Embedded Files
Proposed Solution
Proposed Solution
Robot with 2 sockets, 2 ropes, and a spinning mop.
The ropes are attached to the sockets which are sticked to the top corners of the window.
By changing the tension and lengths of these ropes, the robot can go up, down, and side to side.
Sketch of how the robot will look on the window.
Software
Software
There are 2 different Modes:
Automatic Mode: The bot will find all the edges and boundaries of the window by itself, traversing the entire window.
Manual Mode: User controls the bot through a phone or computer, traversing the path input from user
Software Control Flow Diagram
Hardware
Hardware
ESP32-S3-Mini-1
Devboard
WiFi server
Main Logic Process
Custom
PCB Shield
Voltage Regulate
L298N driver
Super-sonic sensor
TMC 2209
Motor Driver
Rope Motor Control
L298N
Motor Driver
Mop Spin Motor Control
HC-SR04
Ultrasonic Sens.
Boundary detection
NEMA 17
Stepper Motor
Rope Motor
Mop Spin Motor
Hardware Control Flow Diagram
Testable Hypothesis
Testable Hypothesis
The robot that we make should be able to clean the entire window by varying the tension and length of ropes.
This will allow the robot to reach every angle of the window while sweeping a spinning mop as it moves.
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