CN107253523B - A kind of Intelligent unattended machine for glass cleaning - Google Patents
A kind of Intelligent unattended machine for glass cleaning Download PDFInfo
- Publication number
- CN107253523B CN107253523B CN201710475990.8A CN201710475990A CN107253523B CN 107253523 B CN107253523 B CN 107253523B CN 201710475990 A CN201710475990 A CN 201710475990A CN 107253523 B CN107253523 B CN 107253523B
- Authority
- CN
- China
- Prior art keywords
- cleaning
- module
- amplifier
- motor
- resistance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Abstract
The present invention relates to a kind of Intelligent unattended machines for glass cleaning, including body, power generation mechanism, aviation mechanism, Zhong Kong mechanism, wiper mechanism and buffer gear, wiper mechanism includes pouring water assembly and cleaning assembly, cleaning assembly includes fixed link, fixed plate and two cleaning units, cleaning unit includes first motor, first drive shaft, first gear, cleaning brush and movable frame, second drive shaft of the second motor is equipped with speed probe, the speed probe is electrically connected with Rotating speed measring module, the Rotating speed measring module includes Rotating speed measring circuit, this is in the Intelligent unattended machine of glass cleaning, it can be realized the reliable cleaning to glass by wiper mechanism, improve the practicability of unmanned plane；Moreover, in Rotating speed measring circuit, amplified by the reliable signal of the second amplifier, realize the accurate detection to revolving speed, improve the reliability of unmanned plane.
Description
Technical field
The present invention relates to unmanned plane field, in particular to a kind of Intelligent unattended machine for glass cleaning.
Background technique
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, is using radio robot and to provide for oneself
The not manned aircraft of presetting apparatus manipulation.It can be divided into from technical standpoint definition: unmanned fixed-wing aircraft, unmanned VTOL
Machine, unmanned airship, unmanned helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Unmanned plane press application field, can be divided into it is military with it is civilian.Military aspect, unmanned plane are divided into reconnaissance plane and target drone.The people
With aspect, unmanned plane+industrial application is that unmanned plane has really just needed；At present take photo by plane, agricultural, plant protection, miniature self-timer, express delivery
Transport, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, system
The application in romance etc. field is made, the purposes of unmanned plane itself has greatly been expanded, developed country also answers in actively extension industry
With with develop unmanned air vehicle technique.
Existing unmanned plane is substantially for carrying out the fields such as agricultural production, safety fire fighting, few to be applied to glass
In cleaning, and during unmanned plane work, in unmanned plane during flying, need to supervise the revolving speed of unmanned plane in real time
Control, but can be because lacking the accuracy of the detection to revolving speed, to affect the reliability of the flight of unmanned plane.
Summary of the invention
The technical problem to be solved by the present invention is for overcome the deficiencies in the prior art, providing a kind of for glass cleaning
Intelligent unattended machine.
The technical solution adopted by the present invention to solve the technical problems is: a kind of Intelligent unattended machine for glass cleaning,
Including body, the power generation mechanism being arranged in above body, the aviation mechanism that body two sides are arranged in, the middle control being arranged on body
Mechanism, the wiper mechanism being arranged in below body and the buffer gear being arranged in below body, the power generation mechanism, aviation mechanism
It is electrically connected with Zhong Kong mechanism with wiper mechanism；
Wherein, power generation mechanism improves the cruising ability of unmanned plane for converting solar energy into electric energy；Aviation mechanism,
For realizing the reliable flight of unmanned plane；Zhong Kong mechanism is used to carry out reliable intelligentized control method to unmanned plane, improves nobody
The reliability of machine；Wiper mechanism improves the reliability of unmanned plane for cleaning to specified glass；Buffer gear is used
To realize the reliable land of unmanned plane.
The wiper mechanism includes pouring water assembly and cleaning assembly, the top poured water assembly and be located at cleaning assembly, institute
Stating cleaning assembly includes fixed link, fixed plate and two cleaning units, and the fixed plate is pouring water assembly by fixed link setting
Lower section, the cleaning unit is arranged in fixed plate；
The cleaning unit includes first motor, the first drive shaft, first gear, cleaning brush and movable frame, and described first
Motor is sequentially connected by the first drive shaft and first gear, and the first gear is located at the inside of movable frame, the cleaning brush
The two sides of movable frame are located at first motor, the cleaning brush is arranged on movable frame, the inner wall up and down of the movable frame
It is equipped with driving cog engaged with the first gear, the tooth of the first gear periphery is circumferentially equal along the semicircle periphery of first gear
Even distribution；
Wherein, first motor controls first gear rotation by the first drive shaft, then inside first gear and movable frame
Driving cog engage, realize moving left and right for movable frame, then cleaning brush can be realized as left and right cleaning；Moreover, watering
During cleaning assembly cleans, what can be continued water component, carries out the cleaning of glass, improves unmanned plane cleaning
Practicability, improve the practicability of unmanned plane.
The Zhong Kong mechanism includes panel and middle control component, and the inside of panel, the middle control is arranged in the middle control component
Component includes central control module, connect with central control module water spray control module, motor control module, wireless telecommunications mould
Block, voice cue module, display control module, key control module, state indicator module and working power module, the center
Control module is PLC, and signal receiver is additionally provided on the body, and the first motor is electrically connected with motor control module；
Wherein, central control module, for carrying out the module of intelligentized control method to unmanned plane, herein, center control mould
Block is PLC, also can be single-chip microcontroller, realizes and carries out intelligentized control method to the modules in unmanned plane, improves unmanned plane
Intelligence；Control module of spraying water herein, by carrying out switch control to spray head, realizes for the module sprayed water
Watering operation；Motor control module herein, by control first motor work, is realized for controlling the module of motor work
Cleaning to glass by controlling the second motor realizes the reliable flight of unmanned plane；Wireless communication module is used
It realizes the module of wireless telecommunications, herein, by carrying out long distance wireless data transmission with external communication terminal, realizes to nothing
Man-machine information is remotely monitored, and the intelligence of unmanned plane is realized；Voice cue module, for carrying out the mould of voice prompting
Block, herein, by controlling loudspeaker, so as to be played to relevant warning note；Display control module is used to
It realizes the module of display control, herein, by controlling display interface, the job information of unmanned plane can be carried out real
When show, improve the practicability of unmanned plane；Key control module, for carrying out the module by key control, herein, by right
The manipulation information of control button is acquired, and so as to carry out implementing live manipulation to unmanned plane, improve unmanned plane can
Operability；State indicator module, for realizing the module of state instruction, herein, by the bright dark control to status indicator lamp,
Real-time display can be carried out to the working condition of unmanned plane, improve the practicality；Working power module stablizes electricity for providing
The module of source voltage for providing stable operating voltage to the modules inside unmanned plane, improves unmanned plane herein
Reliability.
The aviation mechanism includes support rod, the second motor and several blades, and the side of body is arranged in the support rod,
The top of support rod is arranged in second motor, and second motor and each blade are sequentially connected, second motor and electricity
The electrical connection of machine control module；
Wherein, the second motor can be realized by the rotation of each blade of control and generate power of climbing to body, so as to control
Unmanned plane processed flies.
Second drive shaft of second motor is equipped with speed probe, the speed probe and Rotating speed measring module
Electrical connection, the Rotating speed measring module includes Rotating speed measring circuit, and the Rotating speed measring circuit includes the first amplifier, the second fortune
Put, first resistor, second resistance, 3rd resistor, the 4th resistance, the 5th resistance, first capacitor, the second capacitor, third capacitor and
The inverting input terminal of accelerometer, first amplifier is grounded by first resistor, and the inverting input terminal of first amplifier is logical
It crosses the second capacitor to connect with the output end of the first amplifier, the non-inverting input terminal of first amplifier is grounded by first capacitor, institute
The non-inverting input terminal for stating the first amplifier is connect by second resistance with the output end of the second amplifier, the output end of first amplifier
It is connect respectively with the 4th resistance and the 5th resistance by 3rd resistor, the output end of second amplifier passes through the 4th resistance and the
The series circuit of five resistance composition is connect with the inverting input terminal of the second amplifier, and the inverting input terminal of second amplifier is by adding
Speedometer ground connection, the non-inverting input terminal ground connection of second amplifier, the third capacitor and the 4th resistance and the 5th resistance form
Series circuit it is in parallel.
Wherein, because accelerometer is a charge output device, amplify conversion biography device using reverse phase and convert the charge to one
A voltage output is specifically exactly that sensor charge is converted into voltage using third capacitor；Third capacitor is equal to sensor electricity
Hold the input capacitance for adding the first amplifier, carries out signal amplification using the second amplifier, realize the accurate detection to revolving speed.
Preferably, water from water tank, enters fixing pipe, then go through inside connecting tube, from respectively pouring in water unit
It sprays, realizes the watering operation to glass, the water assembly that pours includes fixing pipe, horizontally disposed connecting tube and several waterings
Unit, the fixing pipe are arranged in the both ends of connecting tube and are connected to the water tank of internal body, and the water unit that pours equidistantly is set
It sets in connecting tube.
Preferably, the water unit that pours includes fixing axle and spray head, the spray head is arranged by fixing axle in connecting tube
On, the spray head is connected to the inside of connecting tube, and the spray head is electrically connected with water spray control module.
Preferably, the spray head is equipped with spray orifice, the central axis of the spray orifice is obliquely installed.
Wherein, water flow is sprayed from spray orifice, and since the central axis of spray orifice is obliquely installed, then spray head will be around fixing axle
It rotates, so as to improve the range of watering, improves the reliability of watering.
Preferably, converting solar energy into electric energy by solar panel, the follow-on mission of unmanned plane is realized
Distance, the power generation mechanism include solar panel, and the solar panel is electrically connected with central control module.
Preferably, being additionally provided with display interface on the body, the display interface is electrically connected with display control module.
Preferably, being additionally provided with status indicator lamp on the body, the status indicator lamp is electrically connected with state indicator module
It connects.
Preferably, being additionally provided with loudspeaker on the body, the loudspeaker is electrically connected with voice cue module.
Preferably, being additionally provided with control button on the body, the control button is electrically connected with key control module.
Preferably, the inside of the body is additionally provided with battery, the battery is electrically connected with working power module.
The invention has the advantages that this is used in the Intelligent unattended machine of glass cleaning, can be realized by wiper mechanism
Reliable cleaning to glass, improves the practicability of unmanned plane；Moreover, in Rotating speed measring circuit, pass through the second amplifier
Reliable signal amplification, realize the accurate detection to revolving speed, improve the reliability of unmanned plane.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of the Intelligent unattended machine for glass cleaning of the invention；
Fig. 2 is the structural schematic diagram for pouring water unit of the Intelligent unattended machine for glass cleaning of the invention；
Fig. 3 is the structural schematic diagram of the cleaning assembly of the Intelligent unattended machine for glass cleaning of the invention；
Fig. 4 is the structural schematic diagram of the cleaning unit of the Intelligent unattended machine for glass cleaning of the invention；
Fig. 5 is the structural schematic diagram of the Zhong Kong mechanism of the Intelligent unattended machine for glass cleaning of the invention；
Fig. 6 is the systematic schematic diagram of the Intelligent unattended machine for glass cleaning of the invention；
Fig. 7 is the circuit diagram of the Rotating speed measring circuit of the Intelligent unattended machine for glass cleaning of the invention；
In figure: 1. bodies, 2. Zhong Kong mechanisms, 3. power generation mechanisms, 4. aviation mechanisms, 5. signal receivers, 6. wiper mechanisms,
7. buffer gear, 8. fixing pipes, 9. connecting tubes, 10. fixing axles, 11. spray heads, 12. spray orifices, 13. fixed links, 14. fixed plates,
15. movable frame, 16. thermal vias, 17. first drive shafts, 18. first gears, 19. panels, 20. display interfaces, 21. controls are pressed
Key, 22. status indicator lamps, 23. loudspeakers, 24. central control modules, 25. water spray control modules, 26. motor control modules,
27. wireless communication module, 28. voice cue modules, 29. display control modules, 30. key control modules, 31. state instruction moulds
Block, 32. working power modules, 33. batteries, 34. first motors, 35. second motors, the first amplifier of U1., the second amplifier of U2.,
R1. first resistor, R2. second resistance, R3. 3rd resistor, the 4th resistance of R4., the 5th resistance of R5., C1. first capacitor, C2.
Two capacitors, C3. third capacitor, X1. accelerometer.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
As shown in Fig. 1-Fig. 7, a kind of Intelligent unattended machine for glass cleaning, including body 1, setting are above body 1
Power generation mechanism 3, the aviation mechanism 4 that 1 two sides of body are set, the Zhong Kong mechanism 2 being arranged on body 1, be arranged under body 1
The wiper mechanism 6 of side and the buffer gear 7 being arranged in below body 1, the power generation mechanism 3, aviation mechanism 4 and wiper mechanism 6
It is electrically connected with Zhong Kong mechanism 2；
Wherein, power generation mechanism 3 improve the cruising ability of unmanned plane for converting solar energy into electric energy；Aviation mechanism
4, for realizing the reliable flight of unmanned plane；Zhong Kong mechanism 2 is used to carry out reliable intelligentized control method to unmanned plane, improve
The reliability of unmanned plane；Wiper mechanism 6 improves the reliability of unmanned plane for cleaning to specified glass；Buffer
Structure 7, for realizing the reliable land of unmanned plane.
The wiper mechanism 6 includes pouring water assembly and cleaning assembly, the top poured water assembly and be located at cleaning assembly, institute
Stating cleaning assembly includes fixed link 13, fixed plate 14 and two cleaning units, and the fixed plate 14 is arranged by fixed link 13
The lower section of water assembly is poured, the cleaning unit is arranged in fixed plate 14；
The cleaning unit includes first motor 34, the first drive shaft 17, first gear 18, cleaning brush 16 and movable frame
15, the first motor 34 is sequentially connected by the first drive shaft 17 with first gear 18, and the first gear 18 is located at movement
The inside of frame 15, the cleaning brush 16 and first motor 34 are located at the two sides of movable frame 15, and the setting of cleaning brush 16 exists
On movable frame 15, the inner wall up and down of the movable frame 15 is equipped with the driving cog engaged with first gear 18, the first gear
The tooth of 18 peripheries is circumferentially uniformly distributed along the semicircle periphery of first gear 18；
Wherein, first motor 34 controls the rotation of first gear 18 by the first drive shaft 17, then first gear 18 and shifting
Driving cog inside dynamic frame 15 engages, and realizes moving left and right for movable frame 15, then cleaning brush 16 can be realized as left and right
Cleaning；Moreover, pouring water assembly during cleaning assembly cleaning, what can be continued water, and carries out the cleaning of glass, mentions
The high practicability of unmanned plane cleaning, improves the practicability of unmanned plane.
The Zhong Kong mechanism 2 includes panel 19 and middle control component, and the inside of panel 19 is arranged in the middle control component, described
It is middle to control water spray control module 25, the motor control module that component includes central control module 24, connect with central control module 24
26, wireless communication module 27, voice cue module 28, display control module 29, key control module 30, state indicator module 31
With working power module 32, the central control module 24 is PLC, is additionally provided with signal receiver 5 on the body 1, described the
One motor 34 is electrically connected with motor control module 26；
Wherein, central control module 24, for carrying out the module of intelligentized control method to unmanned plane, herein, center control
Module 24 is PLC, also can be single-chip microcontroller, realizes and carries out intelligentized control method to the modules in unmanned plane, improves nothing
Man-machine intelligence；Water spray control module 25, for the module sprayed water, herein, by carrying out switch control to spray head 11
System realizes watering operation；Motor control module 26 herein, passes through the first electricity of control for controlling the module of motor work
Machine 34 works, and realizes the cleaning to glass, by controlling the second motor 35, realizes the reliable flight of unmanned plane；
Wireless communication module 27, for realizing the module of wireless telecommunications, herein, by carrying out long distance wireless number with external communication terminal
According to transmission, realizes and the information of unmanned plane is remotely monitored, realize the intelligence of unmanned plane；Voice cue module 28,
For carrying out the module of voice prompting, herein, by controlling loudspeaker 23, so as to relevant warning note
It plays；Display control module 29, for realizing the module of display control, herein, and by controlling display interface 20, energy
Enough job informations to unmanned plane carry out real-time display, improve the practicability of unmanned plane；Key control module 30, for carrying out
By the module of key control, herein, it is acquired by the manipulation information to control button 21, so as to be carried out to unmanned plane
Implement scene manipulation, improves the operability of unmanned plane；State indicator module 31, for realizing the module of state instruction,
Here, by the bright dark control to status indicator lamp 22, real-time display can be carried out to the working condition of unmanned plane, improves it
Practicability；Working power module 32, for providing the module of stabilized supply voltage, herein, for each inside unmanned plane
A module provides stable operating voltage, improves the reliability of unmanned plane.
The aviation mechanism 4 includes that body 1 is arranged in support rod, the second motor 35 and several blades, the support rod
The top of support rod is arranged in side, second motor 35, and second motor 35 is sequentially connected with each blade, and described second
Motor 35 is electrically connected with motor control module 26；
Wherein, the second motor 35 can be realized by the rotation of each blade of control and generate power of climbing to body 1, so as to
Enough control unmanned planes fly.
Second drive shaft of second motor 35 is equipped with speed probe, the speed probe and Rotating speed measring mould
Block electrical connection, the Rotating speed measring module includes Rotating speed measring circuit, and the Rotating speed measring circuit includes the first amplifier U1, second
Amplifier U2, first resistor R1, second resistance R2,3rd resistor R3, the 4th resistance R4, the 5th resistance R5, first capacitor C1, second
Capacitor C2, third capacitor C3 and accelerometer X1, the inverting input terminal of the first amplifier U1 are grounded by first resistor R1, institute
The inverting input terminal for stating the first amplifier U1 is connect by the second capacitor C2 with the output end of the first amplifier U1, the first amplifier U1
Non-inverting input terminal be grounded by first capacitor C1, the non-inverting input terminal of the first amplifier U1 passes through second resistance R2 and second
The output end of amplifier U2 connects, the output end of the first amplifier U1 by 3rd resistor R3 respectively with the 4th resistance R4 and the 5th
Resistance R5 connection, the output end of the second amplifier U2 pass through the 4th resistance R4 and the 5th resistance R5 series circuit formed and the
The inverting input terminal of two amplifier U2 connects, and the inverting input terminal of the second amplifier U2 is grounded by accelerometer X1, and described the
The non-inverting input terminal of two amplifier U2 is grounded, the series circuit of the third capacitor C3 and the 4th resistance R4 and the 5th resistance R5 composition
It is in parallel.
Wherein, because accelerometer X1 is a charge output device, amplify conversion biography device using reverse phase and convert the charge to
One voltage output is specifically exactly that sensor charge is converted into voltage using third capacitor C3；Third capacitor C3, which is equal to, to be passed
Sensor capacitor adds the input capacitance of the first amplifier U1, carries out signal amplification using the second amplifier U2, realizes to revolving speed
Accurate detection.
Preferably, water from water tank, enters fixing pipe 8, then go through inside connecting tube 9, from respectively pouring water unit
Middle ejection realizes the watering operation to glass, and the water assembly that pours includes fixing pipe 8, horizontally disposed connecting tube 9 and several
Water unit is poured, the fixing pipe 8 is arranged in the both ends of connecting tube 9 and is connected to the water tank inside body 1, described to pour water unit etc.
Spacing is arranged in connecting tube 9.
Preferably, the water unit that pours includes fixing axle 10 and spray head 11, the spray head 11 is arranged by fixing axle 10
In connecting tube 9, the spray head 11 is connected to the inside of connecting tube 9, and the spray head 11 is electrically connected with water spray control module 25.
Preferably, the spray head 11 is equipped with spray orifice 12, the central axis of the spray orifice 12 is obliquely installed.
Wherein, water flow is sprayed from spray orifice 12, and since the central axis of spray orifice 12 is obliquely installed, then spray head 11 will be around
Fixing axle 10 rotates, and so as to improve the range of watering, improves the reliability of watering.
Preferably, converting solar energy into electric energy by solar panel, the follow-on mission of unmanned plane is realized
Distance, the power generation mechanism 3 include solar panel, and the solar panel is electrically connected with central control module 24.
Preferably, display interface 20 is additionally provided on the body 1, the display interface 20 and 29 electricity of display control module
Connection.
Preferably, status indicator lamp 22 is additionally provided on the body 1, the status indicator lamp 22 and state indicator module
31 electrical connections.
Preferably, being additionally provided with loudspeaker 23 on the body 1, the loudspeaker 23 is electrically connected with voice cue module 28
It connects.
Preferably, control button 21 is additionally provided on the body 1, the control button 21 and 30 electricity of key control module
Connection.
Preferably, the inside of the body 1 is additionally provided with battery 33, the battery 33 and 32 electricity of working power module
Connection.
Compared with prior art, this is used in the Intelligent unattended machine of glass cleaning, can be realized by wiper mechanism 6 to glass
The reliable cleaning of glass, improves the practicability of unmanned plane；Moreover, in Rotating speed measring circuit, pass through the second amplifier U2's
Reliable signal amplification, realizes the accurate detection to revolving speed, improves the reliability of unmanned plane.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (10)
1. a kind of Intelligent unattended machine for glass cleaning, which is characterized in that including body, the generator being arranged in above body
Structure, the aviation mechanism that body two sides are set, the Zhong Kong mechanism being arranged on body, the wiper mechanism being arranged in below body and
Buffer gear below body is set, and the power generation mechanism, aviation mechanism and wiper mechanism are electrically connected with Zhong Kong mechanism；
The wiper mechanism includes pouring water assembly and cleaning assembly, and the top poured water assembly and be located at cleaning assembly is described clear
Washing component includes fixed link, fixed plate and two cleaning units, and the fixed plate is arranged in by fixed link to be poured under water assembly
Side, the cleaning unit are arranged in fixed plate；
The cleaning unit includes first motor, the first drive shaft, first gear, cleaning brush and movable frame, the first motor
It is sequentially connected by the first drive shaft and first gear, the first gear is located at the inside of movable frame, the cleaning brush and the
One motor is located at the two sides of movable frame, and the cleaning brush is arranged on movable frame, and the inner wall up and down of the movable frame is all provided with
There is driving cog engaged with the first gear, the tooth of the first gear periphery circumferentially uniformly divides along the semicircle periphery of first gear
Cloth；
The Zhong Kong mechanism includes panel and middle control component, and the inside of panel, the middle control component is arranged in the middle control component
Including central control module, the water spray control module being connect with central control module, motor control module, wireless communication module,
Voice cue module, display control module, key control module, state indicator module and working power module, the center control
Molding block is PLC, is additionally provided with signal receiver on the body, the first motor is electrically connected with motor control module；
The aviation mechanism includes support rod, the second motor and several blades, and the side of body is arranged in the support rod, described
The top of support rod is arranged in second motor, and second motor and each blade are sequentially connected, second motor and motor control
The electrical connection of molding block；
Second drive shaft of second motor is equipped with speed probe, and the speed probe is electrically connected with Rotating speed measring module
It connects, the Rotating speed measring module includes Rotating speed measring circuit, and the Rotating speed measring circuit includes the first amplifier, the second amplifier, the
One resistance, second resistance, 3rd resistor, the 4th resistance, the 5th resistance, first capacitor, the second capacitor, third capacitor and acceleration
The inverting input terminal of meter, first amplifier is grounded by first resistor, and the inverting input terminal of first amplifier passes through second
Capacitor is connect with the output end of the first amplifier, and the non-inverting input terminal of first amplifier is grounded by first capacitor, and described first
The non-inverting input terminal of amplifier is connect by second resistance with the output end of the second amplifier, and the output end of first amplifier passes through the
Three resistance are connect with the 4th resistance and the 5th resistance respectively, and the output end of second amplifier passes through the 4th resistance and the 5th resistance
The series circuit of composition is connect with the inverting input terminal of the second amplifier, and the inverting input terminal of second amplifier passes through accelerometer
Ground connection, the non-inverting input terminal ground connection of second amplifier, the third capacitor are connected with what the 4th resistance and the 5th resistance formed
Circuit in parallel.
2. being used for the Intelligent unattended machine of glass cleaning as described in claim 1, which is characterized in that the water assembly that pours includes solid
Fixed pipe, horizontally disposed connecting tube and it is several pour water unit, the both ends of connecting tube and and internal body is arranged in the fixing pipe
Water tank connection, the water unit that pours is set in qually spaced in connecting tube.
3. being used for the Intelligent unattended machine of glass cleaning as claimed in claim 2, which is characterized in that the water unit that pours includes solid
Dead axle and spray head, the spray head are arranged in connecting tube by fixing axle, and the spray head is connected to the inside of connecting tube, the spray
Head is electrically connected with water spray control module.
4. being used for the Intelligent unattended machine of glass cleaning as claimed in claim 3, which is characterized in that the spray head is equipped with spray
The central axis in hole, the spray orifice is obliquely installed.
5. being used for the Intelligent unattended machine of glass cleaning as described in claim 1, which is characterized in that the power generation mechanism includes too
Positive energy power generation plate, the solar panel are electrically connected with central control module.
6. being used for the Intelligent unattended machine of glass cleaning as described in claim 1, which is characterized in that be additionally provided on the body aobvious
Show interface, the display interface is electrically connected with display control module.
7. being used for the Intelligent unattended machine of glass cleaning as described in claim 1, which is characterized in that be additionally provided with shape on the body
State indicator light, the status indicator lamp are electrically connected with state indicator module.
8. being used for the Intelligent unattended machine of glass cleaning as described in claim 1, which is characterized in that be additionally provided with and raise on the body
Sound device, the loudspeaker are electrically connected with voice cue module.
9. being used for the Intelligent unattended machine of glass cleaning as described in claim 1, which is characterized in that be additionally provided with control on the body
Key processed, the control button are electrically connected with key control module.
10. being used for the Intelligent unattended machine of glass cleaning as described in claim 1, which is characterized in that the inside of the body is also
Equipped with battery, the battery is electrically connected with working power module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710475990.8A CN107253523B (en) | 2017-06-21 | 2017-06-21 | A kind of Intelligent unattended machine for glass cleaning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710475990.8A CN107253523B (en) | 2017-06-21 | 2017-06-21 | A kind of Intelligent unattended machine for glass cleaning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107253523A CN107253523A (en) | 2017-10-17 |
| CN107253523B true CN107253523B (en) | 2019-10-08 |
Family
ID=60023291
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710475990.8A Active CN107253523B (en) | 2017-06-21 | 2017-06-21 | A kind of Intelligent unattended machine for glass cleaning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107253523B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813935A (en) * | 2017-10-21 | 2018-03-20 | 宋云飞 | A kind of street lamp solar panels cleaning device of unmanned plane formula |
| CN109693792A (en) * | 2019-01-15 | 2019-04-30 | 广州市鹭江远科技有限公司 | A kind of unmanned plane with cleaning function |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0697335A1 (en) * | 1993-02-18 | 1996-02-21 | McLean, Ian | Hydro service system assembly |
| CN103690110A (en) * | 2012-09-27 | 2014-04-02 | 昆山冠强软件科技有限公司 | High-rise outer wall cleaning device based on helicopter aviation model |
| CN104706271A (en) * | 2013-12-11 | 2015-06-17 | 李颖 | Control system for glass-wall cleaning robot |
| CN104787342A (en) * | 2015-05-11 | 2015-07-22 | 厦门大学 | Curtain washing method based on unmanned aerial vehicle |
| CN205268037U (en) * | 2015-12-28 | 2016-06-01 | 汇星海科技（天津）有限公司 | Outer wall washing type unmanned aerial vehicle |
| CN106264311A (en) * | 2016-09-13 | 2017-01-04 | 成都创慧科达科技有限公司 | A kind of building exterior window cleaning unmanned plane |
-
2017
- 2017-06-21 CN CN201710475990.8A patent/CN107253523B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0697335A1 (en) * | 1993-02-18 | 1996-02-21 | McLean, Ian | Hydro service system assembly |
| CN103690110A (en) * | 2012-09-27 | 2014-04-02 | 昆山冠强软件科技有限公司 | High-rise outer wall cleaning device based on helicopter aviation model |
| CN104706271A (en) * | 2013-12-11 | 2015-06-17 | 李颖 | Control system for glass-wall cleaning robot |
| CN104787342A (en) * | 2015-05-11 | 2015-07-22 | 厦门大学 | Curtain washing method based on unmanned aerial vehicle |
| CN205268037U (en) * | 2015-12-28 | 2016-06-01 | 汇星海科技（天津）有限公司 | Outer wall washing type unmanned aerial vehicle |
| CN106264311A (en) * | 2016-09-13 | 2017-01-04 | 成都创慧科达科技有限公司 | A kind of building exterior window cleaning unmanned plane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107253523A (en) | 2017-10-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106769241B (en) | Unmanned aerial vehicle for atmosphere sampling detection and toxic and harmful gas early warning monitoring | |
| CN204916161U (en) | No rotorcraft multiaxis aircraft | |
| CN204979219U (en) | Four screws gyroplane that verts | |
| CN204965186U (en) | Vacant lot amphibious robot that patrols and examines of integration | |
| CN107253523B (en) | A kind of Intelligent unattended machine for glass cleaning | |
| CN105799923A (en) | Four-rotor aircraft-based carrying manipulator | |
| CN107187587A (en) | A kind of Intelligent unattended machine taken photo by plane for video display | |
| CN107187588A (en) | A kind of Intelligent unattended machine with safety and shock-absorption function | |
| CN205574270U (en) | Delivery manipulator based on four rotor crafts | |
| CN204822084U (en) | Many rotor unmanned aerial vehicle | |
| CN205060006U (en) | Four -rotor unmanned aerial vehicle | |
| CN107172927A (en) | A kind of Intelligent unattended machine for agricultural production | |
| CN105252980A (en) | Air-ground amphibious emergent rescue investigation robot and purposes of same | |
| CN107010210A (en) | A kind of Intelligent unattended machine for electric power overhaul | |
| CN107264785A (en) | A kind of Intelligent unattended machine for express transportation | |
| CN107323659A (en) | A kind of Intelligent unattended machine for being easy to store based on Internet of Things | |
| CN109573027A (en) | A kind of agricultural pesticide spraying unmanned plane | |
| CN107226210A (en) | A kind of Intelligent unattended machine for agricultural irrigation | |
| CN104494817A (en) | Four-rotor unmanned aerial vehicle | |
| CN204979251U (en) | Novel spray rinsing unmanned aerial vehicle device | |
| CN107264800A (en) | A kind of Intelligent unattended machine cleared up for river surface algae | |
| CN210354583U (en) | Wall top cleaning unmanned aerial vehicle | |
| CN210000581U (en) | physical combined unmanned aerial vehicle cluster | |
| CN205989813U (en) | A kind of professional big flood rescue unmanned plane for rescue disaster affected people in flood damage | |
| CN215043694U (en) | Middle and low altitude atmospheric environmental pollution source analysis environment monitoring unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190905 Address after: 318000 Xiayangpan District, Tangan Village, Jiaojiang District, Taizhou City, Zhejiang Province, 17-4 Applicant after: Hu Fangjuan Address before: 518000 Guangdong city of Shenzhen province Qianhai Shenzhen Hong Kong cooperation zone before Bay Road No. 1 building 201 room A Applicant before: SHENZHEN LEILING GUANGTONG TECHNOLOGY DEVELOPMENT Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221013 Address after: V2166, Enterprise Service Center of Changsha Construction Machinery Industrial Park, No. 78, South Section of East 11th Road, Changsha Area, China (Hunan) Pilot Free Trade Zone, 410000, Hunan Patentee after: Tonghang Education Technology Co.,Ltd. Address before: 318000 Zhejiang Taizhou Jiaojiang District Tangan village Xia Yang pan District 17-4 Patentee before: Hu Fangjuan |
|
| TR01 | Transfer of patent right |