pump, and initiative part micro pump stops
Work, initiative part nozzle stop water spray；Meanwhile follower microcontroller control follower electromagnetic valve driver driving follower electricity
Magnet valve is closed, and follower relay is controlled to disconnect the current supply circuit that follower supplying cell is the power supply of follower micro pump,
Follower micro pump is stopped, and follower nozzle stops water spray.
Compared with the prior art, the present invention has the following advantages：
1st, the novel design of remote-controlled double-side window-cleaning robot of the present invention, simple in structure, compact in design is reasonable, processing
It is easy to make.
2nd, the present invention compensates for traditional window cleaner and wipes window mainly using water jet, light emitting diode and photoelectric sensor
The deficiency of robot.
3rd, the present invention can be automatically performed the scouring work of glass, and intelligence degree is high, realizes uniform cleaning glass window, does not leak
Phenomenon is wiped, large area is also avoided and repeats to wipe, the working strength of labourer can be mitigated, when avoiding user's scouring glass pane
Potential danger, greatly improve glass wiping efficiency.
4th, the present invention can be such that glass-cleaning robot is avoided in traveling by the reasonable setting of number of sensors and type
Barrier ensure that the smooth operation of whole process.
5th, the present invention can be fallen by the setting of safety power supply dual-purpose line to avoid glass-cleaning robot during advancing
Injure other people by a crashing object, ensure that its job safety.
6th, the present invention is light compact, and cost of implementation is low, using flexible, is used convenient for family.
In conclusion the configuration of the present invention is simple, novel in design rationally working efficiency is high, safe and convenient to use, convenient for promoting
It uses.
Below by drawings and examples, technical scheme of the present invention is described in further detail.
Description of the drawings
Fig. 1 is the structure diagram of remote-controlled double-side window-cleaning robot of the present invention.
Fig. 2 is the structure diagram of initiative part of the present invention.
Fig. 3 is the structure diagram of follower of the present invention.
Fig. 4 is the A-A views of Fig. 2.
Fig. 5 is the B-B views of Fig. 2.
Fig. 6 is the C direction views of Fig. 2.
Fig. 7 is the D direction views of Fig. 3.
Fig. 8 is the E-E views of Fig. 3.
Fig. 9 is the F-F views of Fig. 3.
Figure 10 is the G direction views of Fig. 3.
Figure 11 connects block diagram for initiative part control system of the present invention with the circuit of follower control system.
Process schematics of the Figure 12 for step 4 in the method that cleans the windows of remote-controlled double-side window-cleaning robot of the present invention.
Process schematics of the Figure 13 for step 5 in the method that cleans the windows of remote-controlled double-side window-cleaning robot of the present invention.
Figure 14 be remote-controlled double-side window-cleaning robot of the present invention the method that cleans the windows in Step 6: step 7 and step
Eight process schematic.
Figure 15 be remote-controlled double-side window-cleaning robot of the present invention the method that cleans the windows in Step 9: Step 10: step
11, the process schematic of step 12 and step 13.
Reference sign:
1-initiative part；1-1-initiative part shell；1-2-initiative part bottom plate；
1-3-initiative part rag item；1-4-initiative part pressure sensor；
1-5-positive transport wheel；1-6-movable motor；1-7-initiative part circuit board；
1-8-movable motor driver；1-9-initiative part cleaning motor driver；
1-10-first communication module；1-11-initiative part cleaning motor；
1-12-initiative part gear wheel；1-13-initiative part middle gear；1-14-initiative part pinion gear；
1-15-obliquity sensor；1-16-initiative part is small to smear disk；1-17-initiative part wiper blade；
Disk is smeared in 1-18-initiative part；1-19-initiative part smears greatly disk；1-20-initiative part magnetic patch；
1-21-light emitting diode；1-22-initiative part supplying cell；
1-23-initiative part microcontroller；1-24-second communication module；
1-25-initiative part sparge pipe；1-26-initiative part micro pump；
1-27-initiative part solenoid valve；1-28-initiative part nozzle；
1-29-initiative part electromagnetic valve driver；1-30-active relay；
1-31-initiative part relay；2-1-follower shell；2-2-follower bottom plate；
2-3-follower rag item；2-4-follower pressure sensor；
2-5-magnetic force adjustment knob；2-6-magnetic force adjustment stent；2-7-follower circuit board；
2-8-follower cleaning motor driver；2-9-follower cleaning motor；
2-10-follower gear wheel；2-11-follower middle gear；2-12-follower pinion gear；
2-13-follower sparge pipe；2-14-follower micro pump；
2-15-follower solenoid valve；2-16-photoelectric sensor；2-17-follower nozzle；
2-18-follower is small to smear disk；2-19-follower wiper blade；Disk is smeared in 2-20-follower；
2-21-follower smears greatly disk；2-22-follower magnetic patch；2-23-driven traveling wheel；
2-24-follower supplying cell；
2-25-follower microcontroller；2-26-third communication module；
2-27-follower electromagnetic valve driver；2-28-follower relay；
2-29-follower solenoid valve.3-glass；4-glass frame；
5-remote controler；6-column；7-safety power supply dual-purpose line；
8-nylon grume.
Specific embodiment
As shown in Figure 1, the remote-controlled double-side window-cleaning robot of the present invention, including remote controler 5, for being separately positioned on
3 inside of glass is with 3 outside of glass and the initiative part 1 and follower 2 that cooperate and for security protection and is used for as active
The safety power supply dual-purpose line 7 that portion 1 and follower 2 are powered.
As shown in Fig. 2 and Figure 11 and Fig. 4~Fig. 6, the initiative part 1 includes initiative part bottom plate 1-2, initiative part shell 1-
1st, initiative part driving mechanism, initiative part wiper mechanism and initiative part control system, the initiative part shell 1-1 are arranged on initiative part
At the top of bottom plate 1-2, the initiative part driving mechanism includes being arranged in initiative part shell 1-1 and be fixed with initiative part bottom plate 1-2
The movable motor 1-6 of connection is fixedly connected on the output shaft of the movable motor 1-6 and stretches out outside initiative part shell 1-1
Positive transport wheel 1-5；The initiative part wiper mechanism includes the initiative part being arranged in initiative part shell 1-1 cleaning motor 1-11
The initiative part gear wheel 1-12 that is fixedly connected with the output shaft with initiative part cleaning motor 1-11 and with initiative part gear wheel 1-
It is fixedly connected with and stretches on the initiative part middle gear 1-13 of 12 engagements and initiative part pinion gear 1-14, the initiative part gear wheel 1-12
Initiative part to initiative part bottom plate 1-2 bottoms, which is smeared to be fixedly connected on disk 1-19, the initiative part middle gear 1-13 greatly, reaches master
It smears to be fixedly connected on disk 1-18, the initiative part pinion gear 1-14 in the initiative part of dynamic portion bottom plate 1-2 bottoms and reaches initiative part
The initiative part of bottom plate 1-2 bottoms is small to smear disk 1-16, and the initiative part bottom plate 1-2 bottoms are fixedly connected with initiative part rag 1-3
With initiative part wiper blade 1-17；The initiative part control system includes the initiative part circuit board being arranged in initiative part shell 1-1
The 1-7 and initiative part supplying cell 1-22 being arranged on initiative part circuit board 1-7, initiative part microcontroller 1-23, walking electricity
Machine driver 1-8, initiative part cleaning motor driver 1-9, it for the first communication module 1-10 that communicates with remote controler 5 and is used for
The second communication module 1-24 to communicate with follower 2, the input of the initiative part microcontroller 1-23 are terminated with being separately positioned on
Front side middle position, rear side middle position, left side front end, left side rear end, right side front and the right side of initiative part bottom plate 1-2
Six initiative part pressure sensor 1-4 of rear end and be arranged on initiative part bottom plate 1-2 middle position obliquity sensor
1-15, the first communication module 1-10 and second communication module 1-24 connect with initiative part microcontroller 1-23, the row
It walks the output terminal of motor driver 1-8 and initiative part cleaning motor driver 1-9 with initiative part microcontroller 1-23 to connect, institute
The output terminal that movable motor 1-6 is stated with movable motor driver 1-8 is connect, and the initiative part cleaning motor 1-11 and initiative part are clear
Wash the output terminal connection of motor driver 1-9；The bottom of the initiative part bottom plate 1-2 is provided with initiative part magnetic patch 1-20；
As shown in Fig. 3 and Figure 11 and Fig. 7~Figure 10, the follower 2 includes follower bottom plate 2-2, follower shell
2-1, follower walking mechanism, magnetic force adjusting apparatus, follower wiper mechanism and follower control system, the follower shell
2-1 is arranged at the top of follower bottom plate 2-2, the follower walking mechanism include being rotatably connected on follower bottom plate 2-2 and
Stretch out the driven traveling wheel 2-23 outside follower shell 2-1；The magnetic force adjusting apparatus includes being erected at follower shell 2-1
Internal magnetic force adjustment stent 2-6, the magnetic force adjustment stent 2-6 screw tops are connected with to be connected with follower shell 2-1 screw threads
It connects and stretches out the magnetic force adjustment knob 2-5 outside at the top of follower shell 2-1, the magnetic force adjustment stent 2-6 bottoms are fixedly connected
There is the follower magnetic patch 2-22 stretched out outside follower shell 2-1；The follower wiper mechanism includes being arranged on outside follower
Follower in shell 2-1 cleans motor 2-9 and the follower gear wheel being fixedly connected with the output shaft of follower cleaning motor 2-9
2-10 and with the follower gear wheel 2-10 follower middle gear 2-11 engaged and follower pinion gear 2-12, it is described driven
It is fixedly connected on portion gear wheel 2-10 and reaches the followers of follower bottom plate 2-2 bottoms and smear disk 2-21 greatly, in the follower
It is fixedly connected on gear 2-11 in the follower for reaching follower bottom plate 2-2 bottoms and smears disk 2-20, the follower pinion gear
It is fixedly connected on 2-12 and reaches the followers of follower bottom plate 2-2 bottoms and small smear disk 2-18, the follower bottom plate 2-2 bottoms
It is fixedly connected with follower rag 2-3 and follower wiper blade 2-19；The follower control system includes being arranged on driven
Follower circuit board 2-7 in the portion shell 2-1 and follower supplying cell 2-24 being arranged on follower circuit board 2-7,
Follower microcontroller 2-25, the follower cleaning motor driver 2-8 and second communication module 1-24 for initiative part 1 lead to
The third communication module 2-26 of letter, the input of the follower microcontroller 2-25 are terminated with being separately positioned on follower bottom plate 2-
2 front side middle position, rear side middle position, left side front end, left side rear end, six of right side front and right side rear end from
Dynamic portion pressure sensor 2-4, the third communication module 2-26 connect with follower microcontroller 2-25, the follower cleaning
Motor driver 2-8 is connect with the output terminal of follower microcontroller 2-25, and the follower cleaning motor 2-9 and follower are clear
Wash the output terminal connection of motor driver 2-8.
As shown in Fig. 5 and Figure 11, in the present embodiment, the initiative part 1 further includes initiative part water jet, the initiative part spray
Initiative part shell 1-1 is interior and one end reaches initiative part bottom plate 1-2 bottoms, the other end is stretched out outside initiative part including being arranged on for hydrophone
It is provided in initiative part shell 1-1 on initiative part sparge pipe 1-25, the initiative part sparge pipe 1-25 outside shell 1-1
Initiative part micro pump 1-26 and initiative part solenoid valve 1-27, the initiative part sparge pipe 1-25 reach initiative part bottom plate 1-2
One end of bottom is connected with initiative part nozzle 1-28；The bottom of the initiative part bottom plate 1-2 is provided with light emitting diode 1-21, institute
The output terminal that light emitting diode 1-21 is stated with initiative part microcontroller 1-23 is connect, the output of the initiative part microcontroller 1-23
End is further connected with initiative part electromagnetic valve driver 1-29 and is that initiative part is miniature for being switched on or switched off initiative part supplying cell 1-22
Active the relay 1-30, the initiative part solenoid valve 1-27 of the current supply circuit of water pump 1-26 power supplies and initiative part solenoid-driven
The output terminal connection of device 1-29, the initiative part relay 1-31 are connected on initiative part supplying cell 1-22 as initiative part Miniature water
In the current supply circuit for pumping 1-26 power supplies；As shown in figures 9 and 11, the follower 2 further includes follower water jet, described driven
Portion's water jet includes being arranged in follower shell 2-1 and one end reaches follower bottom plate 2-2 bottoms, the other end stretch out it is driven
It is provided on follower sparge pipe 2-13, the follower sparge pipe 2-13 outside portion shell 2-1 positioned at follower shell 2-1
Interior follower micro pump 2-14 and follower solenoid valve 2-15, the follower sparge pipe 2-13 reaches follower bottom plate
One end of 2-2 bottoms is connected with follower nozzle 2-17；The bottom of the follower bottom plate 2-2 is provided with for inducing luminous two
The input of the photoelectric sensor 2-16, the photoelectric sensor 2-16 and follower microcontroller 2-25 of pole pipe 1-21 institutes isolychn
End connection, the output of the follower microcontroller 2-25 are terminated with follower electromagnetic valve driver 2-27 and for connecing on-off
The follower relay 2-28 for the current supply circuit that follower supplying cell 2-24 is follower micro pump 2-14 power supplies is opened, it is described
Follower solenoid valve 2-29 is connect with the output terminal of follower electromagnetic valve driver 2-27, the follower relay 2-28 series connection
In the current supply circuit for being follower micro pump 2-14 power supplies in follower supplying cell 2-24.
In the present embodiment, the initiative part shell 1-1 is fixedly connected on by screw at the top of initiative part bottom plate 1-2, described
Initiative part circuit board 1-7 is fixedly connected on by screw at the top of initiative part bottom plate 1-2, and the active magnetic patch 1-20 is consolidated by screw
Surely initiative part bottom plate 1-2 bottoms are connected to.
In the present embodiment, the follower shell 2-1 is fixedly connected on by screw at the top of follower bottom plate 2-2, described
Follower circuit board 2-7 is fixedly connected on by screw at the top of follower bottom plate 2-2, and the follower magnetic patch 2-22 passes through screw
It is fixedly connected on magnetic force adjustment stent 2-6 bottoms.
As shown in Fig. 2 and Fig. 4~Fig. 6, in the present embodiment, the quantity of the movable motor 1-6 and positive transport wheel 1-5
It it is two, the quantity of the corresponding movable motor driver 1-8 is two, and two positive transport wheel 1-5 are set respectively
In the left and right sides middle position of initiative part bottom plate 1-2；The number of the initiative part rag 1-3 and initiative part wiper blade 1-17
Amount is two, and two initiative part rag 1-3 are separately positioned on the front and rear sides bottom of initiative part bottom plate 1-2, described
Initiative part wiper blade 1-17 is arranged on the side of initiative part rag 1-3；The initiative part gear wheel 1-12 and initiative part are smeared greatly
The quantity of disk 1-19 is one, and the quantity that disk 1-18 is smeared in the initiative part middle gear 1-13 and initiative part is four, institute
It is two to state initiative part pinion gear 1-14 and the small quantity for smearing disk 1-16 of initiative part, and the quantity of the initiative part magnetic patch 1-20 is
Eight.
As shown in Fig. 3 and Fig. 7~Figure 10, in the present embodiment, the quantity of the driven traveling wheel 2-23 is two, and two
A driven traveling wheel 2-23 is separately positioned on the left and right sides middle position of follower bottom plate 2-2；The follower is smeared
The quantity of cloth 2-3 and follower wiper blade 2-19 are two, and two follower rag 2-3 are separately positioned on driven
The front and rear sides bottom of portion bottom plate 2-2, the follower wiper blade 2-19 are arranged on the side of follower rag 2-3；It is described
The quantity that follower gear wheel 2-10 and follower smear greatly disk 2-21 is one, the follower middle gear 2-11 and follower
In to smear the quantity of disk 2-20 be four, the follower pinion gear 2-12 and the small quantity for smearing disk 2-18 of follower are two
A, the quantity of the follower magnetic patch 2-22 is two.
In the present embodiment, the remote controler 5 is IR remote controller, and the first communication module 1-10 is infrared communication mould
Block, the second communication module 1-24 and third communication module 2-26 are infrared communication module, radio communication module or indigo plant
Tooth communication module.
The method that cleans the windows of the remote-controlled glass-cleaning robot of the present invention, includes the following steps：
Step 1: initiative part 1 and follower 2 are separately placed in the corresponding position in the middle part of the both side surface of glass 3, revolve
Turn the magnetic force adjustment knob 2-5 of the magnetic force adjusting apparatus, initiative part 1 and follower 2 is enable to be adsorbed every glass 3 and is fixed, and from
Dynamic portion 2 can be moved with initiative part 1；
Step 2: remote controller 5, starts initiative part 1；The initiative part microcontroller 1-23 of initiative part 1 is logical by first
After letter module 1-10 receives the enabling signal of the transmission of remote controler 5, obliquity sensor 1-15 and six initiative part pressures are acquired in real time
The signal that force snesor 1-4 is detected, and pass through second communication module 1-24 and send enabling signal to follower 2, follower 2
After follower microcontroller 2-25 receives the enabling signal that initiative part 1 is sent by third communication module 2-26, acquire in real time
The signal that six follower pressure sensor 2-4 are detected；
Step 3: the signal that initiative part microcontroller 1-23 is detected first according to obliquity sensor 1-15, judges to lead
Dynamic angle between portion 1 and acceleration of gravity direction, and export control signal and give movable motor driver 1-8, movable motor driving
Device 1-8 driving movable motor 1-6 movements, movable motor 1-6 drive positive transport wheel 1-5 walkings, adjust the position of initiative part 1,
Initiative part 1 is made to be parallel to acceleration of gravity direction；Follower 2 adjusts position with initiative part 1；When initiative part 1 and follower 2
It puts when adjusting, initiative part microcontroller 1-23 starts timing；
Step 4: as shown in figure 12, initiative part microcontroller 1-23 exports control signal and gives movable motor driver 1-8,
Movable motor driver 1-8 driving movable motor 1-6 movements, movable motor 1-6 drive positive transport wheel 1-5 walkings, driven row
It walks to take turns that 2-23 is driven, initiative part 1 and follower 2 is made to advance to the top of glass 3, is set when initiative part microcontroller 1-23 is received
Put the initiative part pressure sensor 1-4 output signals in the front side middle position of initiative part bottom plate 1-2, and follower microcontroller
Device 2-25 receives the follower pressure sensor 2-4 output signals for the front side middle position for being arranged on follower bottom plate 2-2,
And when passing through third communication module 2-26 and second communication module 1-24 and being transferred to initiative part microcontroller 1-23, illustrate initiative part
1 front end and the front end of follower 2 encounter glass frame 4, and initiative part 1 and follower 2 are reached on the middle part of glass 3
Side, at this point, initiative part microcontroller 1-23 stops the 1-5 walkings of control positive transport wheel, driven traveling wheel 2-23 stops walking, main
Dynamic portion microcontroller 1-23 stops timing, and the period of record is stored as t1；
Step 5: as shown in figure 13, initiative part microcontroller 1-23 exports control signal and gives movable motor driver 1-8,
Movable motor driver 1-8 driving movable motor 1-6 movements, movable motor 1-6 drive positive transport wheel 1-5 walkings, driven row
It is driven to walk to take turns 2-23, initiative part 1 and follower 2 is made to turn right 90 °, it is gradually close to the upper right corner of glass 3, when walking starts actively
Portion microcontroller 1-23 starts timing, is arranged in the front side of initiative part bottom plate 1-2 when initiative part microcontroller 1-23 is received
Between at position, the initiative part pressure sensor 1-4 output signals of left side front end and left side rear end, and follower microcontroller 2-25
Receive the front side middle position for being arranged on follower bottom plate 2-2, left side front end and the follower pressure sensing of left side rear end
Device 2-4 output signals, and pass through third communication module 2-26 and second communication module 1-24 and be transferred to initiative part microcontroller 1-
When 23, illustrate that the front end of initiative part 1 and the front end and left side of left side and follower 2 encounter glass frame 4, initiative part
1 and follower 2 reach the upper right corner of glass 3, at this point, initiative part microcontroller 1-23 stops control positive transport wheel 1-5 rows
It walks, driven traveling wheel 2-23 stops walking, and initiative part microcontroller 1-23 stops timing, and the period of record is stored as
t2；
Step 6: as shown in figure 14, initiative part microcontroller 1-23 exports control signal and gives movable motor driver 1-8,
Movable motor driver 1-8 driving movable motor 1-6 movements, movable motor 1-6 drive positive transport wheel 1-5 walkings, driven row
It walks to take turns that 2-23 is driven, initiative part 1 and follower 2 is made to be retreated to the upper left corner of glass 3, initiative part microcontroller 1- when walking starts
23 start timing, when initiative part microcontroller 1-23 receives the rear side middle position for being arranged on initiative part bottom plate 1-2, left side
Front end and the initiative part pressure sensor 1-4 output signals of left side rear end, and follower microcontroller 2-25 is received and is arranged on
Rear side middle position, left side front end and the follower pressure sensor of the left side rear end 2-4 output letters of follower bottom plate 2-2
Number, and when passing through third communication module 2-26 and second communication module 1-24 and being transferred to initiative part microcontroller 1-23, illustrate to lead
The rear end in dynamic portion 1 and the rear end and left side of left side and follower 2 encounter glass frame 4, initiative part 1 and follower 2
The upper left corner of glass 3 is reached, at this point, initiative part microcontroller 1-23 stops the 1-5 walkings of control positive transport wheel, driven walking
It takes turns 2-23 and stops walking, initiative part microcontroller 1-23 stops timing, and the period of record is stored as t3；
Step 7: as shown in figure 14, initiative part microcontroller 1-23 exports control signal and gives movable motor driver 1-8,
Movable motor driver 1-8 driving movable motor 1-6 movements, movable motor 1-6 drive positive transport wheel 1-5 walkings, driven row
It is driven to walk to take turns 2-23, advances after making 5 °~15 ° of initiative part 1 and the right-hand rotation of follower 2, is set when initiative part microcontroller 1-23 is received
Put the initiative part pressure sensor 1-4 output signals in the front side middle position of initiative part bottom plate 1-2, and follower microcontroller
Device 2-25 receives the follower pressure sensor 2-4 output signals for the front side middle position for being arranged on follower bottom plate 2-2,
And when passing through third communication module 2-26 and second communication module 1-24 and being transferred to initiative part microcontroller 1-23, illustrate initiative part
1 front end and the front end of follower 2 encounter glass frame 4, at this point, first left-hand rotation step 7 is opened for initiative part 1 and follower 2
Turn left again after the angle turned right during the beginning and retreat after 5 °~15 °, initiative part bottom is arranged on when initiative part microcontroller 1-23 is received
The initiative part pressure sensor 1-4 output signals of the rear side middle position of plate 1-2, and follower microcontroller 2-25 is received
The follower pressure sensor 2-4 output signals of the rear side middle position of follower bottom plate 2-2 are arranged on, and passes through third and leads to
Letter module 2-26 and second communication module 1-24 is when being transferred to initiative part microcontroller 1-23, illustrate initiative part 1 rear end and from
The rear end in dynamic portion 2 encounters glass frame 4；
Step 8: as shown in figure 14, step 7 is repeated, until initiative part microcontroller 1-23 is received and is arranged on master
Front side middle position, right side front and the initiative part of the right side rear end pressure sensor 1-4 output signals of dynamic portion bottom plate 1-2,
And follower microcontroller 2-25 receives front side middle position, right side front and the right side for being arranged on follower bottom plate 2-2
The follower pressure sensor 2-4 output signals of rear end, and pass through third communication module 2-26 and second communication module 1-24 and pass
When being defeated by initiative part microcontroller 1-23, illustrate that the front end of initiative part 1 and the front end and right side of right side and follower 2 are collided
Glass frame 4 is arrived, initiative part 1 and follower 2 reach the lower right corner of glass 3, at this point, initiative part microcontroller 1-23 stops
Positive transport wheel 1-5 walkings are controlled, driven traveling wheel 2-23 stops walking；
Step 9: as shown in figure 15, initiative part microcontroller 1-23 exports control signal and gives movable motor driver 1-8,
Movable motor driver 1-8 driving movable motor 1-6 movements, movable motor 1-6 drive positive transport wheel 1-5 walkings, driven row
It is driven to walk to take turns 2-23, advances after making 90 ° of initiative part 1 and the left-hand rotation of follower 2, initiative part microcontroller 1-23 starts when walking starts
Timing, when initiative part microcontroller 1-23 receive the front side middle position for being arranged on initiative part bottom plate 1-2, right side front and
The initiative part pressure sensor 1-4 output signals of right side rear end, and follower microcontroller 2-25 is received and is arranged on follower
Front side middle position, right side front and the follower of the right side rear end pressure sensor 2-4 output signals of bottom plate 2-2, and lead to
When crossing third communication module 2-26 and second communication module 1-24 and being transferred to initiative part microcontroller 1-23, illustrate initiative part 1
The front end and right side of front end and right side and follower 2 encounter glass frame 4, and initiative part 1 and follower 2 reach glass
The upper right corner of glass 3, at this point, initiative part microcontroller 1-23 stops the 1-5 walkings of control positive transport wheel, driven traveling wheel 2-23 stops
It only walks, initiative part microcontroller 1-23 stops timing, and the period of record is stored as t4；
Step 10: as shown in figure 15, initiative part microcontroller 1-23 exports control signal and gives movable motor driver 1-8,
Movable motor driver 1-8 driving movable motor 1-6 movements, movable motor 1-6 drive positive transport wheel 1-5 walkings, driven row
It is driven to walk to take turns 2-23, advances after making 90 ° of initiative part 1 and the left-hand rotation of follower 2, is arranged on when initiative part microcontroller 1-23 is received
Front side middle position, right side front and the initiative part pressure sensor of the right side rear end 1-4 output letters of initiative part bottom plate 1-2
Number, and follower microcontroller 2-25 receives front side middle position, right side front and the right side for being arranged on follower bottom plate 2-2
The follower pressure sensor 2-4 output signals of side rear end, and pass through third communication module 2-26 and second communication module 1-24
When being transferred to initiative part microcontroller 1-23, illustrate that the front end of initiative part 1 and the front end and right side of right side and follower 2 are touched
Glass frame 4 is struck, initiative part 1 and follower 2 reach the upper left corner of glass 3, at this point, initiative part microcontroller 1-23 stops
Only control positive transport wheel 1-5 walkings, driven traveling wheel 2-23 stop walking；
Step 11: as shown in figure 15, initiative part microcontroller 1-23 exports control signal and gives movable motor driver 1-
8, movable motor driver 1-8 driving movable motor 1-6 movements, movable motor 1-6 drives positive transport wheel 1-5 walkings, driven
Traveling wheel 2-23 is driven, advances after making 90 ° of initiative part 1 and the left-hand rotation of follower 2, when initiative part microcontroller 1-23 receives setting
It exports and believes in the front side middle position of initiative part bottom plate 1-2, right side front and the initiative part pressure sensor of right side rear end 1-4
Number, and follower microcontroller 2-25 receives front side middle position, right side front and the right side for being arranged on follower bottom plate 2-2
The follower pressure sensor 2-4 output signals of side rear end, and pass through third communication module 2-26 and second communication module 1-24
When being transferred to initiative part microcontroller 1-23, illustrate that the front end of initiative part 1 and the front end and right side of right side and follower 2 are touched
Glass frame 4 is struck, initiative part 1 and follower 2 reach the lower left corner of glass 3, at this point, initiative part microcontroller 1-23 stops
Only control positive transport wheel 1-5 walkings, driven traveling wheel 2-23 stop walking；
Step 12: as shown in figure 15, initiative part microcontroller 1-23 exports control signal and gives movable motor driver 1-
8, movable motor driver 1-8 driving movable motor 1-6 movements, movable motor 1-6 drives positive transport wheel 1-5 walkings, driven
Traveling wheel 2-23 is driven, advances after making 90 ° of initiative part 1 and the left-hand rotation of follower 2, initiative part microcontroller 1-23 is opened when walking starts
Beginning timing, advance t3-t2After time, initiative part microcontroller 1-23 stops the 1-5 walkings of control positive transport wheel, driven traveling wheel
2-23 stops walking；
Step 13: as shown in figure 15, initiative part microcontroller 1-23 exports control signal and gives movable motor driver 1-
8, movable motor driver 1-8 driving movable motor 1-6 movements, movable motor 1-6 drives positive transport wheel 1-5 walkings, driven
Traveling wheel 2-23 is driven, advances after making 90 ° of initiative part 1 and the left-hand rotation of follower 2, initiative part microcontroller 1-23 is opened when walking starts
Beginning timing, advance t4-t1After time, initiative part microcontroller 1-23 stops the 1-5 walkings of control positive transport wheel, driven traveling wheel
2-23 stops walking；
During performing above step four to step 13, initiative part microcontroller 1-23 exports control signal to actively
Motor driver 1-9, initiative part cleaning motor driver 1-9 driving initiative part cleaning motor 1-11 movements, initiative part clean in portion
It cleans motor 1-11 and drives initiative part gear wheel 1-12 rotations, initiative part gear wheel 1-12 drives initiative part to smear 1-19 turns of disk greatly
It is dynamic, and initiative part middle gear 1-13 and initiative part pinion gear 1-14 is driven to rotate, initiative part middle gear 1-13 is driven in initiative part
Disk 1-18 rotations are smeared, initiative part pinion gear 1-14 drives initiative part is small to smear disk 1-16 rotations, in initiative part rag 1-3 and active
Under the mating reaction of portion wiper blade 1-17, the side side of glass 3 is cleaned；Meanwhile follower microcontroller 2-25 is defeated
Go out to control signal to clean motor driver 2-8, follower cleaning motor driver 2-8 driving follower cleaning motors to follower
2-9 is moved, and follower cleaning motor 2-9 drives follower gear wheel 2-10 rotations, and follower gear wheel 2-10 drives follower
It is big to smear disk 2-21 rotations, and follower middle gear 2-11 and follower pinion gear 2-12 is driven to rotate, follower middle gear 2-11
It drives and disk 2-20 rotations is smeared in follower, follower pinion gear 2-12 drives follower is small to smear disk 2-18 rotations, is smeared in follower
Under the mating reaction of cloth 2-3 and follower wiper blade 2-19, the opposite side side of glass 3 is cleaned.
In the present embodiment, safety power supply dual-purpose line 7 and safety power supply is simultaneous is also wound using nylon grume 8 after step 1
It is fixed on indoor column 6 with line 7.
In the present embodiment, during performing step 4 to step 13, initiative part microcontroller 1-23 controls luminous two
Pole pipe 1-21 is lighted, and follower microcontroller 2-25 acquires the signal of a photoelectric sensor 2-16 outputs every 30s, when driven
When the current value that portion microcontroller 2-25 collects photoelectric sensor 2-16 outputs is more than or equal to preset current threshold, say
Bright 3 transparency of glass is good, and follower micro pump 2-14 and initiative part micro pump 1-26 do not start；When follower microcontroller
When the current value that device 2-25 collects photoelectric sensor 2-16 outputs is less than preset current threshold, illustrate that glass 3 is dirty,
Follower microcontroller 2-25 transmits the dirty signal of glass 3 by third communication module 2-26 and second communication module 1-24
Give initiative part microcontroller 1-23, initiative part microcontroller 1-23 control initiative part electromagnetic valve driver 1-29 driving initiative part electricity
Magnet valve 1-27 is opened, and it is initiative part micro pump 1-26 that initiative part relay 1-31 is controlled, which to connect initiative part supplying cell 1-22,
The current supply circuit of power supply, initiative part micro pump 1-26 start, and glass 3 is sprayed at by initiative part nozzle 1-28 after water is pressurizeed
Side side；Meanwhile follower microcontroller 2-25 control follower electromagnetic valve driver 2-27 driving follower solenoid valves
2-15 is opened, and follower relay 2-28 is controlled to connect supplying cell and is returned for the power supply of follower micro pump 2-14 power supplies
Road, follower micro pump 2-14 start, and are sprayed at the opposite side side of glass 3 after water is pressurizeed by follower nozzle 2-17
Face；When follower microcontroller 2-25 collects the current value of photoelectric sensor 2-16 outputs again more than or equal to preset
During current threshold, illustrate that glass 3 has cleaned up, follower microcontroller 2-25 passes through the signal that glass 3 has cleaned up
Third communication module 2-26 and second communication module 1-24 is transferred to initiative part microcontroller 1-23, initiative part microcontroller 1-23
Initiative part electromagnetic valve driver 1-29 driving initiative part solenoid valves 1-27 is controlled to close, and initiative part relay 1-31 is controlled to disconnect
Initiative part supplying cell 1-22 is the current supply circuit of initiative part micro pump 1-26 power supplies, and initiative part micro pump 1-26 stops work
Make, initiative part nozzle 1-28 stops water spray；Meanwhile follower microcontroller 2-25 control follower electromagnetic valve drivers 2-27 drives
Dynamic follower solenoid valve 2-15 is closed, and it is follower micro pump 2-14 that follower relay 2-28 is controlled, which to disconnect supplying cell,
The current supply circuit of power supply, follower micro pump 2-14 are stopped, and follower nozzle 2-17 stops water spray.
The above is only presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, every according to the present invention
Any simple modification, change and the equivalent structure that technical spirit makees above example change, and still fall within skill of the present invention
In the protection domain of art scheme.
Claims (9)
1. a kind of remote-controlled double-side window-cleaning robot, including remote controler (5), for being separately positioned on the inside of glass (3) and
On the outside of glass (3) and the initiative part (1) and follower (2) that cooperate and for security protection and for being initiative part (1)
With the safety power supply dual-purpose line (7) of follower (2) power supply；
The initiative part (1) is clear including initiative part bottom plate (1-2), initiative part shell (1-1), initiative part driving mechanism, initiative part
Washing machine structure and initiative part control system, the initiative part shell (1-1) are arranged at the top of initiative part bottom plate (1-2), the active
Portion's driving mechanism includes being arranged on the movable motor (1- being fixedly connected in initiative part shell (1-1) and with initiative part bottom plate (1-2)
6) it, is fixedly connected on the output shaft of the movable motor (1-6) and stretches out the external positive transport wheel of initiative part shell (1-1)
(1-5)；The initiative part wiper mechanism include be arranged in initiative part shell (1-1) initiative part cleaning motor (1-11) and with
The initiative part gear wheel (1-12) that is fixedly connected of output shaft of initiative part cleaning motor (1-11) and with initiative part gear wheel
The initiative part middle gear (1-13) and initiative part pinion gear (1-14) of (1-12) engagement, consolidate on the initiative part gear wheel (1-12)
Surely it is connected with and reaches the initiative part of initiative part bottom plate (1-2) bottom and smear disk (1-19) greatly, on the initiative part middle gear (1-13)
It is fixedly connected in the initiative part for reaching initiative part bottom plate (1-2) bottom and smears disk (1-18), the initiative part pinion gear (1-14)
On be fixedly connected with and reach the initiative part of initiative part bottom plate (1-2) bottom and small smear disk (1-16), initiative part bottom plate (1-2) bottom
Portion is fixedly connected with initiative part rag item (1-3) and initiative part wiper blade (1-17)；The initiative part control system includes setting
Initiative part circuit board (1-7) in initiative part shell (1-1) and the initiative part being arranged on initiative part circuit board (1-7) supply
Battery (1-22), initiative part microcontroller (1-23), movable motor driver (1-8), initiative part cleaning motor driver (1-
9), the second communication module for the first communication module (1-10) that communicates with remote controler (5) and for communicating with follower (2)
(1-24), the input of the initiative part microcontroller (1-23) are terminated in the front side for being separately positioned on initiative part bottom plate (1-2)
Between at position, rear side middle position, left side front end, left side rear end, right side front and right side rear end six initiative part pressure
Sensor (1-4) and be arranged on initiative part bottom plate (1-2) middle position obliquity sensor (1-15), described first
Communication module (1-10) and second communication module (1-24) connect with initiative part microcontroller (1-23), and the movable motor drives
The output terminal of dynamic device (1-8) and initiative part cleaning motor driver (1-9) with initiative part microcontroller (1-23) is connect, described
Movable motor (1-6) is connect with the output terminal of movable motor driver (1-8), the initiative part cleaning motor (1-11) and active
The output terminal connection of portion's cleaning motor driver (1-9)；The bottom of the initiative part bottom plate (1-2) is provided with initiative part magnetic patch
(1-20)；
The follower (2) includes follower bottom plate (2-2), follower shell (2-1), follower walking mechanism, magnetic force adjustment
Device, follower wiper mechanism and follower control system, the follower shell (2-1) are arranged on follower bottom plate (2-2)
Top, the follower walking mechanism include being rotatably connected on follower bottom plate (2-2) and stretching out follower shell (2-1) outside
The driven traveling wheel (2-23) in portion；The magnetic force adjusting apparatus includes being erected at the internal magnetic force adjustment of follower shell (2-1)
Stent (2-6), described magnetic force adjustment stent (2-6) screw top, which is connected with, to be threadedly coupled and stretches out with follower shell (2-1)
Magnetic force adjustment knob (2-5) outside at the top of follower shell (2-1), described magnetic force adjustment stent (2-6) bottom are fixedly connected with
Stretch out the external follower magnetic patch (2-22) of follower shell (2-1)；The follower wiper mechanism includes being arranged on follower
Follower in shell (2-1) cleans motor (2-9) and is fixedly connected with the output shaft of follower cleaning motor (2-9) driven
Portion's gear wheel (2-10) and the follower middle gear (2-11) engaged with follower gear wheel (2-10) and follower pinion gear
(2-12) is fixedly connected on the follower gear wheel (2-10) and reaches the follower of follower bottom plate (2-2) bottom and smear greatly
Disk (2-21) is fixedly connected in the follower for reaching follower bottom plate (2-2) bottom on the follower middle gear (2-11)
Disk (2-20) is smeared, the follower for reaching follower bottom plate (2-2) bottom is fixedly connected on the follower pinion gear (2-12)
Small to smear disk (2-18), follower bottom plate (2-2) bottom is fixedly connected with follower rag item (2-3) and follower wiper blade
(2-19)；The follower control system includes the follower circuit board (2-7) being arranged in follower shell (2-1) and sets
The follower supplying cell (2-24) on follower circuit board (2-7), follower microcontroller (2-25), follower is put to clean
Motor driver (2-8) and the third communication module (2-26) to communicate for the second communication module (1-24) with initiative part (1),
The input of the follower microcontroller (2-25) is terminated with being separately positioned on the front side centre position of follower bottom plate (2-2)
Place, rear side middle position, left side front end, left side rear end, right side front and right side rear end six follower pressure sensors
(2-4), the third communication module (2-26) connect with follower microcontroller (2-25), the follower cleaning motor driving
Device (2-8) is connect with the output terminal of follower microcontroller (2-25), and the follower cleaning motor (2-9) is cleaned with follower
The output terminal connection of motor driver (2-8)；
The initiative part (1) further includes initiative part water jet, and the initiative part water jet includes being arranged on initiative part shell (1-1)
Interior and one end reaches initiative part bottom plate (1-2) bottom, the other end stretches out the external initiative part sparge pipe of initiative part shell (1-1)
(1-25) is provided with the initiative part micro pump (1- in initiative part shell (1-1) on the initiative part sparge pipe (1-25)
26) and initiative part solenoid valve (1-27), the initiative part sparge pipe (1-25) reach one end of initiative part bottom plate (1-2) bottom
It is connected with initiative part nozzle (1-28)；The bottom of the initiative part bottom plate (1-2) is provided with light emitting diode (1-21), the hair
Optical diode (1-21) is connect with the output terminal of initiative part microcontroller (1-23), the initiative part microcontroller (1-23) it is defeated
Outlet is further connected with initiative part electromagnetic valve driver (1-29) and for being switched on or switched off initiative part supplying cell (1-22) for actively
The active relay (1-30) of the current supply circuit of portion's micro pump (1-26) power supply, the initiative part solenoid valve (1-27) and active
The output terminal connection of portion's electromagnetic valve driver (1-29), the initiative part relay (1-31) are connected on initiative part supplying cell
(1-22) is in the current supply circuit of initiative part micro pump (1-26) power supply；The follower (2) further includes follower water jet,
The follower water jet includes being arranged in follower shell (2-1) and one end reaches follower bottom plate (2-2) bottom, another
The external follower sparge pipe (2-13) of follower shell (2-1) is stretched out in one end, is set on the follower sparge pipe (2-13)
There are follower micro pump (2-14) and follower solenoid valve (2-15) in follower shell (2-1), the follower
One end that sparge pipe (2-13) reaches follower bottom plate (2-2) bottom is connected with follower nozzle (2-17)；The follower
The bottom of bottom plate (2-2) is provided with for the photoelectric sensor (2-16) of inducing luminous diode (1-21) institute isolychn, described
Photoelectric sensor (2-16) is connect with the input terminal of follower microcontroller (2-25), the follower microcontroller (2-25)
Output is terminated with follower electromagnetic valve driver (2-27) and is driven for being switched on or switched off follower supplying cell (2-24)
Portion's micro pump (2-14) power supply current supply circuit follower relay (2-28), the follower solenoid valve (2-29) with from
The output terminal connection of dynamic portion's electromagnetic valve driver (2-27), the follower relay (2-28) are connected on follower supplying cell
(2-24) is in the current supply circuit of follower micro pump (2-14) power supply；
It is characterized in that：The method of cleaning the windows of the remote-controlled double-side window-cleaning robot includes the following steps：
Step 1: initiative part (1) and follower (2) are separately placed in the corresponding position in the middle part of the both side surface of glass (3),
The magnetic force adjustment knob (2-5) of the magnetic force adjusting apparatus is rotated, makes initiative part (1) and follower (2) that can be adsorbed every glass (3)
It is fixed, and follower (2) can be moved with initiative part (1)；
Step 2: remote controller (5), starts initiative part (1)；The initiative part microcontroller (1-23) of initiative part (1) passes through
After one communication module (1-10) receives the enabling signal of remote controler (5) transmission, obliquity sensor (1-15) and six are acquired in real time
The signal that a initiative part pressure sensor (1-4) detects, and pass through second communication module (1-24) send enabling signal to from
Dynamic portion (2), the follower microcontroller (2-25) of follower (2) receive initiative part (1) by third communication module (2-26)
After the enabling signal of transmission, the signal that six follower pressure sensors (2-4) detect is acquired in real time；
Step 3: the signal that initiative part microcontroller (1-23) detects first according to obliquity sensor (1-15), judges to lead
Dynamic angle between portion (1) and acceleration of gravity direction, and export control signal and give movable motor driver (1-8), movable motor
Driver (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, adjustment master
The position of dynamic portion (1), makes initiative part (1) be parallel to acceleration of gravity direction；Follower (2) adjusts position with initiative part (1)；
When initiative part (1) and follower (2) position are adjusted, initiative part microcontroller (1-23) starts timing；
Step 4: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor driving
Device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven traveling wheel
(2-23) is driven, initiative part (1) and follower (2) is made to advance to the top of glass (3), when initiative part microcontroller (1-23) connects
Receive initiative part pressure sensor (1-4) output signal for the front side middle position for being arranged on initiative part bottom plate (1-2), and from
Dynamic portion's microcontroller (2-25) receives the follower pressure sensing for the front side middle position for being arranged on follower bottom plate (2-2)
Device (2-4) output signal, and pass through third communication module (2-26) and second communication module (1-24) is transferred to initiative part micro-control
During device (1-23) processed, illustrate that the front end of initiative part (1) and the front end of follower (2) encounter glass frame (4), initiative part
(1) it is reached above the middle part of glass (3) with follower (2), at this point, initiative part microcontroller (1-23) stops control actively row
Wheel (1-5) walking is walked, driven traveling wheel (2-23) stops walking, and initiative part microcontroller (1-23) stops timing, and will record
Period be stored as t1；
Step 5: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor driving
Device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven traveling wheel
(2-23) is driven, and initiative part (1) and follower (2) is made to turn right 90 °, gradually close to the upper right corner of glass (3), when walking starts
Initiative part microcontroller (1-23) starts timing, and initiative part bottom plate (1- is arranged on when initiative part microcontroller (1-23) receives
2) front side middle position, left side front end and the initiative part pressure sensor of left side rear end (1-4) output signal, and follower
Microcontroller (2-25) receives the front side middle position for being arranged on follower bottom plate (2-2), left side front end and left side rear end
Follower pressure sensor (2-4) output signal, and pass through third communication module (2-26) and second communication module (1-24)
When being transferred to initiative part microcontroller (1-23), illustrate the front end of initiative part (1) and left side and the front end and a left side of follower (2)
Side encounters glass frame (4), and initiative part (1) and follower (2) reach the upper right corner of glass (3), at this point, initiative part
Microcontroller (1-23) stops control positive transport wheel (1-5) and walks, and driven traveling wheel (2-23) stops walking, initiative part micro-control
Device (1-23) processed stops timing, and the period of record is stored as t2；
Step 6: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor driving
Device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven traveling wheel
(2-23) is driven, and initiative part (1) and follower (2) is made to be retreated to the upper left corner of glass (3), initiative part microcontroller when walking starts
Device (1-23) starts timing, is arranged among the rear side of initiative part bottom plate (1-2) when initiative part microcontroller (1-23) receives
At position, initiative part pressure sensor (1-4) output signal of left side front end and left side rear end, and follower microcontroller (2-
25) the rear side middle position for being arranged on follower bottom plate (2-2), left side front end and the follower pressure of left side rear end are received
Sensor (2-4) output signal, and pass through third communication module (2-26) and second communication module (1-24) is transferred to initiative part
During microcontroller (1-23), illustrate that the rear end of initiative part (1) and the rear end and left side of left side and follower (2) encounter
Glass frame (4), initiative part (1) and follower (2) reach the upper left corner of glass (3), at this point, initiative part microcontroller (1-
23) stop control positive transport wheel (1-5) to walk, driven traveling wheel (2-23) stops walking, initiative part microcontroller (1-23)
Stop timing, and the period of record is stored as t3；
Step 7: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor driving
Device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven traveling wheel
(2-23) is driven, advances after making 5 °~15 ° of initiative part (1) and follower (2) right-hand rotation, when initiative part microcontroller (1-23) receives
To initiative part pressure sensor (1-4) output signal for the front side middle position for being arranged on initiative part bottom plate (1-2), and it is driven
Portion's microcontroller (2-25) receives the follower pressure sensor for the front side middle position for being arranged on follower bottom plate (2-2)
(2-4) output signal, and pass through third communication module (2-26) and second communication module (1-24) is transferred to initiative part microcontroller
During device (1-23), illustrate that the front end of initiative part (1) and the front end of follower (2) encounter glass frame (4), at this point, main
Turn left again after the angle that dynamic portion (1) and follower (2) are turned right when first left-hand rotation step 7 starts and retreat after 5 °~15 °, work as initiative part
Microcontroller (1-23) receives the initiative part pressure sensor for the rear side middle position for being arranged on initiative part bottom plate (1-2)
(1-4) output signal, and follower microcontroller (2-25) receives the rear side centre position for being arranged on follower bottom plate (2-2)
Follower pressure sensor (2-4) output signal at place, and pass through third communication module (2-26) and second communication module (1-
24) when being transferred to initiative part microcontroller (1-23), illustrate that the rear end of initiative part (1) and the rear end of follower (2) collide
Glass frame (4)；
Step 8: step 7 is repeated, until initiative part microcontroller (1-23) receives and is arranged on initiative part bottom plate (1-2)
Front side middle position, right side front and the initiative part pressure sensor of right side rear end (1-4) output signal, and follower is micro-
Controller (2-25) receives the front side middle position for being arranged on follower bottom plate (2-2), right side front and right side rear end
Follower pressure sensor (2-4) output signal, and pass through third communication module (2-26) and second communication module (1-24) biography
When being defeated by initiative part microcontroller (1-23), illustrate the front end of initiative part (1) and right side and the front end and right side of follower (2)
Glass frame (4) is encountered, initiative part (1) and follower (2) reach the lower right corner of glass (3), at this point, initiative part is micro-
Controller (1-23) stops control positive transport wheel (1-5) and walks, and driven traveling wheel (2-23) stops walking；
Step 9: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor driving
Device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven traveling wheel
(2-23) is driven, advances after making 90 ° of initiative part (1) and follower (2) left-hand rotation, initiative part microcontroller (1-23) when walking starts
Start timing, when initiative part microcontroller (1-23) receives the front side middle position for being arranged on initiative part bottom plate (1-2), the right side
Side front end and initiative part pressure sensor (1-4) output signal of right side rear end, and follower microcontroller (2-25) receives
It is arranged on front side middle position, right side front and the follower pressure sensor of the right side rear end (2- of follower bottom plate (2-2)
4) output signal, and pass through third communication module (2-26) and second communication module (1-24) is transferred to initiative part microcontroller
When (1-23), illustrate that the front end of initiative part (1) and the front end and right side of right side and follower (2) encounter glass frame
(4), initiative part (1) and follower (2) reach the upper right corner of glass (3), at this point, initiative part microcontroller (1-23) stops control
Positive transport wheel (1-5) walking processed, driven traveling wheel (2-23) stop walking, and initiative part microcontroller (1-23) stops timing,
And the period of record is stored as t4；
Step 10: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor driving
Device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven traveling wheel
(2-23) is driven, advances after making 90 ° of initiative part (1) and follower (2) left-hand rotation, is set when initiative part microcontroller (1-23) receives
Put the initiative part pressure sensor (1-4) of the front side middle position in initiative part bottom plate (1-2), right side front and right side rear end
Output signal, and follower microcontroller (2-25) receives the front side middle position for being arranged on follower bottom plate (2-2), the right side
Side front end and follower pressure sensor (2-4) output signal of right side rear end, and pass through third communication module (2-26) and
When two communication modules (1-24) are transferred to initiative part microcontroller (1-23), illustrate initiative part (1) front end and right side and from
The front end and right side of dynamic portion (2) encounter glass frame (4), and initiative part (1) and follower (2) reach glass (3)
The upper left corner is walked at this point, initiative part microcontroller (1-23) stops control positive transport wheel (1-5), driven traveling wheel (2-23)
Stop walking；
Step 11: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor drives
Dynamic device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven walking
Wheel (2-23) is driven, advances after making 90 ° of initiative part (1) and follower (2) left-hand rotation, when initiative part microcontroller (1-23) receives
It is arranged on front side middle position, right side front and the initiative part pressure sensor of the right side rear end (1- of initiative part bottom plate (1-2)
4) output signal, and follower microcontroller (2-25) receive be arranged on follower bottom plate (2-2) front side middle position,
Right side front and follower pressure sensor (2-4) output signal of right side rear end, and pass through third communication module (2-26) and
When second communication module (1-24) is transferred to initiative part microcontroller (1-23), illustrate initiative part (1) front end and right side and
The front end and right side of follower (2) encounter glass frame (4), and initiative part (1) and follower (2) reach glass (3)
The lower left corner, at this point, initiative part microcontroller (1-23) stop control positive transport wheel (1-5) walk, driven traveling wheel (2-
23) stop walking；
Step 12: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor drives
Dynamic device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven walking
Wheel (2-23) is driven, advances after making 90 ° of initiative part (1) and follower (2) left-hand rotation, initiative part microcontroller (1- when walking starts
23) start timing, advance t3-t2After time, initiative part microcontroller (1-23) stops control positive transport wheel (1-5) and walks, from
Dynamic traveling wheel (2-23) stops walking；
Step 13: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor drives
Dynamic device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven walking
Wheel (2-23) is driven, advances after making 90 ° of initiative part (1) and follower (2) left-hand rotation, initiative part microcontroller (1- when walking starts
23) start timing, advance t4-t1After time, initiative part microcontroller (1-23) stops control positive transport wheel (1-5) and walks, from
Dynamic traveling wheel (2-23) stops walking；
During performing above step four to step 13, initiative part microcontroller (1-23) exports control signal to initiative part
Motor driver (1-9) is cleaned, initiative part cleaning motor driver (1-9) drives initiative part cleaning motor (1-11) to move, main
Dynamic portion's cleaning motor (1-11) drives initiative part gear wheel (1-12) to rotate, and initiative part gear wheel (1-12) drives initiative part to smear greatly
Disk (1-19) rotates, and initiative part middle gear (1-13) and initiative part pinion gear (1-14) is driven to rotate, initiative part middle gear (1-
13) it driving in initiative part and smears disk (1-18) rotation, initiative part pinion gear (1-14) drives initiative part is small to smear disk (1-16) rotation,
Under the mating reaction of initiative part rag item (1-3) and initiative part wiper blade (1-17), the side side of glass (3) is wiped
It washes；Meanwhile follower microcontroller (2-25) exports control signal to follower cleaning motor driver (2-8), follower is clear
It washes motor driver (2-8) driving follower cleaning motor (2-9) to move, follower cleaning motor (2-9) drives follower big
Gear (2-10) rotates, and follower gear wheel (2-10) drives follower to smear disk (2-21) rotation greatly, and drives tooth in follower
(2-11) and follower pinion gear (2-12) rotation are taken turns, follower middle gear (2-11), which drives, smears disk (2-20) turn in follower
Dynamic, follower pinion gear (2-12) drives follower is small to smear disk (2-18) rotation, is scraped in follower rag item (2-3) and follower
Under the mating reaction of water bar (2-19), the opposite side side of glass (3) is cleaned.
2. a kind of remote-controlled double-side window-cleaning robot described in accordance with the claim 1, it is characterised in that：Outside the initiative part
Shell (1-1) is fixedly connected on by screw at the top of initiative part bottom plate (1-2), and the initiative part circuit board (1-7) is consolidated by screw
Surely it is connected at the top of initiative part bottom plate (1-2), the active magnetic patch (1-20) is fixedly connected on initiative part bottom plate (1- by screw
2) bottom.
3. a kind of remote-controlled double-side window-cleaning robot described in accordance with the claim 1, it is characterised in that：Outside the follower
Shell (2-1) is fixedly connected on by screw at the top of follower bottom plate (2-2), and the follower circuit board (2-7) is consolidated by screw
Surely it is connected at the top of follower bottom plate (2-2), the follower magnetic patch (2-22) is fixedly connected on magnetic force adjustment branch by screw
Frame (2-6) bottom.
4. a kind of remote-controlled double-side window-cleaning robot described in accordance with the claim 1, it is characterised in that：The movable motor
The quantity of (1-6) and positive transport wheel (1-5) is two, and the quantity of the corresponding movable motor driver (1-8) is two,
Two positive transport wheels (1-5) are separately positioned on the left and right sides middle position of initiative part bottom plate (1-2)；The active
The quantity of portion's rag item (1-3) and initiative part wiper blade (1-17) is two, and two initiative part rag items (1-3) are respectively
The front and rear sides bottom of initiative part bottom plate (1-2) is arranged on, the initiative part wiper blade (1-17) is arranged on initiative part rag item
The side of (1-3)；The quantity that the initiative part gear wheel (1-12) and initiative part smear greatly disk (1-19) is one, the active
The quantity that disk (1-18) is smeared in portion's middle gear (1-13) and initiative part is four, the initiative part pinion gear (1-14) and active
The small quantity for smearing disk (1-16) in portion is two, and the quantity of the initiative part magnetic patch (1-20) is eight.
5. a kind of remote-controlled double-side window-cleaning robot described in accordance with the claim 1, it is characterised in that：The driven walking
The quantity for taking turns (2-23) is two, and two driven traveling wheels (2-23) are separately positioned on a left side of follower bottom plate (2-2)
Right both sides middle position；The quantity of the follower rag item (2-3) and follower wiper blade (2-19) is two, two
The follower rag item (2-3) is separately positioned on the front and rear sides bottom of follower bottom plate (2-2), the follower wiper blade
(2-19) is arranged on the side of follower rag item (2-3)；The follower gear wheel (2-10) and follower smear greatly disk (2-
21) quantity is one, and the quantity that disk (2-20) is smeared in the follower middle gear (2-11) and follower is four, institute
It is two to state follower pinion gear (2-12) and the small quantity for smearing disk (2-18) of follower, the follower magnetic patch (2-22)
Quantity be two.
6. a kind of remote-controlled double-side window-cleaning robot described in accordance with the claim 1, it is characterised in that：The remote controler
(5) for IR remote controller, the first communication module (1-10) is infrared communication module, the second communication module (1-24) and
Third communication module (2-26) is infrared communication module, radio communication module or bluetooth communication.
7. a kind of method that cleans the windows using remote-controlled double-side window-cleaning robot as described in claim 1, feature exists
In this method includes the following steps：
Step 1: initiative part (1) and follower (2) are separately placed in the corresponding position in the middle part of the both side surface of glass (3),
The magnetic force adjustment knob (2-5) of the magnetic force adjusting apparatus is rotated, makes initiative part (1) and follower (2) that can be adsorbed every glass (3)
It is fixed, and follower (2) can be moved with initiative part (1)；
Step 2: remote controller (5), starts initiative part (1)；The initiative part microcontroller (1-23) of initiative part (1) passes through
After one communication module (1-10) receives the enabling signal of remote controler (5) transmission, obliquity sensor (1-15) and six are acquired in real time
The signal that a initiative part pressure sensor (1-4) detects, and pass through second communication module (1-24) send enabling signal to from
Dynamic portion (2), the follower microcontroller (2-25) of follower (2) receive initiative part (1) by third communication module (2-26)
After the enabling signal of transmission, the signal that six follower pressure sensors (2-4) detect is acquired in real time；
Step 3: the signal that initiative part microcontroller (1-23) detects first according to obliquity sensor (1-15), judges to lead
Dynamic angle between portion (1) and acceleration of gravity direction, and export control signal and give movable motor driver (1-8), movable motor
Driver (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, adjustment master
The position of dynamic portion (1), makes initiative part (1) be parallel to acceleration of gravity direction；Follower (2) adjusts position with initiative part (1)；
When initiative part (1) and follower (2) position are adjusted, initiative part microcontroller (1-23) starts timing；
Step 4: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor driving
Device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven traveling wheel
(2-23) is driven, initiative part (1) and follower (2) is made to advance to the top of glass (3), when initiative part microcontroller (1-23) connects
Receive initiative part pressure sensor (1-4) output signal for the front side middle position for being arranged on initiative part bottom plate (1-2), and from
Dynamic portion's microcontroller (2-25) receives the follower pressure sensing for the front side middle position for being arranged on follower bottom plate (2-2)
Device (2-4) output signal, and pass through third communication module (2-26) and second communication module (1-24) is transferred to initiative part micro-control
During device (1-23) processed, illustrate that the front end of initiative part (1) and the front end of follower (2) encounter glass frame (4), initiative part
(1) it is reached above the middle part of glass (3) with follower (2), at this point, initiative part microcontroller (1-23) stops control actively row
Wheel (1-5) walking is walked, driven traveling wheel (2-23) stops walking, and initiative part microcontroller (1-23) stops timing, and will record
Period be stored as t1；
Step 5: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor driving
Device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven traveling wheel
(2-23) is driven, and initiative part (1) and follower (2) is made to turn right 90 °, gradually close to the upper right corner of glass (3), when walking starts
Initiative part microcontroller (1-23) starts timing, and initiative part bottom plate (1- is arranged on when initiative part microcontroller (1-23) receives
2) front side middle position, left side front end and the initiative part pressure sensor of left side rear end (1-4) output signal, and follower
Microcontroller (2-25) receives the front side middle position for being arranged on follower bottom plate (2-2), left side front end and left side rear end
Follower pressure sensor (2-4) output signal, and pass through third communication module (2-26) and second communication module (1-24)
When being transferred to initiative part microcontroller (1-23), illustrate the front end of initiative part (1) and left side and the front end and a left side of follower (2)
Side encounters glass frame (4), and initiative part (1) and follower (2) reach the upper right corner of glass (3), at this point, initiative part
Microcontroller (1-23) stops control positive transport wheel (1-5) and walks, and driven traveling wheel (2-23) stops walking, initiative part micro-control
Device (1-23) processed stops timing, and the period of record is stored as t2；
Step 6: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor driving
Device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven traveling wheel
(2-23) is driven, and initiative part (1) and follower (2) is made to be retreated to the upper left corner of glass (3), initiative part microcontroller when walking starts
Device (1-23) starts timing, is arranged among the rear side of initiative part bottom plate (1-2) when initiative part microcontroller (1-23) receives
At position, initiative part pressure sensor (1-4) output signal of left side front end and left side rear end, and follower microcontroller (2-
25) the rear side middle position for being arranged on follower bottom plate (2-2), left side front end and the follower pressure of left side rear end are received
Sensor (2-4) output signal, and pass through third communication module (2-26) and second communication module (1-24) is transferred to initiative part
During microcontroller (1-23), illustrate that the rear end of initiative part (1) and the rear end and left side of left side and follower (2) encounter
Glass frame (4), initiative part (1) and follower (2) reach the upper left corner of glass (3), at this point, initiative part microcontroller (1-
23) stop control positive transport wheel (1-5) to walk, driven traveling wheel (2-23) stops walking, initiative part microcontroller (1-23)
Stop timing, and the period of record is stored as t3；
Step 7: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor driving
Device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven traveling wheel
(2-23) is driven, advances after making 5 °~15 ° of initiative part (1) and follower (2) right-hand rotation, when initiative part microcontroller (1-23) receives
To initiative part pressure sensor (1-4) output signal for the front side middle position for being arranged on initiative part bottom plate (1-2), and it is driven
Portion's microcontroller (2-25) receives the follower pressure sensor for the front side middle position for being arranged on follower bottom plate (2-2)
(2-4) output signal, and pass through third communication module (2-26) and second communication module (1-24) is transferred to initiative part microcontroller
During device (1-23), illustrate that the front end of initiative part (1) and the front end of follower (2) encounter glass frame (4), at this point, main
Turn left again after the angle that dynamic portion (1) and follower (2) are turned right when first left-hand rotation step 7 starts and retreat after 5 °~15 °, work as initiative part
Microcontroller (1-23) receives the initiative part pressure sensor for the rear side middle position for being arranged on initiative part bottom plate (1-2)
(1-4) output signal, and follower microcontroller (2-25) receives the rear side centre position for being arranged on follower bottom plate (2-2)
Follower pressure sensor (2-4) output signal at place, and pass through third communication module (2-26) and second communication module (1-
24) when being transferred to initiative part microcontroller (1-23), illustrate that the rear end of initiative part (1) and the rear end of follower (2) collide
Glass frame (4)；
Step 8: step 7 is repeated, until initiative part microcontroller (1-23) receives and is arranged on initiative part bottom plate (1-2)
Front side middle position, right side front and the initiative part pressure sensor of right side rear end (1-4) output signal, and follower is micro-
Controller (2-25) receives the front side middle position for being arranged on follower bottom plate (2-2), right side front and right side rear end
Follower pressure sensor (2-4) output signal, and pass through third communication module (2-26) and second communication module (1-24) biography
When being defeated by initiative part microcontroller (1-23), illustrate the front end of initiative part (1) and right side and the front end and right side of follower (2)
Glass frame (4) is encountered, initiative part (1) and follower (2) reach the lower right corner of glass (3), at this point, initiative part is micro-
Controller (1-23) stops control positive transport wheel (1-5) and walks, and driven traveling wheel (2-23) stops walking；
Step 9: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor driving
Device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven traveling wheel
(2-23) is driven, advances after making 90 ° of initiative part (1) and follower (2) left-hand rotation, initiative part microcontroller (1-23) when walking starts
Start timing, when initiative part microcontroller (1-23) receives the front side middle position for being arranged on initiative part bottom plate (1-2), the right side
Side front end and initiative part pressure sensor (1-4) output signal of right side rear end, and follower microcontroller (2-25) receives
It is arranged on front side middle position, right side front and the follower pressure sensor of the right side rear end (2- of follower bottom plate (2-2)
4) output signal, and pass through third communication module (2-26) and second communication module (1-24) is transferred to initiative part microcontroller
When (1-23), illustrate that the front end of initiative part (1) and the front end and right side of right side and follower (2) encounter glass frame
(4), initiative part (1) and follower (2) reach the upper right corner of glass (3), at this point, initiative part microcontroller (1-23) stops control
Positive transport wheel (1-5) walking processed, driven traveling wheel (2-23) stop walking, and initiative part microcontroller (1-23) stops timing,
And the period of record is stored as t4；
Step 10: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor driving
Device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven traveling wheel
(2-23) is driven, advances after making 90 ° of initiative part (1) and follower (2) left-hand rotation, is set when initiative part microcontroller (1-23) receives
Put the initiative part pressure sensor (1-4) of the front side middle position in initiative part bottom plate (1-2), right side front and right side rear end
Output signal, and follower microcontroller (2-25) receives the front side middle position for being arranged on follower bottom plate (2-2), the right side
Side front end and follower pressure sensor (2-4) output signal of right side rear end, and pass through third communication module (2-26) and
When two communication modules (1-24) are transferred to initiative part microcontroller (1-23), illustrate initiative part (1) front end and right side and from
The front end and right side of dynamic portion (2) encounter glass frame (4), and initiative part (1) and follower (2) reach glass (3)
The upper left corner is walked at this point, initiative part microcontroller (1-23) stops control positive transport wheel (1-5), driven traveling wheel (2-23)
Stop walking；
Step 11: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor drives
Dynamic device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven walking
Wheel (2-23) is driven, advances after making 90 ° of initiative part (1) and follower (2) left-hand rotation, when initiative part microcontroller (1-23) receives
It is arranged on front side middle position, right side front and the initiative part pressure sensor of the right side rear end (1- of initiative part bottom plate (1-2)
4) output signal, and follower microcontroller (2-25) receive be arranged on follower bottom plate (2-2) front side middle position,
Right side front and follower pressure sensor (2-4) output signal of right side rear end, and pass through third communication module (2-26) and
When second communication module (1-24) is transferred to initiative part microcontroller (1-23), illustrate initiative part (1) front end and right side and
The front end and right side of follower (2) encounter glass frame (4), and initiative part (1) and follower (2) reach glass (3)
The lower left corner, at this point, initiative part microcontroller (1-23) stop control positive transport wheel (1-5) walk, driven traveling wheel (2-
23) stop walking；
Step 12: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor drives
Dynamic device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven walking
Wheel (2-23) is driven, advances after making 90 ° of initiative part (1) and follower (2) left-hand rotation, initiative part microcontroller (1- when walking starts
23) start timing, advance t3-t2After time, initiative part microcontroller (1-23) stops control positive transport wheel (1-5) and walks, from
Dynamic traveling wheel (2-23) stops walking；
Step 13: initiative part microcontroller (1-23), which exports control signal, gives movable motor driver (1-8), movable motor drives
Dynamic device (1-8) driving movable motor (1-6) moves, and movable motor (1-6) drives positive transport wheel (1-5) to walk, driven walking
Wheel (2-23) is driven, advances after making 90 ° of initiative part (1) and follower (2) left-hand rotation, initiative part microcontroller (1- when walking starts
23) start timing, advance t4-t1After time, initiative part microcontroller (1-23) stops control positive transport wheel (1-5) and walks, from
Dynamic traveling wheel (2-23) stops walking；
During performing above step four to step 13, initiative part microcontroller (1-23) exports control signal to initiative part
Motor driver (1-9) is cleaned, initiative part cleaning motor driver (1-9) drives initiative part cleaning motor (1-11) to move, main
Dynamic portion's cleaning motor (1-11) drives initiative part gear wheel (1-12) to rotate, and initiative part gear wheel (1-12) drives initiative part to smear greatly
Disk (1-19) rotates, and initiative part middle gear (1-13) and initiative part pinion gear (1-14) is driven to rotate, initiative part middle gear (1-
13) it driving in initiative part and smears disk (1-18) rotation, initiative part pinion gear (1-14) drives initiative part is small to smear disk (1-16) rotation,
Under the mating reaction of initiative part rag item (1-3) and initiative part wiper blade (1-17), the side side of glass (3) is wiped
It washes；Meanwhile follower microcontroller (2-25) exports control signal to follower cleaning motor driver (2-8), follower is clear
It washes motor driver (2-8) driving follower cleaning motor (2-9) to move, follower cleaning motor (2-9) drives follower big
Gear (2-10) rotates, and follower gear wheel (2-10) drives follower to smear disk (2-21) rotation greatly, and drives tooth in follower
(2-11) and follower pinion gear (2-12) rotation are taken turns, follower middle gear (2-11), which drives, smears disk (2-20) turn in follower
Dynamic, follower pinion gear (2-12) drives follower is small to smear disk (2-18) rotation, is scraped in follower rag item (2-3) and follower
Under the mating reaction of water bar (2-19), the opposite side side of glass (3) is cleaned.
8. according to the method that cleans the windows described in claim 7, it is characterised in that：It is also twined after step 1 using nylon grume (8)
It is fixed on indoor column (6) around safety power supply dual-purpose line (7) and by safety power supply dual-purpose line (7).
9. according to the method that cleans the windows described in claim 7, it is characterised in that：During performing step 4 to step 13,
Initiative part microcontroller (1-23) control light emitting diode (1-21) is lighted, and follower microcontroller (2-25) is acquired every 30s
The signal of photoelectric sensor (2-16) output, when follower microcontroller (2-25), to collect photoelectric sensor (2-16) defeated
When the current value gone out is more than or equal to preset current threshold, illustrate that glass (3) transparency is good, follower micro pump (2-
14) do not start with initiative part micro pump (1-26)；When follower microcontroller (2-25) collects photoelectric sensor (2-
16) when the current value of output is less than preset current threshold, illustrate glass (3) dirt, follower microcontroller (2-25)
The signal of glass (3) dirt is transferred to initiative part micro-control by third communication module (2-26) and second communication module (1-24)
Device (1-23) processed, initiative part microcontroller (1-23) control initiative part electromagnetic valve driver (1-29) drive initiative part solenoid valve
(1-27) is opened, and it is initiative part micro pump that initiative part relay (1-31) is controlled, which to connect initiative part supplying cell (1-22),
The current supply circuit of (1-26) power supply, initiative part micro pump (1-26) start, and pass through initiative part nozzle (1-28) after water is pressurizeed
It is sprayed at the side side of glass (3)；Meanwhile follower microcontroller (2-25) control follower electromagnetic valve driver (2-27)
Follower solenoid valve (2-15) is driven to open, and follower relay (2-28) is controlled to connect follower supplying cell (2-24) and is
Follower micro pump (2-14) power supply current supply circuit, follower micro pump (2-14) start, after water is pressurizeed by from
Dynamic portion's nozzle (2-17) is sprayed at the opposite side side of glass (3)；When follower microcontroller (2-25) collects photoelectric sensing
When the current value of device (2-16) output is more than or equal to preset current threshold again, illustrate that glass (3) has cleaned up, from
The signal that glass (3) has cleaned up is passed through third communication module (2-26) and the second communication mould by dynamic portion's microcontroller (2-25)
Block (1-24) is transferred to initiative part microcontroller (1-23), initiative part microcontroller (1-23) control initiative part electromagnetic valve driver
(1-29) driving initiative part solenoid valve (1-27) is closed, and initiative part relay (1-31) is controlled to disconnect initiative part supplying cell
(1-22) is the current supply circuit of initiative part micro pump (1-26) power supply, and initiative part micro pump (1-26) is stopped, actively
Portion's nozzle (1-28) stops water spray；Meanwhile follower microcontroller (2-25) control follower electromagnetic valve driver (2-27) drives
Dynamic follower solenoid valve (2-15) is closed, and control follower relay (2-28) disconnect follower supplying cell (2-24) be from
The current supply circuit of dynamic portion's micro pump (2-14) power supply, follower micro pump (2-14) are stopped, follower nozzle (2-
17) stop water spray.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610653093.7A CN106166041B (en) | 2016-08-10 | 2016-08-10 | A kind of remote-controlled double-side window-cleaning robot and its method that cleans the windows |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610653093.7A CN106166041B (en) | 2016-08-10 | 2016-08-10 | A kind of remote-controlled double-side window-cleaning robot and its method that cleans the windows |
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| Publication Number | Publication Date |
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| CN106166041A CN106166041A (en) | 2016-11-30 |
| CN106166041B true CN106166041B (en) | 2018-07-03 |
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| CN110292327B (en) * | 2019-05-20 | 2021-11-09 | 广东宝乐机器人股份有限公司 | Window cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5224447B2 (en) * | 2008-03-19 | 2013-07-03 | 株式会社カーメイト | Cleaning device |
| CN201974697U (en) * | 2011-01-05 | 2011-09-14 | 泰怡凯电器(苏州)有限公司 | Control system of glass cleaning robot |
| KR101311375B1 (en) * | 2012-02-23 | 2013-09-25 | 인텔렉추얼디스커버리 주식회사 | Window cleaning apparatus and method for control the apparatus |
| CN203088988U (en) * | 2013-03-06 | 2013-07-31 | 宋国成 | Permanent-magnet attraction automatic-walking type glass wiping device |
| CN204207669U (en) * | 2014-11-14 | 2015-03-18 | 辽宁石化职业技术学院 | Intelligence glass cleaning device |
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