CN112587023A - Cleaning cloth device for window cleaning robot, and window cleaning robot control system and method - Google Patents
Cleaning cloth device for window cleaning robot, and window cleaning robot control system and method Download PDFInfo
- Publication number
- CN112587023A CN112587023A CN202011518661.5A CN202011518661A CN112587023A CN 112587023 A CN112587023 A CN 112587023A CN 202011518661 A CN202011518661 A CN 202011518661A CN 112587023 A CN112587023 A CN 112587023A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- cloth
- robot
- window
- cleaning cloth
- 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.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 201
- 239000004744 fabric Substances 0.000 title claims abstract description 101
- 238000000034 method Methods 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 28
- 238000007790 scraping Methods 0.000 claims description 25
- 239000010865 sewage Substances 0.000 claims description 22
- 239000012535 impurity Substances 0.000 claims description 19
- 238000005507 spraying Methods 0.000 claims description 14
- 238000001125 extrusion Methods 0.000 claims description 13
- 239000011521 glass Substances 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000001179 sorption measurement Methods 0.000 claims description 9
- 239000007921 spray Substances 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000005086 pumping Methods 0.000 claims description 3
- 239000002689 soil Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 description 7
- 238000005202 decontamination Methods 0.000 description 6
- 230000003588 decontaminative effect Effects 0.000 description 6
- 239000011148 porous material Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000005357 flat glass Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000010813 municipal solid waste Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a cloth cleaning device for a window cleaning robot, a window cleaning robot control system and a window cleaning robot control method. The invention aims to provide a cleaning cloth device, a window cleaning robot control system and a window cleaning robot control method.
Description
The application is a divisional application with application date of 28.09.2019, application number of 201910928084.8 and invention name of 'a window cleaning robot'.
Technical Field
The invention belongs to the field of robots, and particularly relates to a cleaning cloth device for a window cleaning robot, a window cleaning robot control system and a window cleaning robot control method.
Background
With the increasing urbanization process, the glass surfaces of both residential buildings and high-rise buildings are more and more, so that window glass cleaning is not easy, especially for the high-rise buildings, the window glass is cleaned at a long time, and workers are required to work at high altitude, so that the safety is also tested. The external glass of the residential building is difficult to clean, and the manual cleaning has certain potential safety hazard, so the window cleaning robot is produced. The existing window cleaning robot has the defects of unclean glass cleaning and low window cleaning efficiency, so a better window cleaning robot is needed.
Disclosure of Invention
In view of the above-described problems, it is an object of the present invention to provide a cleaning device for a window-cleaning robot, a window-cleaning robot control system, and a method thereof.
The invention is realized by the following technical scheme:
a window cleaning robot comprises a robot body in a rectangular box shape, wherein a walking device and an adsorption mechanism capable of enabling the robot to be adsorbed on the surface of glass are arranged at the bottom of the robot body;
the robot body is also internally provided with a clean water tank and a sewage tank which are connected with the cleaning cloth device.
The cleaning device comprises two rotary drums and at least one rotary drum, wherein a motor which is connected with the rotary drums and can drive the rotary drums to rotate is arranged on the at least one rotary drum, annular cleaning cloth which can rotate along with the rotary drums is installed on the two rotary drums in a matched mode, the rotary drums are installed on the inner sides of the cleaning cloth and enable the cleaning cloth to be tightly tightened, a side opening door is arranged opposite to the motor, a plurality of anti-skidding protrusions are arranged on the outer cylindrical surface of each rotary drum, a window cleaning auxiliary device is further arranged in the robot body and comprises a movable plate which is installed between the two rotary drums and located on the inner side of the annular cleaning cloth, the movable plate can be installed in the robot body in a vertically telescopic mode through an electric telescopic rod installed in the robot body, the force of the movable plate acting on the cleaning cloth can be adjusted through the telescopic. The bottom surface of the movable plate is provided with a pressure sensor
The cleaning cloth device comprises an outer shell and a first opening arranged in the outer shell, wherein the outer shell is provided with a piece of cleaning cloth facing the first opening, the first opening is sequentially provided with a front dirt removing structure connected with a sewage tank and a middle dirt removing structure connected with the sewage tank along the moving direction of the cleaning cloth, the front dirt removing structure and the middle dirt removing structure are located on the outer side of the cleaning cloth, a supporting plate matched with the dirt removing structure and the middle dirt removing structure is arranged on the inner side of the cleaning cloth on the side of the first opening, and a plurality of fine holes are formed in the supporting plate.
Wherein, the rotary drum is installed on branch, branch include interior pole and cover establish with interior pole outer pole, the rotary drum is located on the outer pole, be equipped with on interior pole with outer pole terminal surface complex compression spring, be equipped with limit structure between interior pole and the outer pole, the one end that the spring was kept away from to the outer pole is established to the centrum structure, and conical bearing is installed to the centrum structure cooperation, conical bearing installs on the side door, and the side door is closed and is just made conical bearing and centrum structure form the cooperation.
The cleaning cloth is characterized in that the rotary drum is olive-shaped, the cleaning cloth has elasticity, the structure of the cleaning cloth is matched with that of the olive-shaped rotary drum, an inner rib is embedded into the cleaning cloth, and the angle formed by the inner rib and the edge of the cleaning cloth is 70-110 degrees.
The device comprises a front decontamination structure, a front decontamination structure and a back decontamination structure, wherein the front decontamination structure comprises a scraping part which is of an arc structure and used for scraping dirt and an extrusion part positioned at the downstream of the scraping part, the scraping part is provided with a rotating hopper in a matching way, the rotating hopper comprises a driving motor which is installed in a matching way with a rotating shaft of the rotating hopper, the rotating hopper and the scraping part are installed in a matching way to form a U-shaped structure, the rotating hopper is installed at the inner side of the scraping part and is also provided with an impurity box in a matching way, the top of the impurity box is provided with an electric door, the rotating hopper rotates to just pour the impurities into the impurity box through; the squeezing part comprises a strip-shaped shell with a section similar to a right trapezoid, a shorter bottom surface of the strip-shaped shell is arranged close to the cleaning cloth, a plurality of through holes are formed in the inclined surface of the strip-shaped shell and the bottom surface close to the cleaning cloth, a plurality of outer concave structures are further arranged close to the bottom surface of the cleaning cloth, the outer concave structures can be spherical structures, and the strip-shaped shell is connected to the sewage tank through a negative pressure air pump;
the central dirt removing structure comprises a water spraying structure and an extrusion part, wherein the water spraying structure sprays water towards the cleaning surface of the cleaning cloth, the extrusion part is arranged on the downstream side of the water spraying structure, and the water spraying structure is connected to the clean water tank and can uniformly spray water with set pressure.
The control system of the window cleaning robot further comprises an MCU arranged in the robot body, and the walking device, the adsorption mechanism, the cleaning device and the cloth cleaning device are all connected with the MCU; the bottom of the movable plate is provided with a pressure sensor connected with the MCU, and the motor, the electric telescopic rod, the water spraying structure, the driving motor, the electric door and the negative pressure air pump are respectively connected with the MCU.
The control method of the window cleaning robot comprises the following steps:
step one, when the window cleaning robot needs to be used, controlling an adsorption mechanism and a walking device to work;
step two, controlling the cleaning device and the cloth cleaning device to work, enabling the cleaning cloth on the cleaning device to clean the glass surface, cleaning the cleaning cloth by the cloth cleaning device according to the setting, scraping off dirt by a scraping component when the cloth cleaning device is cleaned, setting a rotating bucket to rotate once according to the setting time, opening an electric door when the rotating bucket rotates, opening a negative pressure pump to guide the dirt into an impurity box, controlling an extrusion part to extrude the sewage, pumping the sewage into a sewage box through the negative pressure pump, controlling a middle-mounted dirt cleaning structure to spray the sewage to clean the cleaning cloth, and cleaning through the extrusion part arranged on the middle-mounted dirt cleaning structure to improve the cleaning success degree; step three, the pressure sensor transmits the measured data to the MCU in real time, when the pressure is smaller than a set value, the MCU controls the electric telescopic rod to extend the set value until the pressure is in a set interval, and when the pressure is larger than the set value, the MCU controls the electric telescopic rod to shorten until the pressure is in the set interval;
and step four, circulating the control flow from the step one to the step three until the cleaning is finished.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
the window cleaning robot can conveniently replace the cleaning cloth, can clean while cleaning, and can greatly improve the window cleaning efficiency and the window cleaning degree.
Drawings
FIG. 1 is a schematic bottom view of a window cleaning robot;
FIG. 2 is a schematic view of the mounting structure of the movable plate;
FIG. 3 is a schematic structural view of a strut;
FIG. 4 is a schematic view showing the construction of the cloth cleaning apparatus;
FIG. 5 is a schematic structural view of a decontamination structure;
FIG. 6 is an enlarged view of A in FIG. 5;
FIG. 7 is a schematic structural view of a central decontamination structure;
fig. 8 is a partially developed view of the cleaning cloth.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The first embodiment is as follows:
the window cleaning robot as shown in fig. 1-8 comprises a robot body 1 in the shape of an approximate rectangular box, wherein a walking device 9 and an adsorption mechanism 2 which can enable the robot to be adsorbed on the surface of glass are arranged at the bottom of the robot body 1, the walking device 9 can drive the window cleaning robot to walk, a cleaning device 3 which can clean the glass at the bottom of the robot and a cleaning cloth device 6 which can clean the cleaning cloth of the cleaning device 3 are arranged in the robot body 1, and a side door 101 which is convenient for replacing the cleaning cloth is arranged on the side surface of the robot body 1;
the robot body 1 is also internally provided with a clean water tank 5 and a sewage tank 7 which are connected with the cleaning cloth device; normally, a pair of storage batteries (not shown) connected to the electric devices are also provided in the window wiping robot.
The cleaning device 3 comprises two rotating drums 32 and at least one rotating drum, wherein the rotating drum is provided with a motor 31 which is connected with the rotating drum and can drive the rotating drum to rotate, so that the motor can be conveniently driven to rotate, the two rotating drums 32 are provided with annular cleaning cloth 4 which can rotate along with the rotating drum in a matching way, the cleaning cloth device 3 can be arranged in the middle of the two rotating drums 32 and is positioned above the cleaning cloth 4 and is arranged in a matching way with the cleaning cloth, and the cleaning cloth 4 and the surface of an object to be cleaned move relatively, so that the cleaning cloth 4 has certain elasticity for cleaning; the rotary drum 32 is arranged on the inner side of the cleaning cloth 4 and enables the cleaning cloth to be tightened exactly, sliding of the cleaning cloth is reduced, the side door 101 is arranged opposite to the motor 31, a plurality of anti-skid protrusions (not shown) are arranged on the outer cylindrical surface of the rotary drum 32, the anti-skid protrusions are a plurality of strip-shaped protrusions which protrude outwards and are parallel to the axis of the rotary drum 32, the height of each protrusion is 2-3mm, and the width of each protrusion is 1-3mm, so that the attachment capacity of the cleaning cloth on the surface of the rotary drum can be improved; the robot body 1 is also internally provided with an auxiliary window wiping device 10, the auxiliary window wiping device 10 comprises a movable plate 103 which is arranged between the two rotary drums and is positioned on the inner side of the annular cleaning cloth, the movable plate 103 can be vertically and telescopically arranged in the robot body through an electric telescopic rod 102 arranged in the robot body, the force of the movable plate acting on the cleaning cloth can be adjusted through the telescopic action of the electric telescopic rod 102, the electric telescopic rod 102 is arranged on the opposite side of the side opening door, and the bottom surface of the movable plate is provided with a pressure sensor, so that the force between the cleaning cloth and the surface of an object to be cleaned can be conveniently adjusted, and a better cleaning function is achieved.
The cloth cleaning device 6 comprises an outer shell 62 and a first opening 63 arranged in the outer shell, wherein the outer shell 62 is provided with a front dirt removing structure 61 connected with a sewage tank and a middle dirt removing structure 64 connected with the clean water tank, the first opening 63 is sequentially provided with the front dirt removing structure 61 and the middle dirt removing structure 64 along the moving direction of the cleaning cloth, the front dirt removing structure 61 and the middle dirt removing structure 64 are positioned on the outer side of the cleaning cloth, a support plate 66 matched with the dirt removing structure 61 and the middle dirt removing structure 64 is arranged on the inner side of the cleaning cloth at the side of the first opening 63, a plurality of pores are formed on the support plate 66, the purpose of the pores is that the air can flow, the diameter of the pores is small as much as possible, and the effects of not affecting the cleaning and squeezing the sewage on the cleaning cloth are good.
The rotary drum 32 is arranged on a support rod 8, the support rod 8 comprises an inner rod 81 and an outer rod 82 sleeved outside the inner rod, the rotary drum is arranged on the outer rod, a compression spring 806 matched with the end surface of the outer rod is arranged on the inner rod 81, a limiting structure 804 is arranged between the inner rod 81 and the outer rod 82, the limiting structure 804 can be arranged to comprise an anti-slip strip 804a arranged on the inner rod and an anti-slip groove 804b which is arranged on the inner side of the outer rod and is matched with the anti-slip strip, the anti-slip strip 804a and the anti-slip groove 804b play a role in limiting, the end of the outer rod 82, which is far away from the spring, is provided with a cone structure, the cone structure 805 is provided with a conical bearing 803 in a matching way, the tapered bearing is arranged on the side door, the tapered bearing is matched with the cone structure just by opening and closing the side door, this structure can make after clean the completion, or when clean effect is not good, change cleaning cloth to improve clear effect, the change mode is simple.
The rotary drum is olive-shaped, the cleaning cloth 4 has elasticity, the structure of the cleaning cloth is matched with the structure of the olive-shaped rotary drum, an inner rib 41 is embedded into the cleaning cloth, the angle formed by the inner rib and the edge of the cleaning cloth is 70-110 degrees, preferably 80 degrees, 90 degrees and 100 degrees, so that the possibility of rolling the cleaning cloth can be avoided or reduced, the cleaning effect is avoided being influenced, meanwhile, the cleaning effect can be improved, the inner rib can be of a rubber or steel wire structure, and the thickness of the cleaning cloth is not influenced by the structure of the inner rib.
The front trash cleaning structure 61 comprises a scraping component 611 in an arc structure and used for scraping dirty dirt, and a squeezing part 612 located at the downstream of the scraping component 611, wherein a rotating hopper 613 is installed in a matching manner on the scraping component 611, the rotating hopper comprises a driving motor a installed in a matching manner with a rotating shaft of the rotating hopper, the rotating hopper and the scraping component 611 are installed in a matching manner in a U-shaped structure, the rotating hopper is installed on the inner side of the scraping component, an impurity box 614 is also installed in the rotating hopper in a matching manner, an electric door 615 is arranged at the top of the impurity box 614, impurities can be just poured into the impurity box 614 through the electric door 615 when the rotating hopper rotates, and a negative pressure air pump is connected to the bottom of the impurity box 614, so that the impurities on the scraping component 611 can be placed into the impurity box 614 through; the extrusion part 612 comprises a strip-shaped shell 6121 with a right trapezoid-like cross section, the length of the strip-shaped shell 6121 is basically the same as that of the cleaning cloth, a shorter bottom surface of the strip-shaped shell 6121 is arranged close to the cleaning cloth, a plurality of through holes 6122 are arranged on the inclined surface of the strip-shaped shell 6121 and the bottom surface close to the cleaning cloth, a plurality of outer concave structures 6123 are further arranged close to the bottom surface of the cleaning cloth, each outer concave structure can be a spherical structure or a triangular structure in cross section, the strip-shaped shell 6121 is connected to the sewage tank 7 through a negative pressure air pump, and dirt with water can be removed primarily through the extrusion part;
the central dirt removing structure 64 comprises a water spraying structure 641 spraying water towards the cleaning surface of the cleaning cloth and an extrusion part 612 arranged on the downstream side of the water spraying structure, the water spraying structure 641 is connected to the clean water tank 5 and can evenly spray water with set pressure, the central dirt removing structure 64 further removes dirt on the cleaning cloth, and redundant water on the cleaning cloth is removed, so that more proper cleaning dryness and humidity are achieved, and the cleaning effect and efficiency are improved.
The control system of the window cleaning robot based on the technical scheme further comprises an MCU arranged in the robot body, and the walking device 9, the adsorption mechanism 2, the cleaning device 3 and the cleaning device 6 are all connected with the MCU; the bottom of the movable plate is provided with a pressure sensor connected with the MCU, and the motor 31, the electric telescopic rod 102, the driving motor a, the electric door 615, the water spraying structure 641 and the negative pressure air pump are respectively connected with the MCU.
The window-cleaning robot control method based on the window-cleaning robot comprises the following steps:
step one, when the window cleaning robot needs to be used, the adsorption mechanism 2 and the walking device 9 are controlled to work;
step two, controlling the cleaning device and the cloth cleaning device to work, enabling the cleaning cloth on the cleaning device to clean the glass surface, enabling the cloth cleaning device to clean the cleaning cloth according to the setting, when the cloth cleaning device is cleaned, scraping off dirt by the arranged scraping part 611, arranging the rotating bucket to rotate once according to the setting time, opening the electric door 615 when the rotating bucket rotates, opening the negative pressure pump to guide the dirt into the impurity box 614, controlling the extrusion part to extrude the sewage, pumping the sewage into the sewage box through the negative pressure pump, simultaneously controlling the central dirt cleaning structure to spray the sewage to clean the cleaning cloth, and cleaning through the extrusion part arranged on the central dirt cleaning structure 64 to improve the cleaning degree; step three, the pressure sensor transmits the measured data to the MCU in real time, when the pressure is smaller than a set value, the MCU controls the electric telescopic rod 102 to extend the set value until the pressure is in a set interval, and when the pressure is larger than the set value, the MCU controls the electric telescopic rod 102 to shorten until the pressure is in the set interval;
and step four, circulating the control flow from the step one to the step three until the cleaning is finished.
By the control system and the control method of the window cleaning robot, the window cleaning and the window cleaning method of people can be effectively controlled, and a better window cleaning effect is achieved.
Although the present application has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. Clean cloth device for window-cleaning robot, its characterized in that, including shell body (62), shell body (62) are formed with one towards first opening (63) of cleaning cloth (4), be equipped with in proper order along the moving direction of cleaning cloth on first opening (63) with the leading structure of decontaminating (61) of being connected with the sewage case and with the middle-placed structure of decontaminating (64) that the clean water case is connected, leading structure of decontaminating (61), middle-placed structure of decontaminating (64) are located the cleaning cloth outside, the inboard of the cleaning cloth of first opening (63) side be equipped with structure of decontaminating (61), middle-placed structure of decontaminating (64) complex extension board (66).
2. The cloth cleaning device for the window-wiping robot as claimed in claim 1, wherein the front dirt-cleaning structure (61) comprises a scraping component (611) which is of an arc structure and is used for scraping dirt, and a pressing part (612) which is positioned at the downstream of the scraping component (611), the scraping component (611) is provided with a rotating bucket (613) in a matching way, the rotating bucket comprises a driving motor (a) which is matched with a rotating shaft of the rotating bucket, the rotating bucket and the scraping component (611) are arranged in a U-shaped structure in a matching way, the rotating bucket is arranged at the inner side of the scraping component and is also matched with an impurity box (614), the top of the impurity box (614) is provided with an electric door (615), the rotating bucket rotates to just pour the impurities into the impurity box (614) through the electric door (615), and the bottom of the impurity box (614) is connected with a negative pressure air pump; the extrusion portion (612) comprises a strip-shaped shell (6121) with a cross section approximate to a right trapezoid, a shorter bottom surface of the strip-shaped shell (6121) is close to the cleaning cloth, a plurality of through holes (6122) are formed in the inclined surface of the strip-shaped shell (6121) and the bottom surface close to the cleaning cloth, a plurality of outer concave structures (6123) are further arranged on the bottom surface close to the cleaning cloth, each outer concave structure is of a spherical structure or a triangular structure in cross section, and the strip-shaped shell (6121) is connected to the sewage tank (7) through a negative pressure air pump.
3. The cloth cleaning apparatus for a window-wiping robot according to claim 1 or 2, wherein the middle-set soil cleaning structure (64) includes a water spraying structure (641) which sprays water toward the cleaning surface of the cleaning cloth and a pressing portion (612) provided on a downstream side of the water spraying structure, and the water spraying structure (641) is connected to the clean water tank (5) and can uniformly spray water at a set pressure.
4. A window-cleaning robot, characterized in that it comprises a cleaning cloth device (6) according to any one of claims 1-3.
5. The window cleaning robot as claimed in claim 4, further comprising a robot body (1) in a rectangular box shape, wherein a walking device (9) and an adsorption mechanism (2) capable of enabling the robot to be adsorbed on the surface of glass are arranged at the bottom of the robot body (1), a cleaning device (3) capable of cleaning the bottom glass of the robot is arranged in the robot body (1), and a side door (101) convenient for replacing cleaning cloth is arranged on the side surface of the robot body (1).
6. The window cleaning robot according to claim 5, wherein the cleaning device (3) comprises two rotating drums (32) and at least one rotating drum is provided with a motor (31) connected with the rotating drums and capable of driving the rotating drums to rotate, the two rotating drums (32) are provided with an annular cleaning cloth (4) capable of rotating along with the rotating drums in a matching manner, the rotating drums (32) are arranged on the inner side of the cleaning cloth (4) and enable the cleaning cloth to be just tightened, the side doors (101) are arranged on the opposite sides of the motor (31), the outer cylindrical surface of the rotating drums (32) is provided with a plurality of anti-skidding bulges, the robot body (1) is further provided with a window cleaning auxiliary device (10), the window cleaning auxiliary device (101) comprises a movable plate (103) arranged between the two rotating drums and located on the inner side of the annular cleaning cloth, the movable plate (103) can be vertically and telescopically arranged in the robot body through an electric telescopic rod (102) arranged in the robot body, the force of the movable plate acting on the cleaning cloth can be adjusted through the extension and retraction of the electric telescopic rod (102), and the electric telescopic rod (102) is arranged on the opposite side of the side opening door.
7. The window-cleaning robot as claimed in claim 6, wherein the drum (32) is mounted on a support rod (8), the support rod (8) comprises an inner rod (81) and an outer rod (82) sleeved outside the inner rod, the drum is arranged on the outer rod, a compression spring (806) matched with the end face of the outer rod is arranged on the inner rod (81), a limiting structure (804) is arranged between the inner rod (81) and the outer rod (82), one end of the outer rod (82) far away from the spring is arranged to be a cone structure, a conical bearing (803) is mounted in a matched manner on the cone structure (805), the conical bearing is mounted on a side door, and the conical bearing is matched with the cone structure just after the side door is closed.
8. The control system of the window cleaning robot is characterized by further comprising an MCU (microprogrammed control Unit) arranged in the robot body, wherein the walking device (9), the adsorption mechanism (2), the cleaning device (3) and the cleaning device (6) are all connected with the MCU; the bottom of the movable plate is provided with a pressure sensor connected with the MCU, and the motor (31), the electric telescopic rod (102), the driving motor (a), the water spraying structure (641), the electric door (615) and the negative pressure air pump are respectively connected with the MCU.
9. The control method of the window cleaning robot is characterized by comprising the following steps:
step one, when the window cleaning robot needs to be used, the adsorption mechanism (2) and the walking device (9) are controlled to work;
step two, controlling the cleaning device and the cloth cleaning device to work, enabling the cleaning cloth on the cleaning device to clean the glass surface, cleaning the cleaning cloth by the cloth cleaning device according to the setting, scraping dirt by a scraping part (611) when the cloth cleaning device is cleaned, setting a rotating bucket to rotate once according to the setting time, opening an electric door (615) when the rotating bucket rotates, opening a negative pressure pump to guide the dirt into an impurity box (614), controlling an extrusion part to extrude the sewage, pumping the sewage into a sewage box through the negative pressure pump, controlling a middle dirt cleaning structure to spray the sewage to clean the cleaning cloth, and cleaning through an extrusion part arranged on a middle dirt cleaning structure (64) to improve the cleaning success degree; step three, the pressure sensor transmits the measured data to the MCU in real time, when the pressure is smaller than a set value, the MCU controls the electric telescopic rod (102) to extend the set value until the pressure is in a set interval, and when the pressure is larger than the set value, the MCU controls the electric telescopic rod (102) to shorten until the pressure is in the set interval;
and step four, circulating the control flow from the step one to the step three until the cleaning is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011518661.5A CN112587023B (en) | 2019-09-28 | 2019-09-28 | Cleaning cloth device for window cleaning robot, and window cleaning robot control system and method |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910928084.8A CN110522337B (en) | 2019-09-28 | 2019-09-28 | Window cleaning robot |
| CN202011518661.5A CN112587023B (en) | 2019-09-28 | 2019-09-28 | Cleaning cloth device for window cleaning robot, and window cleaning robot control system and method |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910928084.8A Division CN110522337B (en) | 2019-09-28 | 2019-09-28 | Window cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112587023A true CN112587023A (en) | 2021-04-02 |
| CN112587023B CN112587023B (en) | 2022-06-24 |
Family
ID=68670654
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910928084.8A Active CN110522337B (en) | 2019-09-28 | 2019-09-28 | Window cleaning robot |
| CN202011518661.5A Expired - Fee Related CN112587023B (en) | 2019-09-28 | 2019-09-28 | Cleaning cloth device for window cleaning robot, and window cleaning robot control system and method |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910928084.8A Active CN110522337B (en) | 2019-09-28 | 2019-09-28 | Window cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN110522337B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114312304A (en) * | 2021-12-06 | 2022-04-12 | 河南嘉晨智能控制股份有限公司 | Novel on-vehicle instrument of industrial vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09173249A (en) * | 1995-12-27 | 1997-07-08 | Mitsui Eng & Shipbuild Co Ltd | Polisher unit |
| CN103006153A (en) * | 2012-12-14 | 2013-04-03 | 向桂南 | Intelligent floor wiping machine |
| CN105147184A (en) * | 2015-10-08 | 2015-12-16 | 深圳市宝乐机器人技术有限公司 | Traveling device of window cleaning robot |
| CN208625558U (en) * | 2017-08-01 | 2019-03-22 | 蓝兆彤 | A kind of pneumatic type is from walking steam circulation window wiping robot |
| CN109528093A (en) * | 2018-12-21 | 2019-03-29 | 宁波富佳实业股份有限公司 | A kind of automation floor cleaning apparatus |
| CN208677248U (en) * | 2017-12-04 | 2019-04-02 | 科沃斯机器人股份有限公司 | A kind of multimedium intelligent cleaning device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101312872B1 (en) * | 2011-03-08 | 2013-09-30 | 고려대학교 산학협력단 | Moving modular and outer wall climbing robot using it |
| CN106214055A (en) * | 2016-09-29 | 2016-12-14 | 深圳市宇辰智能科技有限公司 | A kind of robot for cleaning wall surfaces |
| CN109770777A (en) * | 2017-11-13 | 2019-05-21 | 郑文克 | A kind of Full-automatic window cleaning machine |
| CN109770775A (en) * | 2017-11-13 | 2019-05-21 | 郑子繁 | A kind of Full-automatic window cleaning machine with atomization cleaning and sewage recycling function |
| CN108937704B (en) * | 2018-07-17 | 2021-02-26 | 杨俊杰 | Unmanned operation building window cleaning robot outside based on power line carrier communication |
-
2019
- 2019-09-28 CN CN201910928084.8A patent/CN110522337B/en active Active
- 2019-09-28 CN CN202011518661.5A patent/CN112587023B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09173249A (en) * | 1995-12-27 | 1997-07-08 | Mitsui Eng & Shipbuild Co Ltd | Polisher unit |
| CN103006153A (en) * | 2012-12-14 | 2013-04-03 | 向桂南 | Intelligent floor wiping machine |
| CN105147184A (en) * | 2015-10-08 | 2015-12-16 | 深圳市宝乐机器人技术有限公司 | Traveling device of window cleaning robot |
| CN208625558U (en) * | 2017-08-01 | 2019-03-22 | 蓝兆彤 | A kind of pneumatic type is from walking steam circulation window wiping robot |
| CN208677248U (en) * | 2017-12-04 | 2019-04-02 | 科沃斯机器人股份有限公司 | A kind of multimedium intelligent cleaning device |
| CN109528093A (en) * | 2018-12-21 | 2019-03-29 | 宁波富佳实业股份有限公司 | A kind of automation floor cleaning apparatus |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114312304A (en) * | 2021-12-06 | 2022-04-12 | 河南嘉晨智能控制股份有限公司 | Novel on-vehicle instrument of industrial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112587023B (en) | 2022-06-24 |
| CN110522337A (en) | 2019-12-03 |
| CN110522337B (en) | 2021-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7823242B2 (en) | Remote controlled apparatus for cleaning of outer window surfaces of high rise buildings and building facades | |
| CN108670129A (en) | A kind of Intelligent robot for sweeping floor and its implementation based on Internet of Things | |
| CN109351710A (en) | Cleaning equipment for solar panel | |
| CN112587023B (en) | Cleaning cloth device for window cleaning robot, and window cleaning robot control system and method | |
| CN109017923A (en) | A kind of push type draining trolley | |
| CN112535426B (en) | Cleaning cloth device, system of window cleaning robot comprising cleaning cloth device and control method | |
| CN219442595U (en) | End face cleaning device for stacking squeeze plates | |
| CN209723678U (en) | A kind of high building exterior wall cleaning equipment | |
| CN107297982B (en) | A kind of Self-cleaning blackboard wiping | |
| CN108852144A (en) | A kind of automatic cleaning equipment and cleaning method for glass curtain wall | |
| CN113057547B (en) | Mopping system based on artificial intelligence | |
| CN205436124U (en) | A full automotive vehicle dust collector | |
| CN113430738A (en) | Uniform speed smearing mechanism suitable for coating paste dressing | |
| CN112681675A (en) | Novel material spraying equipment for bathroom super-hydrophobic coating | |
| JPH01121025A (en) | Automatic cleaner of laterally travelling type for outer surface | |
| CN111074832A (en) | Building construction removes ponding environment-friendly device | |
| CN112610039A (en) | Sunshine room with humidification function | |
| CN205667958U (en) | There is the observation window of clearing apparatus | |
| CN106041743B (en) | It is convenient to clean the grinding device of abrasive flour | |
| CN216173416U (en) | Paint spraying equipment for water pump processing | |
| CN220633571U (en) | Raise dust processing apparatus | |
| CN217124754U (en) | Wash dry integral type car washer | |
| CN210697508U (en) | Cleaning equipment for high-rise building outer wall | |
| CN219766099U (en) | Skin cleaning equipment for cable winding | |
| CN219569480U (en) | Leveling and plastering device for heat-insulating wall construction |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221209 Address after: 256623 Room 427, West Annex Building, Gaochuang Center Office Building, the intersection of Gaoshi Road and Xinwu Road, Xiaoying Office, High tech Zone, Binzhou City, Shandong Province Patentee after: Binzhou High tech High end Equipment Manufacturing Industrial Park Co.,Ltd. Address before: No.21, Yueqing Road, Zhuangyuan street, Longwan District, Wenzhou City, Zhejiang Province 325011 Patentee before: WENZHOU YINUOWEITE TECHNOLOGY CO.,LTD. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220624 |