Functional architecture

           This section will first describe the general principle behind the Window Monkey.  After, a high-level diagram of the robot will be presented with a brief breakdown of the subsystems on board.

 

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Basic Principle

            The Window Monkey robot will clean a window by swinging from one suction cup to another as seen in Figure 1.  During the swing the robot will drag a cleaning surface to wipe the window free of debris in a circular pattern.  Because the robot will swing around a point, the cleaning motion will resemble a windshield wiper.  After completing the necessary turn, the Window Monkey will attach to its other suction cup and repeat the process.  This sweeping motion will be done in a grid pattern until the entire surface is clean. 

           The robot will use distance sensors and an IMU to know its general location and orientation on the window.  When the robot needs to cross a divider, the robot will lift itself over the divider and attach on the other side and then swing its other suction cup over as well.  The other pane can then be washed in the same fashion as the first. 

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Figure 1: A animation of a single cup swing showing before (top) during (center) and after the swing. 

The robot will have a controller on board to receive sensory input and return commands.  Relays and H-bridges and voltage converters will be used as needed in the electronic system.

 

 

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General Layout

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Figure 2: Component Layout of the Robot

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         The general design layout can be seen above in Figure 2.  All of the general components can be seen in the image above.  Mounts and other details are not present in this high-level diagram.  Below is a list of the subsystems onboard, their components, and general purpose.  The details of each system will be described later.

●      Suction System - For sticking to the window pane.

         ○      Pump

         ○      Ducting

         ○      2-Way Valve

         ○      Pneumatic tubes

         ○      Suction Cups

●      Motion System - For moving about and between window panes.

         ○      Servo Motors

         ○      Linear solenoid actuators

●      Cleaning System - To Clean the window pane.

         ○      Springs

         ○      Cleaning Surface

●      Chassis System - Rigid backbone of the system.

         ○      RC servo gearbox

●      Control System

         ○      Arduino Uno

         ○      Ultrasonic Sensor

         ○      IMU

         ○      Motor Drivers