Control circuit and glass curtain wall cleaning equipment with same

Abstract

The utility model provides a control circuit and glass curtain wall cleaning equipment with the same. The control circuit comprises a main control module which is used for generating a main arm driving signal for driving the main mechanical arm, an auxiliary arm driving signal for driving the auxiliary mechanical arm and a rotating driving signal for driving the rotating device; the auxiliary arm driving module is used for receiving an auxiliary arm driving signal sent by the main control module and driving an auxiliary mechanical arm to be close to or away from a to-be-cleaned curtain wall; the main arm driving module is used for driving the main mechanical arm to get close to or away from the to-be-cleaned curtain wall; the rotating module is used for driving the rotating device to rotate; the information detection module comprises a detection circuit and a first sensing device electrically connected with the detection circuit, the input end of the detection circuit is electrically connected with the main control module, the output end of the detection circuit is electrically connected with the first sensing device, and the first sensing device is used for detecting the rotating position of the rotating device. Through integration and modularization, the working efficiency and the cleaning quality of the glass curtain wall cleaning equipment are improved, and the operation flexibility and the equipment reliability are also improved.

Description

Technical Field

[0001] The present application relates to the field of circuit control, and particularly to a control circuit and a glass curtain wall cleaning device having the same. Background Art

[0002] In existing glass curtain wall cleaning devices, a fixed robotic arm structure is usually adopted. The fixed robotic arm structure often lacks sufficient flexibility and adaptability, and the cleaning coverage adjustment range is relatively small. Correspondingly, the control circuit of the cleaning device is a simple on / off control, which cannot achieve precise control of the movement of the robotic arm, resulting in low cleaning efficiency and accuracy.

[0003] Based on this, there is an urgent need for a control circuit and a glass curtain wall cleaning device having the same to solve the problems existing in the above-mentioned prior art. Utility Model Content

[0004] The purpose of the present application is to solve the problem that the existing control circuit lacks precise control of the movement of the robotic arm.

[0005] To achieve the above purpose, the present application adopts the following technical solutions:

[0006] The present application provides a control circuit applied to a glass curtain wall cleaning device. The glass curtain wall cleaning device includes a main robotic arm, a secondary robotic arm, and a rotating device. The control circuit includes:

[0007] A main control module for generating a main arm driving signal for driving the main robotic arm, a secondary arm driving signal for driving the secondary robotic arm, and a rotation driving signal for driving the rotating device;

[0008] A secondary arm driving module electrically connected to the main control module for receiving the secondary arm driving signal sent by the main control module and driving the secondary robotic arm to approach or move away from the curtain wall to be cleaned;

[0009] A main arm driving module electrically connected to the main control module for receiving the main arm driving signal sent by the main control module and driving the main robotic arm to approach or move away from the curtain wall to be cleaned;

[0010] A rotation module electrically connected to the main control module for receiving the rotation driving signal sent by the main control module and driving the rotating device to rotate;

[0011] An information detection module, the information detection module includes a detection circuit, a photoelectric position detection sensor electrically connected to the detection circuit, and a position detection baffle disposed on the rotation module. When the position detection baffle rotates, the photoelectric position detection sensor generates a position sensing signal for indicating the rotation position of the rotating device.

[0012] In some possible implementation manners, the auxiliary arm driving module includes an auxiliary arm driving motor and an auxiliary arm driving circuit. The input end of the auxiliary arm driving circuit is electrically connected to the main control module, and the output end of the auxiliary arm driving circuit is electrically connected to the auxiliary arm driving motor. The auxiliary arm driving motor is configured to receive an auxiliary arm driving signal sent by the main control module through the auxiliary arm driving circuit, and drive the auxiliary robotic arm to approach or move away from the curtain wall to be cleaned.

[0013] In some possible implementation manners, the main arm driving module includes a main arm driving motor and a main arm driving circuit. The input end of the main arm driving circuit is electrically connected to the main control module, and the output end of the main arm driving circuit is electrically connected to the main arm driving motor. The main arm driving motor is configured to receive a main arm driving signal sent by the main control module through the main arm driving circuit, and drive the main robotic arm to approach or move away from the curtain wall to be cleaned.

[0014] In some possible implementation manners, the rotation module includes a rotation driving circuit and a brushless rotation motor. The position detection baffle is disposed on the rotation driving gear of the brushless rotation motor and rotates therewith. The input end of the rotation driving circuit is electrically connected to the main control module, and the output end of the rotation driving circuit is electrically connected to the brushless rotation motor. The brushless rotation motor is configured to receive a rotation driving signal transmitted by the main control module through the rotation driving circuit, and drive the rotating device to rotate.

[0015] In some possible implementation manners, the rotation driving circuit includes a full-bridge driving circuit, a current detection circuit, a speed feedback circuit, and a position calibration circuit. The full-bridge driving circuit is configured to receive a control signal of the main control module and convert it into a three-phase electrical signal for driving the brushless rotation motor. The current detection circuit is configured to monitor the magnitude of the current passing through the brushless rotation motor in real time. The speed feedback circuit is configured to measure the rotation speed of the brushless rotation motor and feedback the actual rotation speed information to the main control module. The position calibration circuit is configured to determine the actual position of the brushless rotation motor.

[0016] In some possible implementation manners, the full-bridge driving circuit is a three-phase six-arm full-bridge driving circuit.

[0017] In some possible implementation manners, the position detection baffle is a semi-circular baffle, the photoelectric position detection sensor includes an infrared emission module and an infrared reception module, and the position detection baffle blocks the infrared signal between the infrared emission module and the infrared reception module at some rotation angles as the rotation driving gear rotates.

[0018] In some possible implementation manners, suction cups are further respectively provided at the contact ends of the main robotic arm and the auxiliary robotic arm with the curtain wall to be cleaned, for fixing the main robotic arm and the auxiliary robotic arm to the curtain wall to be cleaned.

[0019] The control circuit further includes a suction cup control module, which is electrically connected to the main control module, for receiving the adsorption signal sent by the main control module and controlling the suction cups of the main robotic arm and the auxiliary robotic arm to adsorb to the curtain wall to be cleaned.

[0020] This application further provides a glass curtain wall cleaning device, which includes a main robotic arm, an auxiliary robotic arm, a rotating device, and the control circuit according to any one of the above. The rotating device is arranged at one end of the main robotic arm, the other end of the main robotic arm is movably connected to one end of the auxiliary robotic arm, the other end of the auxiliary robotic arm is connected to the curtain wall to be cleaned, and the rotating device is used to drive the main robotic arm and the auxiliary robotic arm to rotate simultaneously.

[0021] In some possible implementation manners, the glass curtain wall cleaning device further includes a first suction cup device and a second suction cup device. The first suction cup device is arranged at one end of the main robotic arm, and the second suction cup device is arranged at the other end of the auxiliary robotic arm. The glass curtain wall cleaning device is connected to the curtain wall to be cleaned through the first suction cup device and the second suction cup device.

[0022] The beneficial effects brought by the technical solution provided by the embodiment of this application are:

[0023] The movable robotic arm structure among the main robotic arm, the auxiliary robotic arm and the rotating device improves the coverage adjustment range of cleaning. Through the driving signals generated by the main control module, precise control of the main robotic arm, the auxiliary robotic arm and the rotating device can be achieved, improving the cleaning efficiency and accuracy. The auxiliary arm driving module allows the auxiliary robotic arm to flexibly adjust its position to adapt to curtain walls of different shapes and sizes, enhancing the applicability of the cleaning robot. The rotating module enables the robotic arm to rotate and cover a wider area, reducing dead corners and improving the cleaning effect. The information detection module can monitor the position of the rotating device in real time and optimize the actions of the robotic arm through a feedback mechanism to ensure the continuity and stability of the cleaning process. The modular design makes the maintenance and replacement of each component more convenient, reducing the maintenance cost. The position sensing signal can feedback the position information of the rotating device in real time, enabling the control system to timely adjust the actions of the rotating device to adapt to different cleaning requirements. Since the photoelectric sensor works based on optical signals, it is insensitive to electromagnetic interference, improving the stability of signal acquisition. Due to the simple working principle of the photoelectric sensor, its maintenance and calibration are relatively easy, reducing the maintenance cost. By precisely controlling the position of the rotating device, unnecessary rotation actions can be avoided, thus reducing energy consumption. In summary, through integration and modularization, the design of the control circuit improves the working efficiency and cleaning quality of the glass curtain wall cleaning equipment, and also increases the operation flexibility and equipment reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present application will be further described below in conjunction with the drawings and embodiments.

[0025] Figure 1 It is a structural block diagram of a control circuit proposed by the present application;

[0026] Figure 2 It is a partial structural schematic diagram of a glass curtain wall cleaning equipment proposed by the present application;

[0027] Figure 3 It is a circuit schematic diagram of a three-phase six-arm full-bridge drive circuit proposed by the present application;

[0028] Figure 4 It is a principle schematic diagram of a photoelectric position detection sensor proposed by the present application;

[0029] Figure 5 It is another principle schematic diagram of a photoelectric position detection sensor proposed by the present application.

[0030] Illustration: 100, main robotic arm; 200, secondary robotic arm; 300, rotating device; 400, control circuit; 410, main control module; 420, secondary arm drive module; 421, secondary arm drive motor; 422, secondary arm drive circuit; 430, main arm drive module; 431, main arm drive motor; 432, main arm drive circuit; 440, rotation module; 441, rotation drive circuit; 442, rotation brushless motor; 450, information detection module; 451, detection circuit; 452, photoelectric position detection sensor; 453, position detection baffle; PT, infrared receiving module; IR, infrared transmitting module. Detailed implementation

[0031] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0032] Refer to Figure 1 and Figure 2 , the embodiments of the present application provide a control circuit 400, which is applied to a glass curtain wall cleaning device. The glass curtain wall cleaning device includes a main robotic arm 100, a secondary robotic arm 200, and a rotating device 300. The control circuit 400 includes:

[0033] A main control module 410, which is used to generate a main arm drive signal for driving the main robotic arm 100, a secondary arm drive signal for driving the secondary robotic arm 200, and a rotation drive signal for driving the rotating device 300;

[0034] A secondary arm drive module 420, which is electrically connected to the main control module 410. The secondary arm drive module 420 is used to receive the secondary arm drive signal sent by the main control module 410 and drive the secondary robotic arm 200 to approach or move away from the curtain wall to be cleaned;

[0035] A main arm drive module 430, which is electrically connected to the main control module 410. The main arm drive module 430 is used to receive the main arm drive signal sent by the main control module 410 and drive the main robotic arm 100 to approach or move away from the curtain wall to be cleaned;

[0036] A rotation module 440, which is electrically connected to the main control module 410. The rotation module 440 is used to receive the rotation drive signal sent by the main control module 410 and drive the rotating device 300 to rotate;

[0037] An information detection module 450, the information detection module 450 includes a detection circuit 451, a photoelectric position detection sensor 452 electrically connected to the detection circuit 451, and a position detection baffle 453 disposed on the rotation module 440. When the position detection baffle 453 rotates, the photoelectric position detection sensor 452 generates a position sensing signal for indicating the rotation position of the rotating device 300.

[0038] In a specific application, the rotation module 440 includes a rotation drive circuit 441 and a rotation brushless motor 442. The position detection baffle 453 is disposed on the rotation drive gear of the rotation brushless motor 442 and rotates therewith. The main control module 410 is the core part of the control circuit 400 and is responsible for generating control signals to drive the key components of the entire glass curtain wall cleaning device, and is used to generate three main drive signals: a main arm drive signal for controlling the movement of the main robotic arm 100; a sub-arm drive signal for controlling the movement of the sub-robotic arm 200; and a rotation drive signal for controlling the rotation of the rotating device 300. The sub-arm drive module 420 receives the sub-arm drive signal sent by the main control module 410 and drives the sub-robotic arm 200 to approach or move away from the curtain wall to be cleaned, so as to allow the sub-robotic arm 200 to flexibly adjust its position to adapt to the cleaning requirements at different positions. The main arm drive module 430 receives the main arm drive signal sent by the main control module 410 and drives the main robotic arm 100 to perform corresponding actions. It can be considered that the main robotic arm 100 is usually responsible for supporting the sub-robotic arm 200. The rotation module 440 receives the rotation drive signal of the main control module 410 and drives the rotating device 300 to rotate, so that the robotic arm can cover a wider cleaning range. The information detection module 450 includes a detection circuit 451, a photoelectric position detection sensor 452, and a position detection baffle 453 on the rotation drive gear of the rotation brushless motor 442. Its main function is to real-time monitor the rotation position of the rotating device 300 and generate a position sensing signal through the photoelectric sensor, which is fed back to the main control module 410 for adjusting and optimizing the actions of the robotic arm.

[0039] The photoelectric position detection sensor 452 is a sensor capable of detecting changes in optical signals, usually consisting of a transmitting end (such as an infrared emitter) and a receiving end (such as a photosensitive receiver). The photoelectric position detection sensor 452 is used to detect the position change of the position detection baffle 453. The position detection baffle 453 is connected to the rotating drive gear of the rotary brushless motor 442 and can rotate as the gear rotates. There are specific marks or notches on the baffle for cooperation with the photoelectric position detection sensor 452. When the position detection baffle 453 rotates, the marks or notches on it will periodically block or allow the light emitted by the infrared emitter to reach the receiving end of the photoelectric position detection sensor 452. The interruption or passage of light will cause a change in the electrical signal, thereby generating a position sensing signal. The generated position sensing signal will indicate the rotational position of the rotating device 300, and the position sensing signal can be received by the main control module 410 and used to determine the current angle and position of the rotating device 300. The combination of the main robotic arm 100 and the auxiliary robotic arm 200 provides multi-dimensional movement capabilities, enabling the cleaning device to reach different parts of the curtain wall and improving the coverage adjustment range of cleaning. The addition of the rotating device 300 enables the robotic arm to not only move linearly but also rotate around a certain center point, thus expanding the cleaning range of a single positioning.

[0040] Thus, the movable robotic arm structure among the main robotic arm 100, the auxiliary robotic arm 200, and the rotating device 300 improves the coverage adjustment range of cleaning. Through the drive signal generated by the main control module 410, precise control of the main robotic arm 100, the auxiliary robotic arm 200, and the rotating device 300 can be achieved, improving the cleaning efficiency and accuracy. The auxiliary arm drive module 420 allows the auxiliary robotic arm 200 to flexibly adjust its position to adapt to curtain walls of different shapes and sizes, improving the applicability of the cleaning robot. The rotation module 440 enables the robotic arm to rotate to cover a wider area, reducing dead corners and improving the cleaning effect. The information detection module 450 can monitor the position of the rotating device 300 in real time and optimize the actions of the robotic arm through a feedback mechanism to ensure the continuity and stability of the cleaning process. The modular design makes the maintenance and replacement of each component more convenient, reducing the maintenance cost. The position sensing signal can feedback the position information of the rotating device 300 in real time, enabling the control system to adjust the actions of the rotating device 300 in a timely manner to adapt to different cleaning requirements. The operation of the photoelectric sensor is based on optical signals, so it is insensitive to electromagnetic interference, improving the stability of signal acquisition. Due to the simple working principle of the photoelectric sensor, maintenance and calibration are relatively easy, reducing the maintenance cost. By precisely controlling the position of the rotating device 300, unnecessary rotation actions can be avoided, thereby reducing energy consumption.

[0041] In summary, the design of the control circuit 400 improves the working efficiency and cleaning quality of the glass curtain wall cleaning equipment through high integration and modularization, and also increases the operation flexibility and equipment reliability.

[0042] In one embodiment, the auxiliary arm driving module 420 includes an auxiliary arm driving motor 421 and an auxiliary arm driving circuit 422. The input end of the auxiliary arm driving circuit 422 is electrically connected to the main control module 410, and the output end of the auxiliary arm driving circuit 422 is electrically connected to the auxiliary arm driving motor 421. The auxiliary arm driving motor 421 is configured to receive the auxiliary arm driving signal sent by the main control module 410 through the auxiliary arm driving circuit 422, and drive the auxiliary robotic arm 200 to approach or move away from the curtain wall to be cleaned.

[0043] The auxiliary arm driving circuit 422 is a core component of the auxiliary arm driving module 420, responsible for receiving the signal from the main control module 410 and performing corresponding processing, and converting the electrical signal into a signal type suitable for driving the auxiliary arm driving motor 421. The auxiliary arm driving signal is used to indicate the rotation speed, torque, etc. of the auxiliary arm driving motor 421, so as to drive the auxiliary robotic arm 200. The auxiliary arm driving motor 421 performs corresponding actions according to the received signal, making the auxiliary robotic arm 200 approach or move away from the curtain wall to be cleaned, and enabling the cleaning robot to clean at different positions.

[0044] Therefore, the independence of the auxiliary arm driving module 420 makes the maintenance and upgrade in subsequent use more convenient; the auxiliary arm driving module 420 allows the auxiliary robotic arm 200 to clean at different positions, increasing the flexibility and adaptability of the cleaning robot. The above modular design makes the auxiliary arm driving module 420 easy to integrate with other modules, facilitating the implementation of more complex control logics and function expansions.

[0045] In one embodiment, the main arm driving module 430 includes a main arm driving motor 431 and a main arm driving circuit 432. The input end of the main arm driving circuit 432 is electrically connected to the main control module 410, and the output end of the main arm driving circuit 432 is electrically connected to the main arm driving motor 431. The main arm driving motor 431 is configured to receive the main arm driving signal sent by the main control module 410 through the main arm driving circuit 432, and drive the main robotic arm 100 to approach or move away from the curtain wall to be cleaned.

[0046] The main control module 410 is connected to the input end of the main arm drive module 430 through an electrical signal, ensuring that the main control module 410 can send control instructions to the main arm drive module 430. The main arm drive circuit 432 converts the instructions of the main control module 410 into electrical signals suitable for driving the main arm drive motor 431. The main arm drive motor 431 is connected to the output end of the main arm drive circuit 432 and receives the processed electrical signal. The electrical signal is used to guide the main arm drive motor 431 to perform corresponding start, stop, acceleration, or deceleration actions.

[0047] Thus, through the electrical signal connection between the main control module 410 and the main arm drive module 430, precise control of the actions of the main robotic arm 100 can be achieved, improving the cleaning efficiency and quality. The independence of the main arm drive module 430 makes maintenance and upgrading more convenient. The modular design makes the main arm drive module 430 easy to integrate with other system components, facilitating the implementation of more complex control logics and functional expansions.

[0048] In one embodiment, the rotation module 440 includes a rotation drive circuit 441 and a rotation brushless motor 442. The input end of the rotation drive circuit 441 is electrically connected to the main control module 410, and the output end of the rotation drive circuit 441 is electrically connected to the rotation brushless motor 442. The rotation brushless motor 442 is used to receive the rotation drive signal transmitted by the main control module 410 through the rotation drive circuit 441 and drive the rotation device 300 to rotate.

[0049] The main control module 410 is connected to the input end of the rotation module 440 through an electrical signal, ensuring that the main control module 410 can send control instructions to the rotation module 440. The rotation drive circuit 441 is responsible for receiving the signal from the main control module 410 and performing corresponding processing, converting the instructions of the main control module 410 into electrical signals suitable for driving the rotation brushless motor 442. The rotation brushless motor 442 is connected to the output end of the rotation drive circuit 441 and receives the processed electrical signal. The rotation brushless motor 442 drives the rotation device 300 to rotate according to the received signal, enabling the cleaning equipment to cover a wider cleaning area and achieve all-round cleaning.

[0050] Thus, through the electrical signal connection between the main control module 410 and the rotation drive circuit 441, precise control of the rotation actions of the rotation device 300 can be achieved, improving the cleaning efficiency and quality. Compared with brushed motors, the rotation brushless motor 442 has a longer service life and lower maintenance requirements, reducing the maintenance cost. Brushless motors generally have higher operating efficiency and better control performance, and are more suitable for rotation devices 300 with high-precision and high-speed control.

[0051] In one embodiment, the rotation drive circuit 441 includes a full-bridge drive circuit, a current detection circuit 451, a speed feedback circuit, and a position calibration circuit;

[0052] The full-bridge drive circuit is configured to receive the control signal from the main control module 410 and convert it into three-phase electrical signals for driving the brushless rotary motor 442;

[0053] The current detection circuit 451 is used to monitor the magnitude of the current passing through the brushless rotary motor 442 in real time;

[0054] The speed feedback circuit is used to measure the rotational speed of the brushless rotary motor 442 and feed back the actual rotational speed information to the main control module 410;

[0055] The position calibration circuit is used to determine the actual position of the brushless rotary motor 442.

[0056] Specifically, the full-bridge drive circuit can be composed of multiple power electronic devices, capable of providing two sets of opposite voltages to control the steering and rotational speed of the brushless motor. The current detection circuit 451 is used to monitor the magnitude of the current passing through the brushless rotary motor 442 in real time. By detecting the current, the working states such as the motor load condition and efficiency can be understood. The speed feedback circuit measures the rotational speed of the motor and feeds back the actual rotational speed information to the main control module 410, which can be implemented, for example, by installing an optical encoder or a Hall sensor on the motor shaft to achieve the above functions. The position calibration circuit is used to determine the accurate position of the brushless rotary motor 442 and can be used in cooperation with the optical position detection sensor 452 and the position detection baffle 453.

[0057] The full-bridge drive circuit provides efficient power conversion, can precisely control the rotational speed and torque of the brushless motor, and improves the performance of the cleaning equipment. The current detection circuit 451 can monitor the working state of the motor in real time, which helps to detect and solve potential overload or overheating problems in a timely manner. The speed feedback circuit provides real-time information on the actual rotational speed of the motor, enabling the main control module 410 to adjust the control signal according to the feedback and achieve precise speed control. The position calibration circuit ensures the precise positioning of the rotating device 300 and improves the accuracy and reliability of the cleaning equipment in complex or specific cleaning tasks. Through current detection and speed feedback, the working state of the motor can be better managed, and the safety risks caused by overload or overheating can be reduced.

[0058] In one embodiment, the full-bridge drive circuit is a three-phase six-arm full-bridge drive circuit. The three-phase six-arm full-bridge drive circuit can improve the overall energy conversion efficiency through PWM control and synchronous rectification technology; and allows for precise adjustment of the operating state (speed and torque) of the brushless rotary motor.

[0059] See Figure 3, Each phase voltage in the three-phase six-arm full-bridge drive circuit corresponds to two pairs of complementary transistors (Q3, Q5, Q7, Q4, Q6, Q8) and diodes. The switching state of the transistors determines whether the current flows to the motor (M) or conducts freewheeling through the diodes. The sources of Q4, Q6, and Q8 are grounded through resistors R, and the drains of Q3, Q5, and Q7 are connected to the power supply voltage VCC.

[0060] In one embodiment, suction cups are further provided at the contact ends of the main robotic arm 100 and the auxiliary robotic arm 200 with the curtain wall to be cleaned, for fixing the main robotic arm 100 and the auxiliary robotic arm 200 to the curtain wall to be cleaned.

[0061] The control circuit 400 further includes a suction cup control module, which is electrically connected to the main control module 410, for receiving the adsorption signal sent by the main control module 410 and controlling the suction cups of the main robotic arm 100 and the auxiliary robotic arm 200 to adsorb to the curtain wall to be cleaned.

[0062] Suction cups are respectively installed at the contact ends of the main robotic arm 100 and the auxiliary robotic arm 200, for contacting the surface of the curtain wall to be cleaned and forming a seal to achieve fixation. The control circuit 400 includes a suction cup control module, which is responsible for managing and controlling the working state of the suction cups. The suction cup control module is electrically connected to the main control module 410 and receives instructions from the main control module 410. When the main control module 410 sends an adsorption signal, the suction cup control module receives these signals. According to the received signals, the suction cup control module activates or controls the suction cups to adsorb them to the curtain wall to be cleaned, thereby fixing the robotic arms. After the main robotic arm 100 and the auxiliary robotic arm 200 are fixed to the curtain wall by the suction cups, the cleaning device can start to perform the cleaning operation.

[0063] Thus, the suction cups provide a stable fixing method, ensuring that the robotic arms will not slide or move during the cleaning process, improving the cleaning accuracy. By fixing with suction cups, the falling risk of the robotic arms during high-altitude operations is reduced, improving the operation safety.

[0064] In one embodiment, the position detection baffle 453 is a semi-circular baffle, the photoelectric position detection sensor 452 includes an infrared emission module IR and an infrared reception module PT, and the position detection baffle 453 blocks the infrared signal between the infrared emission module IR and the infrared reception module PT at some rotation angles as the rotation drive gear rotates.

[0065] See Figure 4 and Figure 5, the photoelectric position detection sensor 452 consists of two parts: an infrared emission module IR and an infrared reception module PT. The infrared emission module IR is responsible for emitting infrared light, while the infrared reception module PT is used to detect the presence or absence of infrared light. The position detection baffle 453 is designed as a semi-circle, connected to the rotary drive gear and rotating with it, so that the baffle can block the infrared signal between the infrared emission module IR and the infrared reception module PT at a specific angle. When the position detection baffle 453 does not block the infrared light emitted by the infrared emission module IR, the infrared reception module PT can receive the infrared light, and at this time the sensor outputs a low-level signal (such as "0"). When the baffle rotates to an appropriate position and blocks the infrared light, the infrared reception module PT cannot receive the infrared light, and the sensor outputs a high-level signal (such as "1"). By monitoring the output signal of the infrared reception module PT, the current rotation angle of the rotary drive gear can be determined. When the baffle changes from blocking to non-blocking or from non-blocking to blocking, the signal output by the sensor will change, and this change can be used to calibrate the rotation position of the rotating device 300.

[0066] Thus, the combination of the infrared emission module IR and the infrared reception module PT of the photoelectric sensor provides a simple and reliable method for detecting the rotation position. The semi-circular position detection baffle 453 allows the angle of the rotating device 300 to be accurately determined by the presence or absence of the infrared signal, improving the positioning accuracy. By setting the "0→1" or "1→0" change of the infrared signal at a specific angle, the starting position of the rotating device 300 can be easily calibrated. The use of the infrared signal reduces the influence of external ambient light on the sensor performance and improves the anti-interference ability. Accurate rotation position detection helps to avoid the problem of unstable control of the control circuit 400 caused by position errors. The above structure is applicable to the control systems of various rotary drive gears and has good adaptability and versatility.

[0067] In summary, the combination of the position detection baffle 453 and the photoelectric position detection sensor 452 provides an efficient, accurate, and reliable rotation position detection solution, which helps to improve the performance and operation safety of the glass curtain wall cleaning equipment, and at the same time reduces the maintenance cost.

[0068] See Figure 1 and Figure 2 , the embodiment of the present application also provides a glass curtain wall cleaning equipment, which includes a main robotic arm 100, a secondary robotic arm 200, a rotating device 300, and the control circuit 400 described in any one of the above embodiments. The rotating device 300 is arranged at one end of the main robotic arm 100. The other end of the main robotic arm 100 is movably connected to one end of the secondary robotic arm 200. The other end of the secondary robotic arm 200 is connected to the curtain wall to be cleaned. The rotating device 300 is used to drive the main robotic arm 100 and the secondary robotic arm 200 to rotate simultaneously.

[0069] The glass curtain wall cleaning device consists of a main robotic arm 100, a secondary robotic arm 200, and a rotating device 300. The rotating device 300 is located at one end of the main robotic arm 100, and the other end of the main robotic arm 100 is movably connected to one end of the secondary robotic arm 200. The other end of the secondary robotic arm 200 is connected to the curtain wall to be cleaned. The rotating device 300 is responsible for driving the entire robotic arm system to perform rotational motion. When the rotating device 300 is activated, it drives the main robotic arm 100 and the secondary robotic arm 200 to rotate simultaneously. The main robotic arm 100 and the secondary robotic arm 200 are movably connected, allowing them to maintain flexibility in their relative positions while rotating. The control circuit 400 is responsible for receiving operation instructions and precisely controlling the actions of the rotating device 300 and the robotic arms. The control circuit 400 includes a main control module 410, a driving module, an information detection module 450, etc., ensuring the coordinated actions of the robotic arms and achieving efficient cleaning. In specific applications, with the coordinated operation of the rotating device 300, the main robotic arm 100, and the secondary robotic arm 200, the cleaning tool is brought to different positions for cleaning, achieving a comprehensive cleaning of the glass curtain wall. It can be considered that the cleaning tool is arranged at the other end of the secondary robotic arm 200 and can move relative to the curtain wall to be cleaned when the secondary robotic arm 200 is fixed to the curtain wall to be cleaned to achieve cleaning.

[0070] Thus, the rotating device 300 can enable the main and secondary robotic arms 200 to rotate simultaneously, expanding the coverage adjustment range of cleaning, reducing the number of times of moving equipment, and improving the cleaning efficiency. The design of the movable connection enables the robotic arms to adapt to curtain walls of different shapes and sizes, increasing the applicability of the equipment. The integrated control circuit 400 can precisely control the actions of the robotic arms, ensuring the stability of the cleaning process and the cleaning quality. The connection design between the robotic arms and the curtain wall reduces the unstable factors during high-altitude operation of the equipment, improving the operation safety.

[0071] In one embodiment, the glass curtain wall cleaning device further includes a first suction cup device and a second suction cup device. The first suction cup device is arranged at one end of the main robotic arm 100, and the second suction cup device is arranged at the other end of the secondary robotic arm 200. The glass curtain wall cleaning device is connected to the curtain wall to be cleaned through the first suction cup device and the second suction cup device.

[0072] It can be considered that the glass curtain wall cleaning equipment is equipped with two sets of sucker devices, namely the first sucker device and the second sucker device. The first sucker device is installed at one end of the main robotic arm 100, while the second sucker device is installed at the other end of the auxiliary robotic arm 200. The main function of the two sets of sucker devices is to enable the cleaning equipment to firmly adhere to the glass curtain wall. Through the adsorption force generated by the sucker devices, the cleaning operation can be carried out stably. In specific applications, during the cleaning process, the first sucker device and the second sucker device respectively come into contact with the surface of the curtain wall to be cleaned, and fix the equipment by generating suction force. The control circuit 400 can coordinate the working states of the sucker devices, including starting the suckers to generate suction force, and disconnecting the suction force when necessary to move the equipment. In specific applications, the glass curtain wall cleaning equipment includes two sets of main robotic arms, auxiliary robotic arms and rotating devices that are symmetrically arranged, and each set of main robotic arms and auxiliary robotic arms includes the two sets of sucker devices mentioned above. The corresponding control circuit is used to simultaneously control the actions of the two sets of main robotic arms, auxiliary robotic arms and rotating devices.

[0073] Thus, the sucker devices provide a strong adsorption force, ensuring the stability of the equipment during the cleaning process and reducing the swing caused by wind or other external factors. By firmly connecting to the curtain wall, the risk of the equipment falling is reduced, and the safety of the operation is improved. Compared with other fixing methods, the sucker devices are not likely to cause scratches or damage to the glass surface.

[0074] In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the front and rear associated objects. "At least one (item)" or its similar expression means any combination of these items, including any combination of single item (item) or plural items (items). For example, at least one (item) of a, b or c can represent: a, b, c, a and b, a and c, b and c, a and b and c, where a, b and c can be single or multiple. It should be noted that "at least one (item)" can also be interpreted as "one (item) or more (items)".

[0075] As mentioned above, the above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application, according to the technical solution and application concept of the present application, makes equivalent replacements or changes, and should be covered by the protection scope of the present application.

Claims

1. A control circuit, characterized in that: Applied to glass curtain wall cleaning equipment, the glass curtain wall cleaning equipment includes a main mechanical arm, a secondary mechanical arm and a rotating device, and the control circuit includes: A main control module, the main control module is used to generate a main arm driving signal for driving the main mechanical arm, a secondary arm driving signal for driving the secondary mechanical arm, and a rotation driving signal for driving the rotation device; A secondary arm driving module, the secondary arm driving module is electrically connected to the main control module, and the secondary arm driving module is used to receive a secondary arm driving signal sent by the main control module to drive the secondary mechanical arm to approach or move away from the curtain wall to be cleaned; A main arm driving module, the main arm driving module is electrically connected to the main control module, and the main arm driving module is used to receive a main arm driving signal sent by the main control module to drive the main mechanical arm to approach or move away from the curtain wall to be cleaned; A rotating module, the rotating module is electrically connected to the main control module, and the rotating module is used to receive a rotation driving signal sent by the main control module to drive the rotating device to rotate; An information detection module, the information detection module includes a detection circuit and a photoelectric position detection sensor electrically connected to the detection circuit, and a position detection baffle arranged on the rotation module. When the position detection baffle rotates, the photoelectric position detection sensor generates a position sensing signal for indicating the rotation position of the rotating device.

2. The control circuit according to claim 1, characterized in that: The auxiliary arm driving module includes an auxiliary arm driving motor and an auxiliary arm driving circuit, the input end of the auxiliary arm driving circuit is electrically connected to the main control module, the output end of the auxiliary arm driving circuit is electrically connected to the auxiliary arm driving motor, and the auxiliary arm driving motor is used to receive the auxiliary arm driving signal sent by the main control module through the auxiliary arm driving circuit, and drive the auxiliary robotic arm to approach or move away from the curtain wall to be cleaned.

3. The control circuit according to claim 1, characterized in that: The main arm driving module includes a main arm driving motor and a main arm driving circuit, the input end of the main arm driving circuit is electrically connected to the main control module, the output end of the main arm driving circuit is electrically connected to the main arm driving motor, and the main arm driving motor is used to receive a main arm driving signal sent by the main control module through the main arm driving circuit, and drive the main robotic arm to approach or move away from the curtain wall to be cleaned.

4. The control circuit according to claim 1, characterized in that: The rotating module includes a rotating drive circuit and a rotating brushless motor, and the position detection baffle is arranged on the rotating drive gear of the rotating brushless motor and rotates together; the input end of the rotating drive circuit is electrically connected to the main control module, and the output end of the rotating drive circuit is electrically connected to the rotating brushless motor. The rotating brushless motor is used to receive the rotating drive signal transmitted by the main control module through the rotating drive circuit to drive the rotating device to rotate.

5. The control circuit according to claim 4, characterized in that: The rotation drive circuit includes a full-bridge drive circuit, a current detection circuit, a speed feedback circuit and a position calibration circuit; the full-bridge drive circuit is used to receive the control signal of the main control module and convert it into a three-phase electrical signal for driving the rotation brushless motor; The current detection circuit is used to monitor the current passing through the rotating brushless motor in real time; The speed feedback circuit is used to measure the speed of the rotary brushless motor and feed back the actual speed information to the main control module; The position calibration circuit is used to determine the actual position of the rotary brushless motor.

6. The control circuit according to claim 5, characterized in that: The full-bridge drive circuit is a three-phase six-arm full-bridge drive circuit.

7. The control circuit according to claim 4, characterized in that: The position detection baffle is a semicircular baffle, the photoelectric position detection sensor includes an infrared transmitting module and an infrared receiving module, and the position detection baffle blocks the infrared signal between the infrared transmitting module and the infrared receiving module at a partial rotation angle as the rotary drive gear rotates.

8. The control circuit according to claim 1, characterized in that: The contact ends of the main mechanical arm and the auxiliary mechanical arm with the curtain wall to be cleaned are also provided with suction cups respectively, which are used to fix the main mechanical arm and the auxiliary mechanical arm with the curtain wall to be cleaned; The control circuit also includes a suction cup control module, which is electrically connected to the main control module and is used to receive an adsorption signal sent by the main control module and control the suction cups of the main robotic arm and the auxiliary robotic arm to adsorb to the curtain wall to be cleaned.

9. A glass curtain wall cleaning device, characterized in that: The glass curtain wall cleaning equipment includes a main robotic arm, a secondary robotic arm, a rotating device and a control circuit according to any one of claims 1 to 8, wherein the rotating device is arranged at one end of the main robotic arm, the other end of the main robotic arm is movably connected to one end of the secondary robotic arm, the other end of the secondary robotic arm is connected to the curtain wall to be cleaned, and the rotating device is used to drive the main robotic arm and the secondary robotic arm to rotate simultaneously.

10. The glass curtain wall cleaning equipment according to claim 9, characterized in that: The glass curtain wall cleaning equipment also includes a first suction cup device and a second suction cup device, wherein the first suction cup device is arranged at one end of the main robotic arm, and the second suction cup device is arranged at the other end of the auxiliary robotic arm, and the glass curtain wall cleaning equipment is connected to the curtain wall to be cleaned through the first suction cup device and the second suction cup device.

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