Advanced Materials Research Vol 590 (2012) pp 258-261 Online: 2012-11-12

© (2012) Trans Tech Publications, Switzerland

doi:10.4028/www.scientific.net/AMR.590.258

Designing of the Remonte Control Window Cleaning Device

Sun Mengqin 1, a, Wang Lichen 2,b Li Shuiqing 3,c
1
School of Mechanical Engineering , Changchun Institute of Technology, 130012,China
2
Jilin Midas Aluminium Industries CO.,LTD. LiaoYuan,136200,China
3
School of Mechanical Engineering , Changchun Institute of Technology, 130012,China
a
smq678@sohu.coml, b743150437@qq.com, c1260085496@qq.com

Keywords: the four rotor aircraft; cleaning device; gear; control system;

Abstract. This paper presents the window cleaning device carried by four-rotor aircraft. The cleaning
device adopts the gear drive with the electromagnet; Considering the different shapes of the windows,
it is designed there different replaceable cleaning disc; the control system can control the actions of
the aircraft and cleaning disc. It meets the requirements of the low-mass, high reliability, high
automation, good stability, easy operation to the widow cleaning device.

Introduction
A great amount of high-rise buildings are emerging in modern cities, more and more glasses are used
on the high-rise buildings, there is strong wind between the high-rise buildings, cleaning the window
is dangerous for people. So cleaning window is a troubling problem in people’s daily lives. But the
most window cleaning devices are not convenient to operate, and not satisfactory to the result, it is
difficult to be widely used. Now the window cleaning is developing rapidly, it is becoming the
electromechanical integration equipment. It can be divided into two groups from the volume and
shape, one is a kind of the large: track types, wheel loading types, pulley types, etc, they need to build
tracks or the auxiliary settings, large-bodied, some of them can move only single horizontal or
vertical direction, they are not suitable to be used at home. Another one is a kind of the small, the
main principle of them works by the electromagnet, settled the route by the single-chip, but most need
to equip a lot of water, the water run down steadily from the glasses during the cleaning, the window
sills and the floor will accumulate water, which is a very big disadvantage in use. Thus, it need to
design the small, maneuverable, strong stability, resist three to four wind, easy to operate, it can solve
the troubles effectively in people’s lives in safe conditions.
The Designing Requirements
It must suitable for the working environment between high-rise buildings, a new approach to path
planning for window cleaning device is presented considering movement security, cleaning
efficiency, simple operation and the light volume, the designing requirements is described as follows:
size; about 610mm×181mm×170mm
size; about 610mm×181mm×170mm
weight; 1200g～1500g
basic requirements: the maximum flight speed 2m/s
the minimum flight speed 0.1m/s
the wind resistance 3~4
Structural designing of the remote control window cleaning device
The remote control window cleaning device consists of the four rotor aircraft 3, cleaner, control
system 4 and remote control (Figure 1), the cleaner and control system install the four rotor aircraft,
the control system can control actions of the cleaner (pull or separation of the electromagnet, rotation
of the gear shaft) and aircraft (taking off, landing, hovering, moving a little, flying slowly or rotation)
[1].

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 Advanced Materials Research Vol. 590 259

The cleaner consists of the cleaning disc 1, the cleaning disc 6, and the driving part of cleaner
(Figure 2). When the electromagnet A and the electromagnet B pull in, the driving gear 71 engages
with the driven gear 72[5], the cleaning disc 1 can rotate, which can effectively clean the window;
When the electromagnet A and the electromagnet C pull in, the driving gear 77 engages with the
driven gear 78, which drives the rotation of the other end of the cleaning disc 2.
The cleaning disc consists of the disc and shaft, the shaft links both sides of the aircraft, which
ensures the balance of the body of the aircraft. The front of the cleaning disc is parceled with the cloth
and sponge, which slows down the impact of the glass when the cleaning disc contacts the glass. The
cleaning disc can be disassembled, which can be divided into three kinds: round, square and other
shapes. Among them, the round can be driven by shaft rotation, which can be used for large glass; the
square does not rotate, which can be used for the edge of the window; other shapes can be produced
according to the different requirements of users.
The control system can be put into the single chip, which can control a variety of actions of the
cleaner and aircraft, while a three-axis stable system can accomplish the complex algorithm of the
stability of the aircraft.

1. the cleaning disc 1 2. the propeller 3.the four rotor aircraft 4.control systems 5.the motor
6. the cleaning disc 7. the driving part of cleaner
Fig.1 The window cleaning device

71. the driving gear 72. the driven gear 73. the motor 74. electromagnet A 75. electromagnet B
76. electromagnet C 77. the driving gear 78. the driven gear 79. the motor shaft 710. shaft
Figure 2 The driving part of the cleaner

The Calculation of the Design

The driving part of the cleaner The driving part of the cleaner consists of the motor, gears and shaft
(Figure 2).
η =η ×η
0 1 2

n0 = i × n1
(1)
260 Mechatronic Systems and Materials Application

where η 1 is the transmission efficiency of the gear, η 2 is he transmission efficiency of the shaft,
n0 n1
， are the motor 73 speed and the cleaning disc speed respectively, i is the transmission ratio of
the gear, η 1 =0.97 ， η 2 =0.99 ， n1 = 100 ~ 150r / min ， i = 2 . So the model of the motor is
−3
35BYG1011( output power p = 5.2 × 10 kw ), the material of gear is 45 steel (quenched and
tempered), the pinion hardness is 280HBS, the big gear hardness is 240HBS, the number of the pinion
teeth is z1 = 8 , the number of the big gear teeth is Z 2 = 16 .
p
d ≥ A0 3
n1
(2)
The material of shaft is 45 steel (quenched and tempered), the tensional stiffness method calculates
the minimum diameter of shaft d = 4mm (Formula 2).
The Cleaning Disc. The impact strength of ordinary glass is 0.78 N ⋅ s ~ 1.29 N ⋅ s , the minimum flight
speed of the aircraft is 0.1m/s, when the cleaning disc contacts the glass, the impact of the glass is as
follows:
I = mv = 1.2 × 0.1 = 0.12 N ⋅ s （3 ）
0.12 N ⋅ s < 0.78 N ⋅ s , it shows that the glass is not crushed, for greater security; the front of the
cleaning disc is parceled with the cloth and sponge.
I = Ft （4 ）
By the formula 4，the sponge can further extend the contact time of the disc and the glass, so that,
the designing of the disc is reasonable, which can’t damage the glass.

TABLE 1 THE WEIGHT OF AIRCRAFT

No Name Material Weight Quantity Subtotal（g）

1 airframe aluminum 176 1 176
tubes
2 motor XXD2212 50 4 250
35BYG101 50 1
3 propeller 8040 10 4 40
4 battery 62 2 2 124
5 esc 20A 19 5 95
6 Control 15 1 15
system
7 Data 30 1 30
lines
8 M3 screws 10 5 50
9 Gear 45 steel 50 4 200
10 shaft 45 steel 10 2 20
11 disc Sponge, 100 2 200
cotton
total 1200
 Advanced Materials Research Vol. 590 261

The Four Rotor Aircraft. The designing requirements of aircraft is presented considering
movement security, carrying heavy, hovering for a long time, so the four rotor aircraft is more
appropriate as a carrier. The rack material is the aluminum tube, which mainly considers the light
weight, corrosion resistance, material saving, high strength and durability. The aircraft motor and
propeller lift are calculated as follows:
wtotal = wa + wwater
(5)
F = ma = wtotal a (6)
Where wa is the weight of the aircraft, wwater is the weight of the water which the moist sponge need,
wtotal
is the total weight, F is lift, a is acceleration.
wa = 1200 g
（ table 1 ） ， wwater = 300 g ， a = 2m / s , so F = 1.5 × 2 = 3 N ， each motor and
2

propeller lift is 0.75N. A new west-2212-1400KV motor and 8040 paddle are chosen.
The Control System. The device uses the single-chip 89C51 that inputted the control system [2, 3,
4], which can control the action of hovering, flying and other action of the cleaner. In order to ensure
the stability of the aircraft adds the three-axis stability augmentation system, which uses the
single-chip 89C52, that is just to meet the requirement of the pulse width signal discrimination.

Summary
The calculation and simulation test results show that the design is feasible, meeting the design
requirements. The window cleaning device can bring great convenience and entertainments in life.
The school-age children can not only do housework but also entertainment.

References
[1] Li Zhenbo Chen Jiapin Zhang Chen ，Aerodynamics Analysis and Computation Approach for a
Four--rotors Micro--Helicopter at Very Low Reynolds Number[J]。China Mechanical Engineering.
2005，16： 249-253.
[2] Yang Mingzhil.Wang Min2 。 Design of Flight Control System for a Four rotor Mini
Rotorcraft[J]. Computer Measurement & Control. 2008. 16(4):485-490.
[3] PANG Qingpei,li Jiawen, HUANG Wenhao. Design of a Quadrotor Helicopter and Its Smooth
Motion Control Simulation. Electronics Optics &Control.2012-3 51-55.
[4] NIE Bo-wen, etc. Study on actualities and critical technologies of micro ／ mini
quadrotor[J].Electronics Optics & Control.2007,14(6):113-117.
[5] ZHANG Jing-shu1,etc.Base on Database Electromagnetic Design and Its Visual Simulation
System. JOURAL OF ENGINEERING GRAPHICS[J]. 2004, 1:66-70.
Mechatronic Systems and Materials Application
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Designing of the Remonte Control Window Cleaning Device

10.4028/www.scientific.net/AMR.590.258