Control system and method for action path of window cleaning machine
By designing a window cleaning machine action path control system including wireless signal receiving module, microcontroller and crawler-type mobile module, the problem of ineffective cleaning on narrow and long glass windows is solved, and the linear reciprocating movement cleaning and collision avoidance functions are realized, which improves cleaning efficiency and safety.
Patent Information
- Application Number
- CN202411750068.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2023-12-01
- Filing Date
- 2024-12-02
- Publication Date
- 2025-06-03
AI Technical Summary
When existing window cleaning machines are cleaned on narrow and long glass windows, due to the small movement space, they cannot move back and forth in a zigzag or N-shaped action path, resulting in the inability to effectively clean the glass windows.
A window cleaning machine action path control system is designed, including a wireless signal receiving module, a microcontroller and a crawler-type moving module. By receiving a linear reciprocating movement indication signal, a linear reciprocating movement control signal is generated, so that the window cleaning machine can move linearly on the window glass, and sense it close to foreign objects or glass edges through sensors, and adjust the action path to avoid collision.
The window cleaning machine can effectively move and clean the linearly back and forth on the narrow and elongated glass windows, avoid collision with foreign objects or glass edges, and improve cleaning efficiency and safety.
Smart Images
Figure CN120085645A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to a window cleaning machine. More precisely, the present application relates to a control system and method for the movement path of a window cleaning machine. Background Art
[0002] Existing window cleaning machines with crawlers use the crawlers to move back and forth along a zigzag or N-shaped movement path to clean the glass window. However, when the window cleaning machine is cleaning a long and narrow glass window, due to the limited movement space, it is impossible to clean the glass window by moving back and forth along a zigzag or N-shaped movement path. Summary of the Invention
[0003] This paragraph extracts and compiles certain features of the present invention. Other features will be disclosed in subsequent paragraphs. The purpose is to cover various modifications and similar arrangements within the spirit and scope of the appended claims.
[0004] An embodiment of the present invention provides a control system for the movement path of a window cleaning machine, including a wireless signal receiving module configured to receive a linear reciprocating movement instruction signal, a microcontroller configured to generate a linear reciprocating movement control signal in response to the linear reciprocating movement instruction signal, and at least two crawler-type movement modules configured to actuate in response to the linear reciprocating movement control signal to enable the window cleaning machine to perform a linear reciprocating movement on the window glass.
[0005] In one embodiment, a sensor is further included. The sensor is electrically connected to the microcontroller and is configured to sense whether the window cleaning machine is approaching a foreign object or the edge of the glass. In one embodiment, the microcontroller generates a crawler rotation control signal in response to the sensing signal generated by the sensor, so that the window cleaning machine moves linearly away from the foreign object or the edge.
[0006] In one embodiment, the wireless signal receiving module includes an infrared signal receiving module.
[0007] In one embodiment, the wireless signal receiving module includes a Bluetooth signal receiving module.
[0008] In one embodiment, the wireless signal receiving module includes a 2.4GHZ signal receiving module.
[0009] In one embodiment, the foreign object includes a window frame.
[0010] An embodiment of the present invention further provides a method for controlling the movement path of a window cleaning machine, including receiving a linear reciprocating movement instruction signal via a wireless signal receiving module; generating a linear reciprocating movement control signal by a microcontroller in response to the linear reciprocating movement instruction signal; and actuating at least two crawler-type movement modules in response to the linear reciprocating movement control signal to cause the window cleaning machine to perform linear reciprocating movement on the window glass.
[0011] In one embodiment, it further includes sensing whether the window cleaning machine is approaching a foreign object or the edge of the glass via a sensor, wherein the sensor is electrically connected to the microcontroller.
[0012] In one embodiment, when the window cleaning machine approaches the foreign object or the edge of the glass plate, the sensor generates a sensing signal, and the microcontroller generates a crawler rotation control signal in response to the sensing signal to cause the window cleaning machine to move linearly away from the foreign object or the edge.
[0013] In one embodiment, the wireless signal includes an infrared signal.
[0014] In one embodiment, the wireless signal includes a Bluetooth signal.
[0015] In one embodiment, the wireless signal includes a 2.4 GHz signal.
[0016] In one embodiment, the foreign object includes a window frame.
[0017] An embodiment of the present invention further provides a method for controlling the movement path of a window cleaning machine, the steps of which include receiving a linear reciprocating movement mode signal via a wireless signal receiving module; discriminating the mode of the linear reciprocating movement mode signal by a microcontroller, and generating a linear reciprocating movement control signal in response to the discriminated mode; and causing at least two crawler-type movement modules to respond to the linear reciprocating movement control signal to cause the window cleaning machine to perform linear reciprocating movement on the window glass.
[0018] In one embodiment, when the linear reciprocating movement control signal includes a first-mode linear reciprocating movement control signal, the step of causing at least two crawler-type movement modules to respond to the linear reciprocating movement control signal to cause the window cleaning machine to perform linear reciprocating movement on the window glass includes the window cleaning machine performing linear reciprocating movement on the window glass at a default distance, wherein when the sensor of the window cleaning machine senses that the window cleaning machine is approaching a foreign object or the edge of the glass, the sensor generates a sensing signal, and the microcontroller generates a crawler rotation control signal in response to the sensing signal to cause the window cleaning machine to move linearly away from the foreign object or the edge.
[0019] In one embodiment, when the linear reciprocating motion control signal includes a second-mode linear reciprocating motion control signal, the step of causing the window cleaning machine to perform linear reciprocating motion on the window glass via at least two crawler-type moving modules includes causing the window cleaning machine to perform linear reciprocating motion on the window glass until when a sensor of the window cleaning machine senses that the window cleaning machine is approaching a foreign object or the edge of the glass, the sensor generates a sensing signal, and the microcontroller generates a crawler rotation control signal in response to the sensing signal to cause the window cleaning machine to move linearly away from the foreign object or the edge.
[0020] In one embodiment, the step of causing the window cleaning machine to perform linear reciprocating motion on the window glass via at least two crawler-type moving modules in response to the linear reciprocating motion control signal includes causing the window cleaning machine to perform linear reciprocating motion on the window glass a default number of times.
[0021] To further understand the technologies, methods, and effects adopted by the present invention to achieve the predetermined objectives, please refer to the following detailed description and diagrams of the present invention. It is believed that the objectives, features, and characteristics of the present invention can be deeply and specifically understood therefrom. However, the attached diagrams are only for reference and illustration purposes and are not used to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 is a schematic diagram of a window cleaning machine according to an embodiment of the present invention; Figure 2 is Figure 1 a bottom view schematic diagram of the window cleaning machine shown; Figure 3 is Figure 1 a schematic diagram of the operation of the window cleaning machine shown; Figure 4 is Figure 1 a system module diagram of an embodiment of the control of the action path of the window cleaning machine shown; Figure 5 is a schematic diagram of an embodiment of the actuation of the action path of the window cleaning machine; Figure 6 is Figure 1 a method flowchart of an embodiment of the control of the action path of the window cleaning machine shown; Figure 7 is Figure 1 a system module diagram of an embodiment of the control of the action path of the window cleaning machine shown; Figure 8A is Figure 1 a schematic diagram of an embodiment of the actuation of the action path of the window cleaning machine shown; Figure 8B is Figure 1 a schematic diagram of another embodiment of the actuation of the action path of the window cleaning machine shown; Figure 9For Figure 1 The flowchart of a method for controlling the movement path of a window cleaning machine shown in the figure; and Figure 10 For Figure 1 The flowchart of a method for controlling the movement path of a window cleaning machine shown in the figure. Detailed implementation manners
[0023] The following are specific embodiments to illustrate the implementation manners of the "system and method for controlling the movement path of a window cleaning machine" disclosed in the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present invention. Additionally, the drawings of the present invention are only for simple schematic illustration and are not drawn according to actual dimensions, which is stated in advance. The following implementation manners will further elaborate on the relevant technical content of the present invention, but the disclosed content is not used to limit the protection scope of the present invention.
[0024] Figure 1 Schematic diagram of a window cleaning machine 1 according to an embodiment of the present invention. Figure 2 For Figure 1 The bottom view schematic diagram of the window cleaning machine 1 shown in the figure. As Figures 1 - 2 shown, the bottom surface of the window cleaning machine 1 includes a vacuum pump (also known as a vacuum pump) 11, a cleaning component 13, and at least two crawler-type moving modules 15. Among them, in this embodiment, as Figure 2 shown, at least two crawler-type moving modules 15 are parallel and respectively arranged on both sides of the vacuum pump 11. Figure 3 For Figure 1 The operation schematic diagram of the window cleaning machine 1 shown in the figure. As Figures 1 - 3 shown, the window cleaning machine 1 extracts the air between the bottom surface of the window cleaning machine 1 and the glass plate 17 through the vacuum pump 11 on the glass plate 17 to generate negative pressure in this space to generate a vacuum area between the vacuum pump 11 and at least two crawler-type moving modules 15, so that the cleaning component 13 is adsorbed on the glass plate 17. When the window cleaning machine 1 moves on the glass plate 17, the cleaning component 13 will remove the dirt or dust particles on the glass plate 17 to wipe and clean the glass plate 17. In this embodiment, the cleaning component 13 includes a sheet-shaped fiber fabric.
[0025] Figure 4 For Figure 1 The system module diagram of an embodiment for controlling the movement path of the window cleaning machine 1 shown in the figure. Figure 5 Schematic diagram of an embodiment for actuating the movement path of the window cleaning machine 1. As Figure 4As shown, the system for controlling the movement path of the window cleaning machine 1 includes a wireless signal receiving module 41, a microcontroller 43, and at least two crawler-type moving modules 15. In this embodiment, the wireless signal receiving module 41 is configured to receive a linear reciprocating movement instruction signal. In one embodiment, the wireless signal receiving module 41 includes an infrared signal receiving module. In one embodiment, the wireless signal receiving module 41 includes a Bluetooth signal receiving module. In one embodiment, the wireless signal receiving module includes a 2.4GHZ signal receiving module.
[0026] The microcontroller 43 is configured to generate a linear reciprocating movement control signal in response to the linear reciprocating movement instruction signal, and at least two crawler-type moving modules 15 are configured to act in response to the linear reciprocating movement control signal to cause the window cleaning machine 1 to perform a linear reciprocating movement on the window glass. In this embodiment, as Figure 5 shown, the window cleaning machine 1 will perform a linear reciprocating movement from the current position A of the window cleaning machine 1. In this embodiment, the distance of the linear reciprocating movement is obtained by calculating the number of turns of the crawler rotation.
[0027] Figure 6 For Figure 1 is a flowchart of a method for an embodiment of controlling the movement path of the window cleaning machine 1 shown. In step S101, the linear reciprocating movement instruction signal is received by the wireless signal receiving module. The linear reciprocating movement instruction signal comes from a remote control. In one embodiment, the wireless signal receiving module includes an infrared signal receiving module, and the remote control includes an infrared remote control. In one embodiment, the wireless signal receiving module includes a Bluetooth signal receiving module, and the remote control includes a Bluetooth remote control or an electronic remote control device with Bluetooth signal transceiver function. In one embodiment, the wireless signal receiving module includes a 2.4GHZ signal receiving module, and the remote control includes a 2.4GHz remote control.
[0028] In step S103, the linear reciprocating movement control signal is generated by the microcontroller in response to the linear reciprocating movement instruction signal. In step S105, the window cleaning machine performs a linear reciprocating movement on the window glass via at least two crawler-type moving modules in response to the linear reciprocating movement control signal. In one embodiment, the window cleaning machine performs a linear reciprocating movement on the window glass at a default distance. In this embodiment, the preset distance is 60 cm. In one embodiment, the window cleaning machine performs a linear reciprocating movement on the window glass at a default number of linear reciprocating movements. In this embodiment, the default number of linear reciprocating movements is 10 times.
[0029] Figure 7 For Figure 1 is a system module diagram of an embodiment of controlling the movement path of the window cleaning machine 1 shown. Figure 8A is a schematic diagram of an embodiment of actuating the movement path of the window cleaning machine 1. Figure 8BSchematic diagram of another embodiment of the operation path of the window cleaning machine 1. Figure 7 The shown system module diagram is similar to Figure 4 the shown system module diagram but also includes a sensor 71. As Figures 7 - 8B shown, the sensor 71 is electrically connected to the microcontroller 43. The sensor 71 is configured to sense whether the window cleaning machine 1 is approaching a foreign object 81. In one embodiment, the sensor 71 is configured to sense whether the window cleaning machine 1 is approaching the edge 83 of the glass. As Figures 8A - 8B shown, when the window cleaning machine 1 approaches the foreign object 81 or the edge 83 of the glass, the sensor 71 generates a sensing signal. The microcontroller 43 generates a crawler rotation control signal in response to the sensing signal to make the window cleaning machine 1 move straight away from the foreign object 81 or the edge. In an embodiment of the present invention, when the distance between the window cleaning machine 1 and the foreign object 81 or the edge of the glass is less than 60 cm, the sensor 71 generates the sensing signal. In this embodiment, the foreign object 81 includes a window frame.
[0030] Figure 9 For Figure 1 the flowchart of a method for controlling the operation path of the window cleaning machine 1 shown. In step S301, when the window cleaning machine approaches the foreign object or the edge of the glass plate, the sensor generates a sensing signal. In step S303, the microcontroller generates a crawler rotation control signal in response to the sensing signal to make the window cleaning machine move straight away from the foreign object or the edge.
[0031] Figure 10 For Figure 1 the flowchart of a method for controlling the operation path of the window cleaning machine 1 shown. In step S501, the straight reciprocating movement mode signal is received by the wireless signal receiving module. The straight reciprocating movement mode signal comes from a remote control. In one embodiment, the wireless signal receiving module includes an infrared signal receiving module, and the remote control includes an infrared remote control. In one embodiment, the wireless signal receiving module includes a Bluetooth signal receiving module, and the remote control includes a Bluetooth remote control or an electronic remote control device with Bluetooth signal transceiver function. In one embodiment, the wireless signal receiving module includes a 2.4GHZ signal receiving module, and the remote control includes a 2.4GHz remote control.
[0032] In step S503, the microcontroller discriminates the mode of the straight reciprocating movement mode signal as the first mode or the second mode, and the microcontroller generates a straight reciprocating movement control signal in response to the discriminated mode.
[0033] When the straight reciprocating movement control signal includes the first mode straight reciprocating movement control signal, in step S505, the window cleaning machine makes a straight reciprocating movement on the window glass at a default distance. In this embodiment, the window cleaning machine makes a straight reciprocating movement on the window glass for a default number of movements.
[0034] Wherein, when the sensor of the window cleaning machine senses that the window cleaning machine is approaching a foreign object or the edge of the glass, the sensor generates a sensing signal, and the microcontroller generates a crawler rotation control signal in response to the sensing signal to make the window cleaning machine move straight away from the foreign object or the edge. In step S507, the microprocessor of the window cleaning machine calculates whether the number of straight reciprocating movements has reached the preset number of movements. If the preset number of movements has not been reached, the window cleaning machine continues with step S505. If the preset number of movements has been reached, the window cleaning machine returns to the position of the starting point.
[0035] When the straight reciprocating movement control signal includes a second-mode straight reciprocating movement control signal, in step S509, the window cleaning machine makes a straight reciprocating movement on the window glass until the sensor of the window cleaning machine senses that the window cleaning machine is approaching a foreign object or the edge of the glass. At this time, the sensor generates a sensing signal, and the microcontroller generates a crawler rotation control signal in response to the sensing signal to make the window cleaning machine move straight away from the foreign object or the edge. In step S507, the microprocessor of the window cleaning machine calculates whether the number of straight reciprocating movements has reached the preset number of movements. If the preset number of movements has not been reached, the window cleaning machine continues with step S509. If the preset number of movements has been reached, the window cleaning machine returns to the position of the starting point.
[0036] Finally, it should be noted that in the foregoing description, although the concepts of the technology of the present invention have been specifically shown and described with multiple exemplary embodiments, those of ordinary skill in the art will understand that various changes in form and detail can be made without departing from the scope of the concepts of the technology of the present invention as defined by the following claims for patent.
Claims
1. A window cleaning machine motion path control system, characterized in that: include: The wireless signal receiving module is configured to receive a linear reciprocating movement indication signal; The microcontroller is configured to generate a linear reciprocating motion control signal in response to the linear reciprocating motion indication signal; as well as At least two crawler-type moving modules are configured to respond to the linear reciprocating movement control signal to enable the window cleaning machine to perform linear reciprocating movement on the glass plate.
2. The motion path control system of the window cleaning machine as claimed in claim 1, characterized in that: The device also includes a sensor which is electrically connected to the microcontroller and is configured to sense whether the window cleaning machine is close to a foreign object or the edge of the glass plate.
3. The motion path control system of the window cleaning machine as claimed in claim 2, characterized in that: The microcontroller generates a track rotation control signal in response to a sensing signal generated by the sensor, so as to make the window cleaning machine move away from the foreign object or the edge in a straight line.
4. The motion path control system of the window cleaning machine as claimed in claim 1, characterized in that: The wireless signal receiving module includes an infrared signal receiving module.
5. The motion path control system of the window cleaning machine as claimed in claim 1, characterized in that: The wireless signal receiving module includes a Bluetooth signal receiving module.
6. The motion path control system of the window cleaning machine as claimed in claim 1, characterized in that: The wireless signal receiving module includes a 2.4 GHZ signal receiving module.
7. The motion path control system of the window cleaning machine as claimed in claim 2, characterized in that: The foreign object includes a window frame.
8. A method for controlling the motion path of a window cleaning machine, characterized in that: include: Receiving a linear reciprocating movement indication signal via a wireless signal receiving module; generating a linear reciprocating motion control signal via a microcontroller in response to the linear reciprocating motion indication signal; as well as At least two crawler-type moving modules respond to the linear reciprocating movement control signal to enable the window cleaning machine to perform linear reciprocating movement on the window glass.
9. The method for controlling the motion path of a window cleaning machine as claimed in claim 8, characterized in that: The method also includes sensing whether the window cleaning machine is close to a foreign object or the edge of the glass via a sensor, wherein the sensor is electrically connected to the microcontroller.
10. The method for controlling the motion path of a window cleaning machine as claimed in claim 9, characterized in that: When the window cleaning machine approaches the foreign object or the edge of the glass, the sensor generates a sensing signal, and the microcontroller generates a track rotation control signal in response to the sensing signal to make the window cleaning machine move away from the foreign object or the edge in a straight line.
11. The method for controlling the motion path of a window cleaning machine as claimed in claim 8, characterized in that: The linear reciprocating movement indication signal includes an infrared signal.
12. The method for controlling the motion path of a window cleaning machine as claimed in claim 8, characterized in that: The linear reciprocating movement indication signal includes a Bluetooth signal.
13. The method for controlling the motion path of a window cleaning machine as claimed in claim 8, characterized in that: The linear reciprocating movement indication signal includes a 2.4 GHZ signal.
14. The method for controlling the motion path of a window cleaning machine as claimed in claim 9, characterized in that: The foreign object includes a window frame.
15. The method for controlling the motion path of a window cleaning machine as claimed in claim 8, characterized in that: The window cleaning machine performs the linear reciprocating movement on the glass at a default distance.
16. The method for controlling the motion path of a window cleaning machine as claimed in claim 8, characterized in that: The window cleaning machine performs the linear reciprocating movement on the glass with a preset number of reciprocating movements.
17. A method for controlling the motion path of a window cleaning machine, characterized in that: include: Receiving a linear reciprocating motion mode signal via a wireless signal receiving module; Determining the mode of the linear reciprocating motion mode signal via a microcontroller, and generating a linear reciprocating motion control signal in response to the determined mode; as well as At least two crawler-type moving modules respond to the linear reciprocating movement control signal to enable the window cleaning machine to perform linear reciprocating movement on the window glass.
18. The method for controlling the motion path of a window cleaning machine as claimed in claim 17, characterized in that: When the linear reciprocating motion control signal includes a first mode linear reciprocating motion control signal, the step of causing the window cleaning machine to perform linear reciprocating motion on the window glass in response to the linear reciprocating motion control signal via at least two crawler-type moving modules includes the window cleaning machine performing linear reciprocating motion on the window glass at a default distance, wherein, when a sensor of the window cleaning machine senses that the window cleaning machine is approaching a foreign object or the edge of the glass, the sensor generates a sensing signal, and the microcontroller generates a crawler rotation control signal in response to the sensing signal to cause the window cleaning machine to move away from the foreign object or the edge in a straight line.
19. The method for controlling the motion path of a window cleaning machine as claimed in claim 17, characterized in that: When the linear reciprocating motion control signal includes a second mode linear reciprocating motion control signal, the step of causing the window cleaning machine to perform linear reciprocating motion on the window glass in response to the linear reciprocating motion control signal via at least two crawler-type moving modules includes causing the window cleaning machine to perform linear reciprocating motion on the window glass until a sensor of the window cleaning machine senses that the window cleaning machine is approaching a foreign object or the edge of the glass, the sensor generates a sensing signal, and the microcontroller generates a crawler rotation control signal in response to the sensing signal to cause the window cleaning machine to move away from the foreign object or the edge in a straight line.
20. The method for controlling the motion path of a window cleaning machine as claimed in claim 17, characterized in that: The step of causing the window cleaning machine to perform linear reciprocating movement on the window glass in response to the linear reciprocating movement control signal via at least two crawler-type movement modules includes the window cleaning machine performing linear reciprocating movement on the window glass for a default number of movements.