CN115969255A - Intelligent glass window cleaning robot and working method thereof - Google Patents
Intelligent glass window cleaning robot and working method thereof Download PDFInfo
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- CN115969255A CN115969255A CN202211669313.7A CN202211669313A CN115969255A CN 115969255 A CN115969255 A CN 115969255A CN 202211669313 A CN202211669313 A CN 202211669313A CN 115969255 A CN115969255 A CN 115969255A
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Abstract
The invention discloses an intelligent glass window cleaning robot and a working method thereof, wherein the robot comprises a shell structure, a water spraying mechanism, an infrared distance measuring sensor, a walking mechanism, a power supply, a single chip microcomputer control module, cleaning cloth and a negative pressure fan, wherein the water spraying mechanism, the infrared distance measuring sensor, the walking mechanism, the power supply, the single chip microcomputer control module, the cleaning cloth and the negative pressure fan are arranged on the shell structure; the infrared distance measuring sensors are positioned on the periphery of the shell structure, and the cleaning cloth is arranged at the bottom of the shell structure; the water spraying mechanism, the infrared distance measuring sensor, the walking mechanism, the power supply and the negative pressure fan are all connected with the single chip microcomputer control module, and the water spraying mechanism, the infrared distance measuring sensor, the walking mechanism and the negative pressure fan are all connected with the power supply. The robot can clean the glass outer wall of the building, reduce the danger coefficient of manual operation, and simultaneously can clean the efficiency and the quality.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent glass window cleaning robot and a working method thereof.
Background
With the development and progress of economic society, high-rise buildings are more and more, and glass curtain walls are widely applied to modern buildings due to the advantages of heat insulation, good lighting, attractive appearance and the like. However, the glass curtain wall is still complex to clean, the cleaning is mainly performed by manual cleaning at present, and the cleaning work is performed on the glass outer wall by frequently tying a rope on a cleaner body and holding a cleaning tool by hands. The cleaning mode is not only low in efficiency, but also extremely high in operation risk coefficient.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an intelligent glass window cleaning robot and a working method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent glass window cleaning robot comprises a shell structure, a water spraying mechanism, an infrared distance measuring sensor, a traveling mechanism, a power supply, a single chip microcomputer control module, cleaning cloth and a negative pressure fan, wherein the water spraying mechanism, the infrared distance measuring sensor, the traveling mechanism, the power supply, the single chip microcomputer control module, the cleaning cloth and the negative pressure fan are arranged on the shell structure; the infrared distance measuring sensors are positioned on the periphery of the shell structure, and the cleaning cloth is arranged at the bottom of the shell structure; the water spraying mechanism, the infrared distance measuring sensor, the walking mechanism, the power supply and the negative pressure fan are all connected with the single chip microcomputer control module, and the water spraying mechanism, the infrared distance measuring sensor, the walking mechanism and the negative pressure fan are all connected with the power supply.
Preferably, the top of the shell structure is further provided with a solar panel and a photovoltaic inverter, and the solar panel is connected with a power supply through the photovoltaic inverter.
Preferably, the water spraying mechanism comprises a water tank, a water pump motor and a nozzle, an inlet of the water pump is connected with the water tank, an outlet of the water pump is connected with the nozzle, and the water pump motor is connected with the water pump, a power supply and a single chip microcomputer control module.
Preferably, still include bee calling organ, bee calling organ is connected with power and singlechip control module group, and when the electric quantity of power was less than the default, singlechip control module group control bee calling organ buzzed.
Preferably, the intelligent glass window cleaning robot further comprises a first indicator light and a second indicator light, the first indicator light and the second indicator light are connected with the power supply and the single chip microcomputer control module, when the power supply is fully charged, the single chip microcomputer control module controls the first indicator light to light, and when the electric quantity of the power supply is lower than a preset value, the single chip microcomputer control module controls the second indicator light to light.
Preferably, the cleaning cloth is connected with the bottom of the shell structure through a magic tape, and the cleaning cloth is of an annular structure and is positioned on the peripheries of the walking mechanism and the negative pressure fan.
Preferably, the walking mechanism adopts a Mecanum wheel set mechanism.
Preferably, the shell structure is provided with a safety buckle, and the safety buckle is connected with a safety rope.
Preferably, the diameter of the distribution range of the vent holes is larger than that of the negative pressure fan.
The working method of the intelligent glass window cleaning robot comprises the following processes:
placing the intelligent glass window cleaning robot on the glass window mirror surface to be cleaned, starting a negative pressure fan and enabling the whole intelligent glass window cleaning robot to be adsorbed on the glass window mirror surface to be cleaned;
the single chip microcomputer control module controls the water spraying mechanism to spray water, so that the glass window surface on the advancing route is wetted in advance and stains are dissolved;
the single-chip microcomputer control module controls the traveling mechanism to move, the traveling mechanism drives the whole intelligent glass window cleaning robot to reciprocate on the cleaning surface according to a Z-shaped track, full-coverage cleaning is achieved, in the moving process of the intelligent glass window cleaning robot, the infrared distance measuring sensor measures the distance between the intelligent glass window cleaning robot and a glass window frame in real time, when the distance is smaller than a preset value, the single-chip microcomputer control module controls the traveling mechanism to turn to move, the traveling mechanism drives the whole intelligent glass window cleaning robot to travel, and the glass window surface after water spraying is cleaned through cleaning cloth.
The invention has the following beneficial effects:
according to the invention, the negative pressure fan is arranged, so that the whole intelligent glass window cleaning robot can be adsorbed on the glass window surface in a negative pressure manner, the combination of the whole intelligent glass window cleaning robot and the glass window surface is realized, in addition, the negative pressure provided by the negative pressure fan can be utilized to enable the cleaning cloth to cling to the glass window surface, and the cleaning effect is ensured; the water spraying mechanism is arranged at the front end of the intelligent glass window cleaning robot in the walking direction, so that the surface of the glass window in the walking direction of the intelligent glass window cleaning robot can be wetted and dirty can be dissolved in advance, and a cleaning cloth can clean the glass window; the single chip microcomputer control module can move according to the planned path control travelling mechanism to realize full-coverage cleaning, the distance between the intelligent glass window cleaning robot and the glass window frame can be measured in real time through the infrared distance measuring sensor, and when the distance is smaller than a preset value, the single chip microcomputer control module controls the travelling mechanism to move in a steering mode, so that the steering time of the whole robot can be controlled. In conclusion, the robot can clean the glass outer wall of the building, the danger coefficient of manual operation is reduced, and meanwhile, the cleaning efficiency and quality can be improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a top view of an intelligent window cleaning robot of the present invention;
FIG. 2 is a front view of the intelligent window cleaning robot of the present invention;
FIG. 3 is a view of the intelligent robot for cleaning glass windows of the present invention with the housing removed;
FIG. 4 is a schematic view of a water spray mechanism of the intelligent window cleaning robot of the present invention;
FIG. 5 is a schematic view of an intelligent robot cleaning mechanism for cleaning a window according to the present invention;
fig. 6 is a schematic diagram of a mecanum wheel set mechanism adopted in the intelligent window cleaning robot according to the present invention.
In the figure: 1. a water spraying mechanism 1-1, a box cover 1-2, a water tank 1-3, a first water pipe 1-4, a water pump 1-5, a water pump motor 1-6, a second water pipe 1-7, a first joint 1-8, a third water pipe 1-9, a second joint 1-10, a nozzle 2, a buzzer assembly 2-1, a buzzer 2-2, a buzzer fixing member 3, a first indicator light assembly 3-1, a first indicator light 3-2, a first indicator light fixing member 4, a second indicator light assembly 4-1, a second indicator light 4-2, a second indicator light fixing member 5, a safety buckle 6, an on-off switch 7, and a solar panel, 8, a vent hole, 9, a holding rod, 10, a shell, 11-1, cleaning cloth, 11-2, a first magic tape, 11-3, a second magic tape, 12, an infrared distance measuring sensor assembly, 12-1, an infrared distance measuring sensor, 12-2, a sensor fixing piece, 13, a Mecanum wheel set mechanism, 13-1, a Mecanum wheel, 13-2, a flange coupler, 13-3, a first wheel set fixing piece, 13-4, a wheel set motor, 13-5, a second wheel set fixing piece, 14, a photovoltaic inverter, 15, a power supply, 16, a shell fixing piece, 17, a water nozzle fixing piece, 18, a lower plate, 19, a single chip microcomputer control module, 20 and a negative pressure fan.
Detailed Description
In order to make the technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified. In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 6, the intelligent robot for cleaning glass windows of the present invention comprises a housing 10, a water spraying mechanism 1, a cleaning structure, an infrared distance measuring sensor assembly 12, a mecanum wheel set mechanism 13, a lower plate 18 and a negative pressure fan 20, wherein the housing 10 and the lower plate 18 are both rectangular structures, the housing 10 and the lower plate 18 are vertically and correspondingly fixedly connected at four corners through housing fixing members 16, respectively, to form a shell structure of the present invention, the water spraying mechanism 1 is placed at the front end of the robot in the walking direction, the infrared distance measuring sensor assembly 12 is arranged along the periphery of the robot, the infrared distance measuring sensor assembly 12 comprises an infrared distance measuring sensor 12-1 and sensor fixing members 12-2, the sensor fixing members 12-2 are fixedly connected with the lower plate 18, the infrared distance measuring sensor 12-1 is installed on the sensor fixing members 12-2, the density degree of the infrared distance measuring sensor assembly 12 is based on the width of the robot being greater than or equal to the width of the sensor, and is generally arranged 1-3 for sensing the peripheral environment of the robot in real time, so as to ensure the safety of the robot; the mecanum wheel set mechanism 13 forms a fixed connection on the lower plate 18 through a first wheel set fixing part 13-3 and a second wheel set fixing part 13-5, the negative pressure fan 20 is arranged in the center of the robot shell structure and is fixedly connected with the lower plate 18, vent holes 8 are formed in the lower plate 18 and the shell 10 at the air inlet end and the air outlet end of the negative pressure fan 20, the diameter of the distribution range of the vent holes 8 is slightly larger than that of the negative pressure fan 20, and the robot and the glass window are tightly attached through negative air pressure provided by the negative pressure fan 20.
Wherein the water spraying mechanism 1 comprises a water tank 1-2, a tank cover 1-1 is arranged on the water tank 1-2, the tank cover 1-1 is made of transparent materials and is beneficial to directly observing the residual amount of water in the water tank 1-2, the water tank 1-2 is connected with an inlet of a water pump 1-4 through a first water pipe 1-3, an outlet of the water pump 1-4 is connected with a first connector 1-7, the first connector 1-7 is divided into two paths, one path is connected with a nozzle 1-10 through a second water pipe 1-6, the other path is connected with another nozzle 1-10 through a third water pipe 1-8 and a second connector 1-9, the two nozzles 1-10 are respectively arranged at the left side and the right side of the shell structure (refer to the direction of figure 1) and are respectively fixed on a lower plate 18 through a water spraying nozzle fixing piece 17, the water pump motor 1-5 is connected with the water pump 1-4, the power supply 15 and the single chip microcomputer control module 19, the power supply 15 is connected with the on-off key 6, the first joint 1-7 and the second joint 1-9 are connected with the joint through waterproof glue to prevent water leakage, the water pump motor 1-5 provides power when the water pump 1-4 works, water is extracted from the water tank 1-2 at a constant speed and is conveyed to the spray nozzles 1-10, the spray nozzles 1-10 adopt wide-angle type spray nozzles, so that the spraying range covers the advancing route of the robot, and the effects of wetting the glass window in advance and even dissolving stains are achieved.
The solar cell panel 7 is arranged on the surface of the shell 10 and is detachably connected with the shell 10, the solar cell panel 7 can absorb outside sunlight and supply power to the power supply 15 after being converted by the photovoltaic inverter 14 in the working process, the working time of the robot is prolonged, and the photovoltaic inverter 14 is detachably connected with the power supply 15.
The cleaning structure is adhered to the lower plate 18 through the first magic tape 11-2 and the second magic tape 11-3, the first magic tape 11-2 is a linear magic tape and is arranged at the edge of the lower plate 18, the second magic tape 11-3 is a right-angle magic tape and is arranged at the corner of the lower plate 18, the magic tapes are uniformly arranged along the periphery of the cleaning cloth 11-1 to ensure firm adhesion, and the cleaning cloth 11-1 and the lower plate 18 are bonded and connected through the first magic tape 11-2 and the second magic tape 11-3 to facilitate replacement of the cleaning cloth after dirt is generated; the cleaning cloth 11-1 is made of superfine fiber cloth, so that high-efficiency cleaning capacity and excellent waterproof and air-permeable performance are guaranteed, the edge and four corners of the cleaning cloth 11-1 are subjected to linear treatment, and the cleaning cloth 11-1 is directly contacted with the surface of the glass window in the working process of the robot, so that no dead angle is left in cleaning to the maximum extent.
The Mecanum wheel set mechanism 13 comprises Mecanum wheels 13-1, a flange coupling 13-2, a first wheel set fixing piece 13-3, a wheel set motor 13-4 and a second wheel set fixing piece 13-5, the Mecanum wheels 13-1 and the wheel set motor 13-4 are connected through the flange coupling 13-2, the whole wheel set is connected with the lower plate 18 through the second wheel set fixing piece 13-5, and in the working process, the four Mecanum wheels 13-1 can be controlled to be matched with each other through a program which is pre-programmed into the single chip microcomputer control module 19, so that the robot can realize omnibearing movement, and the operation is convenient and rapid.
The buzzer component 2 comprises a buzzer 2-1 and a buzzer fixing piece 2-2, the buzzer 2-1 is installed on the lower plate 18 through the buzzer fixing piece 2-2, the buzzer 2-1 is connected with the power supply 15 and the single chip microcomputer control module 19, when 5% of electric quantity is left in the power supply 15, the single chip microcomputer control module 19 can control the buzzer 2-1 to start continuous buzzing, the robot stops working at the moment, returns to a starting point and keeps stable adsorption, and a user is waited to safely take down the robot.
The first indicator light assembly 3 comprises a first indicator light 3-1 and a first indicator light fixing piece 3-2, the first indicator light 3-1 is fixed on the lower plate 18 through the first indicator light fixing piece 3-2, the first indicator light 3-1 extends out of the shell 10, the first indicator light 3-1 is connected with the power supply 15 and the single chip microcomputer control module 19, and when the power supply 15 is fully charged, the single chip microcomputer control module 19 controls the first indicator light 3-1 to be lightened for prompting a user that the power supply is fully charged;
the second indicating lamp assembly 4 comprises a second indicating lamp 4-1 and a second indicating lamp fixing part 4-2, the second indicating lamp 4-1 is fixed on the lower plate 18 through the second indicating lamp fixing part 4-2, the second indicating lamp 4-1 extends out of the shell 10, the second indicating lamp 4-1 is connected with the power supply 15 and the single chip microcomputer control module 19, and when 10% of electric quantity remains in the power supply 15, the single chip microcomputer control module 19 can control the second indicating lamp 4-1 to light up to remind a user that the robot is insufficient in electric quantity and the robot needs to be charged.
The safety buckle 5 is detachably connected with the shell 10, and the safety buckle 5 can be fixed with the outside through a connecting safety rope to ensure the operation safety.
The power supply 15 is arranged on the lower plate 18 and is respectively connected with the wheel set motor 13-4, the water pump 1-4, the negative pressure fan 20 and the single chip microcomputer control module 19 to supply power for the devices.
The single-chip microcomputer control module 19 is simultaneously connected with the water pump motor 1-5, the buzzer 2-1, the first indicator lamp 3-1, the second indicator lamp 4-1, the infrared distance measuring sensor 12-1 and the wheel set motor 13-4 and used for monitoring and controlling the running state of the robot in real time. The circuits and the lines are all arranged inside the shell 10, so that the lines are not damaged. Wherein electronic components all protects with three proofings glue, prevents electronic components humidity short circuit.
The single chip microcomputer control module 19 collects detection data of the infrared distance measuring sensor 12-1 in real time, a detection distance threshold value is set to be 1-3 mm, and when the robot is close to a glass window frame and is smaller than the distance threshold value, steering movement of the wheel set mechanism 13 is controlled through the single chip microcomputer control module 19, and collision is prevented. The robot can be controlled by the control terminal to move so as to realize fixed-point cleaning, and the single-chip microcomputer control module 19 can also be used for collecting signals fed back by the infrared distance measuring sensor 12-1 in real time and reciprocating on a cleaning surface according to a Z-shaped track so as to realize full-coverage cleaning.
The working principle of the invention is as follows: after the safety buckle 5 is connected to the indoor firm fixing position through the safety rope, the robot body is placed on the glass window mirror surface to be cleaned, the switch 6 is opened for a little moment, and when the negative pressure fan 20 runs stably, the robot can be stably adsorbed on the glass window mirror surface to wait for a working instruction. When the robot works, the water spraying mechanism 1 works at first to moisten and dissolve stains on the glass window surface on the advancing route in advance, the four wheel set motors 13-4 provide power for the corresponding Mecanum wheels 13-1, and the four Mecanum wheels 13-1 are controlled to be matched with each other through a program preset by the single chip microcomputer control module 19, so that the robot can realize all-directional movement, the robot can be ensured to turn quickly in a limited space of the glass window surface, and the cleaning efficiency is improved. The negative pressure fan 20 is always kept in an operating state in the working process of the robot so as to keep a stable adsorption state between the robot and the glass window. When the robot moves on a cleaning route, the cleaning cloth 11-1 cleans the glass window mirror surface wetted by water, the cleaning cloth 11-1 is made of superfine fiber cloth and cleans stains on the glass window mirror surface, a good cleaning effect can be achieved, and after the cleaning cloth 11-1 is dirty, the cleaning cloth can be taken down from the lower plate 18 to be cleaned and dried to prepare for next cleaning. The infrared distance measuring sensors 12-1 arranged around the robot aim to prevent the robot from colliding with a wall or other hard objects in the working process, once the distance between the infrared distance measuring sensors 12-1 and the wall is smaller than a safe distance, the infrared distance measuring sensors 12-1 feed back signals to the single chip microcomputer control module 19, then the wheel set mechanism 13 is controlled to move the robot to the safe distance, and the use safety of the robot is improved. The solar cell panel 7 can continuously absorb external sunlight, and the direct current is changed into alternating current after passing through the photovoltaic inverter 14, so that the power supply 15 is continuously charged. The first indicator light 3-1 is illuminated when the power source 15 is fully charged to indicate to the user that the power source is fully charged. The second indicator light 4-1 is lighted when 10% of electric quantity of the power supply 15 is left, and is used for reminding a user that the electric quantity of the robot is insufficient and the robot needs to be charged. The buzzer 2-1 starts to buzz continuously when 5% of electric quantity of a power supply is left, and the robot does not work any more at the moment, returns to a starting point and keeps stable adsorption, and waits for a user to take down the robot safely for charging.
Although the present invention 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.
The robot is driven by four Mecanum wheels, and compared with a common synchronous pulley moving mechanism at present, the robot can move in all directions conveniently and quickly. Adopt buzzer and pilot lamp two kinds of modes to combine together, carry out real-time supervision to the power electric quantity of robot, prevent to take place unexpected circumstances such as electric quantity not enough, improve the security. The power adopts the UPS power to prevent the outage and handle, prevents that unexpected outage from causing the condition that the robot falls to take place. Set up regularly automatic water spray mechanism, and spray for the wide angle, the whole fuselage width can be matchd to the water spray scope, accomplishes to spout and uses promptly, and another benefit of water spray still lies in can dissolving in advance the stubborn spot on the glass window, more is favorable to carrying on subsequent cleanness. Carry out dampproofing processing to the interior for electronic components three proofings lacquer of robot, prevent electronic components humidity short circuit, influence the robot work. The solar cell panel is matched to charge the power supply of the robot, so that the working time is increased, the energy is saved, and the carbon is reduced. The infrared distance measuring sensor is used for sensing the surrounding environment of the robot in real time, and the safety of the robot is guaranteed.
Claims (10)
1. An intelligent glass window cleaning robot is characterized by comprising a shell structure, a water spraying mechanism (1), an infrared distance measuring sensor (12-1), a traveling mechanism, a power supply (15), a single-chip microcomputer control module (19), cleaning cloth (11-1) and a negative pressure fan (20), wherein the water spraying mechanism (1) is arranged on the shell structure, the water spraying mechanism (1), the infrared distance measuring sensor (12-1), the traveling mechanism, the power supply (15), the single-chip microcomputer control module, the cleaning cloth (11-1) and the negative pressure fan (20) are arranged on the center of the shell structure, air vents (8) are formed in the air inlet end and the air outlet end of the negative pressure fan (20) on the shell structure, and the water spraying mechanism (1) is arranged at the front end of the intelligent glass window cleaning robot in the traveling direction; the infrared distance measuring sensors (12-1) are positioned on the periphery of the shell structure, and the cleaning cloth (11-1) is arranged at the bottom of the shell structure; the water spraying mechanism (1), the infrared distance measuring sensor (12-1), the walking mechanism, the power supply (15) and the negative pressure fan (20) are all connected with the single chip microcomputer control module (19), and the water spraying mechanism (1), the infrared distance measuring sensor (12-1), the walking mechanism and the negative pressure fan (20) are all connected with the power supply (15).
2. An intelligent glass window cleaning robot as claimed in claim 1, wherein a solar panel (7) and a photovoltaic inverter (14) are further arranged on the top of the casing structure, and the solar panel (7) is connected with the power supply (51) through the photovoltaic inverter (14).
3. An intelligent glass window cleaning robot as claimed in claim 1, wherein the water spraying mechanism (1) comprises a water tank (1-2), a water pump (1-4), a water pump motor (1-5) and a nozzle (1-10), an inlet of the water pump (1-4) is connected with the water tank (1-2), an outlet of the water pump (1-4) is connected with the nozzle (1-10), and the water pump motor (1-5) is connected with the water pump (1-4), a power supply (15) and a single chip microcomputer control module (19).
4. An intelligent glass window cleaning robot as claimed in claim 1, further comprising a buzzer (2-1), wherein the buzzer (2-1) is connected with the power supply (15) and the single chip microcomputer control module (19), and when the electric quantity of the power supply (15) is lower than a preset value, the single chip microcomputer control module (19) controls the buzzer (2-1) to buzz.
5. An intelligent glass window cleaning robot as claimed in claim 1, further comprising a first indicator light (3-1) and a second indicator light (4-1), wherein the first indicator light (3-1) and the second indicator light (4-1) are connected with the power supply (15) and the single chip microcomputer control module (19), when the power supply (15) is fully charged, the single chip microcomputer control module (19) controls the first indicator light (3-1) to light, and when the electric quantity of the power supply (15) is lower than a preset value, the single chip microcomputer control module (19) controls the second indicator light (4-1) to light.
6. An intelligent glass window cleaning robot as claimed in claim 1, wherein the cleaning cloth (11-1) is connected with the bottom of the shell structure through a magic tape, and the cleaning cloth (11-1) is of an annular structure and is located at the periphery of the walking mechanism and the negative pressure fan (20).
7. The intelligent window cleaning robot as claimed in claim 1, wherein the traveling mechanism is a Mecanum wheel set mechanism.
8. An intelligent glass window cleaning robot as claimed in claim 1, wherein the shell structure is provided with a safety buckle (5), and a safety rope is connected to the safety buckle (5).
9. An intelligent glass window cleaning robot as claimed in claim 1, wherein the distribution range diameter of the vent holes (8) is larger than the diameter of the negative pressure fan (20).
10. The working method of the intelligent glass window cleaning robot as claimed in claim 1, characterized by comprising the following processes:
placing the intelligent glass window cleaning robot on the glass window mirror surface to be cleaned, starting a negative pressure fan (20) and enabling the whole intelligent glass window cleaning robot to be adsorbed on the glass window mirror surface to be cleaned;
the single chip microcomputer control module (19) controls the water spraying mechanism (1) to spray water, so that the glass window surface on the advancing route is wetted in advance and stains are dissolved;
the single chip microcomputer control module (19) controls the movement of the walking mechanism, the walking mechanism drives the whole intelligent glass window cleaning robot to reciprocate on the cleaning surface according to a Z-shaped track so as to realize full-coverage cleaning, in the moving process of the intelligent glass window cleaning robot, the infrared distance measuring sensor (12-1) measures the distance between the intelligent glass window cleaning robot and a glass window frame in real time, when the distance is smaller than a preset value, the single chip microcomputer control module (19) controls the walking mechanism to turn to move, and in the walking process of the walking mechanism driving the whole intelligent glass window cleaning robot, the glass window surface after water spraying is cleaned through cleaning cloth (11-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211669313.7A CN115969255A (en) | 2022-12-24 | 2022-12-24 | Intelligent glass window cleaning robot and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211669313.7A CN115969255A (en) | 2022-12-24 | 2022-12-24 | Intelligent glass window cleaning robot and working method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN115969255A true CN115969255A (en) | 2023-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211669313.7A Pending CN115969255A (en) | 2022-12-24 | 2022-12-24 | Intelligent glass window cleaning robot and working method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117481546A (en) * | 2024-01-03 | 2024-02-02 | 深圳安培时代数字能源科技有限公司 | Window cleaning method and related device |
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2022
- 2022-12-24 CN CN202211669313.7A patent/CN115969255A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117481546A (en) * | 2024-01-03 | 2024-02-02 | 深圳安培时代数字能源科技有限公司 | Window cleaning method and related device |
| CN117481546B (en) * | 2024-01-03 | 2024-03-29 | 深圳安培时代数字能源科技有限公司 | Window cleaning method and related device |
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