CN104787342A - Curtain washing method based on unmanned aerial vehicle - Google Patents
Curtain washing method based on unmanned aerial vehicle Download PDFInfo
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- CN104787342A CN104787342A CN201510236935.4A CN201510236935A CN104787342A CN 104787342 A CN104787342 A CN 104787342A CN 201510236935 A CN201510236935 A CN 201510236935A CN 104787342 A CN104787342 A CN 104787342A
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Abstract
The invention discloses a curtain washing method based on an unmanned aerial vehicle and relates to curtain washing. The unmanned aerial vehicle for washing a curtain is provided with a body, four spiral engines, a flight control system, a washing liquid circulating device, a washing device and an undercarriage. The method comprises the steps that when the unmanned aerial vehicle takes off, a camera collects image information around the unmanned aerial vehicle and transfers the image information to a flight controller on the ground through an antenna; an image is represented on a display of the flight controller, a ground operator judges the position and the flight gesture of the unmanned aerial vehicle and correspondingly adjusts the position and gesture by virtue of a control button, the washing device starts work, a slide block reciprocates along a guide rail, a washing liquid is sprayed from a water injection nozzle on the slide block, and a sewage solution flows back to the washing liquid circulating device; the sewage solution firstly passes through a coarse filter and then flows into a sewage box, a negative pressure generator forms a negative pressure in the sewage box to recover the sewage solution lower than the sewage box, the sewage solution stored in the sewage box is conveyed to a purified water box, and the washing liquid stored in the purified water box is conveyed to a fine filter and is sprayed from the water injection nozzle to wash the curtain.
Description
Technical field
The present invention relates to curtain cleaning, particularly relate to a kind of curtain cleaning method based on unmanned plane.
Background technology
Robot airplane is a kind of not manned aircraft flown by programming control on telecommand equipment or machine.Be characterized in that structure is simple, volume is little, lightweight, manoevreability good, the flight time is long, cost is low, without the need to airfield runway, repeatedly can reclaim repeated usage.Because unmanned plane possesses above-mentioned advantage, it has very large application prospect in civilian or military field.
Curtain wall is the Light Walls with decorative effect that modern large-scale and skyscraper is commonly used, and more greatly and be mostly in tens meters even eminence of up to a hundred meters, and the support around can not climbed up by holding on to, the cleaning of curtain wall becomes heavy, a dangerous job to general area.Curtain cleaning work is before primarily of manually completing, but cleaning difficulty is large, security risk is high and efficiency is lower
[1].Though the wall surface cleaning robot of nearest research and development instead of traditional manpower but it moves the absorption mainly relied on wall, because curtain wall construction is complicated and changeable, if sealing arrangement is unreliable, be easy to safety misadventure occurs.Also to there is moving velocity in wall surface cleaning robot comparatively slow simultaneously, the problems such as work efficiency is not high.
Summary of the invention
The object of the invention is to the problems referred to above for prior art, a kind of curtain cleaning method based on unmanned plane is provided.
The described curtain cleaning method based on unmanned plane adopts cleaning curtain wall unmanned plane, and described cleaning curtain wall unmanned plane is provided with fuselage, 4 screw engines, flight control system, cleaning solution circulating device, washing equipment, alighting gears; Described 4 screw engines are fixedly arranged on fuselage, flight control system is provided with full-view camera, antenna, flight controller, and full-view camera is located at fuselage roof, and 4 screw engine tops are located at by antenna, flight controller is located on ground, and flight controller is for control of flying; Cleaning solution circulating device is provided with rough filter, foul water tank, negative pressure generator, sewage water pump, electromagnetic valve, clear water tanks, clarified water pump, precision filter, and cleaning solution circulating device is located at fuselage bottom, and forebody is located at by washing equipment, and fuselage bottom is located at by alighting gear; Described washing equipment is provided with guide rail, slide block, water injector, refluxing opening, hairbrush, scraping article; The outlet of refluxing opening connects the entrance of foul water tank through rough filter by flexible tube, the outlet of foul water tank connects the import of clear water tanks successively through sewage water pump and electromagnetic valve, and the outlet of clear water tanks connects water injector through clarified water pump and precision filter successively, and negative pressure generator is communicated with foul water tank; Guide rail is installed in the side of fuselage, and slide block to be located at outside guide rail and to slide up and down on guide rail, and water injector, refluxing opening, hairbrush, scraping article are located on slide block.
The described curtain cleaning method based on unmanned plane, comprises the following steps:
1) ground state unmanned plane rests on ground by the supporting role of alighting gear, and airscrew engine is started working afterwards, and unmanned plane takes off;
2) full-view camera starts the graphicinformation that gathers around unmanned plane, and the graphicinformation collected is delivered to the flight controller on ground by antenna;
3) image that unmanned plane collects is presented on the telltale of flight controller, ground handling operator is by the image on telltale, judge the position of now unmanned plane and flight attitude and adjusted accordingly by control button, ensureing that unmanned plane reaches work place smoothly;
4) washing equipment is started working, slide block under driven by power along guide rail crank motion, water injector spraywashing liquid on slide block, hairbrush stirs cleaning liquid and forms Interface Current and accelerate the dissociating of dirt, emulsification and dispersion, scraping article is used for entrapped contaminants to scrape totally, and final soiling solution flows back to cleaning solution circulating device by refluxing opening;
5) first soiling solution filters larger wadding by rough filter and gathers particulate matter, then flow into foul water tank to store, foul water tank is communicated with negative pressure generator, negative pressure generator forms negative pressure in foul water tank, reclaim the soiling solution lower than foul water tank height, the soiling solution deposited in foul water tank is transported in clear water tanks by the swabbing action of sewage water pump, and the opening and closing of transport channel is by solenoid control;
6) cleaning liquid deposited in clear water tanks is transported to precision filter by the swabbing action of clarified water pump and is filtered by tiny suspended particulate substance, is sprayed afterwards, complete the cleaning to curtain wall by water injector.
Described guide rail is used for guide shoe and moves back and forth.
Described slide block along guide rail crank motion, slide block can be provided with scraping article under driven by power, and described scraping article is used for entrapped contaminants to scrape totally; Described scraping article is made up of rubber.
Described water injector is used for spraywashing liquid; Described water injector is connected with cleaning solution circulating device by flexible rubber pipe.
Described refluxing opening is for reclaiming soiling solution; Described refluxing opening is connected with cleaning solution circulating device by flexible rubber pipe.
Described hairbrush forms Interface Current accelerate the dissociating of dirt, emulsification and dispersion for stirring cleaning liquid; Described hairbrush adopts the soft and chemical fiber silk with certain rigidity to make.
Described cleaning solution circulating device to be installed on bottom unmanned aerial vehicle body and to be connected with water injector and refluxing opening respectively by flexible rubber pipe, and described rough filter is made up of filter screen and gathers particulate matter for filtering larger wadding, and described foul water tank is used for depositing sewage.
Described negative pressure generator and foul water tank UNICOM, form negative pressure in foul water tank, thus can reclaim the soiling solution lower than foul water tank height, and described sewage water pump is used for sewage to be drawn into higher position.
Described electromagnetic valve is for controlling the flowing of sewage to clear water tanks.
Described clear water tanks is used for depositing cleaning liquid, and described clarified water pump is used for cleaning liquid to be drawn into higher position.
Described precision filter adopts nano material to make, for filtering superfine little suspended particulate substance.
Described full-view camera is for gathering the graphicinformation around unmanned plane.
Described antenna is used for the graphicinformation collected to be delivered to the flight controller on ground and accepts the signal that ground flying controller sends.
Described flight controller is used for controlling in the face of the flight attitude of unmanned plane and course on ground.
The present invention has following outstanding technique effect:
1) adopting cleaning curtain wall unmanned plane for performing the cleaning of constructure screen wall, there is following features: the engine installation of (1) unmanned plane adopts four rotors, and manoevreability is good and wind loading rating is strong.(2) unmanned plane is equipped with image acquisition and feedway control system signal transmission earthward, and accepts the control of ground control system.(3) unmanned aerial vehicle body is configured with cleaning solution circulating device to utilize sewage secondary.(4) supporting washing equipment unmanned plane is equipped with for completing the cleaning of curtain wall.(5) unmanned aerial vehicle body is for loading airborne equipment.
2) with four rotor wing unmanned aerial vehicles for main body completes cleaning to curtain wall.
3) by the image acquisition on unmanned plane and feedway control system signal transmission earthward, be easy to control unmanned plane.
4) unmanned plane body is configured with cleaning solution circulating device to utilize sewage secondary.
5) four rotor wing unmanned aerial vehicles have can vertical takeoff and landing, hovering, the feature such as manoevreability is good, wind loading rating is strong, by appropriate reconstruction, the new tool of curtain cleaning can be become.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure schematic diagram of cleaning curtain wall unmanned aerial vehicle example of the present invention.
Fig. 2 is the schematic top plan view of cleaning curtain wall unmanned aerial vehicle example of the present invention.
Fig. 3 is cleaning curtain wall unmanned aerial vehicle of the present invention example washing equipment structural representation.
Fig. 4 is cleaning curtain wall unmanned aerial vehicle of the present invention example cleaning solution circulating device structural representation.
Detailed description of the invention
As shown in figures 1-4, cleaning curtain wall unmanned aerial vehicle example of the present invention is provided with fuselage 1,4 screw engines 2, flight control system 3, cleaning solution circulating device 4, washing equipment 5, alighting gears 6.Described 4 screw engines 2 are fixedly arranged on fuselage 1, flight control system 3 is provided with full-view camera 31, antenna 32, flight controller 33, full-view camera 31 is located at fuselage 1 top, 4 screw engine 2 tops are located at by antenna 32, flight controller 33 is located on ground, and flight controller 33 is for control of flying; Cleaning solution circulating device 4 is provided with rough filter 41, foul water tank 42, negative pressure generator 43, sewage water pump 44, electromagnetic valve 45, clear water tanks 46, clarified water pump 47, precision filter 48, cleaning solution circulating device 4 is located at bottom fuselage 1, it is anterior that fuselage 1 is located at by washing equipment 5, and alighting gear 6 is located at bottom fuselage 1; Described washing equipment 5 is provided with guide rail 51, slide block 52, water injector 53, refluxing opening 54, hairbrush 55, scraping article 56; The outlet of refluxing opening 54 connects the entrance of foul water tank 42 through rough filter 41 by flexible tube, the outlet of foul water tank 42 connects the import of clear water tanks 46 successively through sewage water pump 44 and electromagnetic valve 45, the outlet of clear water tanks 46 connects water injector 53 through clarified water pump 47 and precision filter 48 successively, and negative pressure generator 43 is communicated with foul water tank 42; Guide rail 51 is installed in the side of fuselage 1, and slide block 52 to be located at outside guide rail 51 and to slide up and down on guide rail 51, and water injector 53, refluxing opening 54, hairbrush 55, scraping article 56 are located on slide block 52.
Described guide rail is used for guide shoe and moves back and forth.
Described slide block along guide rail crank motion, slide block can be provided with scraping article under driven by power, and described scraping article is used for entrapped contaminants to scrape totally; Described scraping article is made up of rubber.
Described water injector is used for spraywashing liquid; Described water injector is connected with cleaning solution circulating device by flexible rubber pipe.
Described refluxing opening is for reclaiming soiling solution; Described refluxing opening is connected with cleaning solution circulating device by flexible rubber pipe.
Described hairbrush forms Interface Current accelerate the dissociating of dirt, emulsification and dispersion for stirring cleaning liquid; Described hairbrush adopts the soft and chemical fiber silk with certain rigidity to make.
Described cleaning solution circulating device to be installed on bottom unmanned aerial vehicle body and to be connected with water injector and refluxing opening respectively by flexible rubber pipe, and described rough filter is made up of filter screen and gathers particulate matter for filtering larger wadding, and described foul water tank is used for depositing sewage.
Described negative pressure generator and foul water tank UNICOM, form negative pressure in foul water tank, thus can reclaim the soiling solution lower than foul water tank height, and described sewage water pump is used for sewage to be drawn into higher position.
Described electromagnetic valve is for controlling the flowing of sewage to clear water tanks.
Described clear water tanks is used for depositing cleaning liquid, and described clarified water pump is used for cleaning liquid to be drawn into higher position.
Described precision filter adopts nano material to make, for filtering superfine little suspended particulate substance.
Described full-view camera is for gathering the graphicinformation around unmanned plane.
Described antenna is used for the graphicinformation collected to be delivered to the flight controller on ground and accepts the signal that ground flying controller sends.
Described flight controller is used for controlling in the face of the flight attitude of unmanned plane and course on ground.
Below provide the described curtain cleaning method based on unmanned plane:
1) ground state unmanned plane rests on ground by the supporting role of alighting gear 6, and airscrew engine 2 is started working afterwards, and unmanned plane takes off.
2) full-view camera 31 starts the graphicinformation that gathers around unmanned plane, and the graphicinformation collected is delivered to the flight controller 33 on ground by antenna 32.
3) image that unmanned plane collects is presented on the telltale of flight controller 33, ground handling operator is by the image on telltale, judge the position of now unmanned plane and flight attitude and adjusted accordingly by control button, ensureing that unmanned plane reaches work place smoothly.
4) washing equipment 5 is started working, slide block 52 under driven by power along guide rail 51 crank motion, water injector 53 spraywashing liquid on slide block 52, hairbrush 55 stirs cleaning liquid and forms Interface Current and accelerate the dissociating of dirt, emulsification and dispersion, scraping article 56 is for scraping totally by entrapped contaminants, final soiling solution flows back to cleaning solution circulating device 4 by refluxing opening 54.
5) first soiling solution filters larger wadding by rough filter 41 and gathers particulate matter, then flow into foul water tank 42 to store, foul water tank 42 is communicated with negative pressure generator 43, negative pressure generator 43 forms negative pressure in foul water tank, thus can reclaim the soiling solution lower than foul water tank height; The soiling solution deposited in foul water tank 42 is transported in clear water tanks 46 by the swabbing action of sewage water pump 44, and the opening and closing of transport channel is controlled by electromagnetic valve 45.
6) cleaning liquid deposited in clear water tanks 46 is transported to precision filter 48 by the swabbing action of clarified water pump 47 and is filtered by tiny suspended particulate substance, is sprayed afterwards, complete the cleaning to curtain wall by water injector 53.
The present invention completes the task of curtain cleaning under more efficient and safe prerequisite, simultaneously owing to being equipped with cleaning solution circulating device, has saved water resource, more environmental protection.
Claims (6)
1., based on the curtain cleaning method of unmanned plane, it is characterized in that adopting cleaning curtain wall unmanned plane, described cleaning curtain wall unmanned plane is provided with fuselage, 4 screw engines, flight control system, cleaning solution circulating device, washing equipment, alighting gears; Described 4 screw engines are fixedly arranged on fuselage, flight control system is provided with full-view camera, antenna, flight controller, and full-view camera is located at fuselage roof, and 4 screw engine tops are located at by antenna, flight controller is located on ground, and flight controller is for control of flying; Cleaning solution circulating device is provided with rough filter, foul water tank, negative pressure generator, sewage water pump, electromagnetic valve, clear water tanks, clarified water pump, precision filter, and cleaning solution circulating device is located at fuselage bottom, and forebody is located at by washing equipment, and fuselage bottom is located at by alighting gear; Described washing equipment is provided with guide rail, slide block, water injector, refluxing opening, hairbrush, scraping article; The outlet of refluxing opening connects the entrance of foul water tank through rough filter by flexible tube, the outlet of foul water tank connects the import of clear water tanks successively through sewage water pump and electromagnetic valve, and the outlet of clear water tanks connects water injector through clarified water pump and precision filter successively, and negative pressure generator is communicated with foul water tank; Guide rail is installed in the side of fuselage, and slide block to be located at outside guide rail and to slide up and down on guide rail, and water injector, refluxing opening, hairbrush, scraping article are located on slide block;
Described method, comprises the following steps:
1) ground state unmanned plane rests on ground by the supporting role of alighting gear, and airscrew engine is started working afterwards, and unmanned plane takes off;
2) full-view camera starts the graphicinformation that gathers around unmanned plane, and the graphicinformation collected is delivered to the flight controller on ground by antenna;
3) image that unmanned plane collects is presented on the telltale of flight controller, ground handling operator is by the image on telltale, judge the position of now unmanned plane and flight attitude and adjusted accordingly by control button, ensureing that unmanned plane reaches work place smoothly;
4) washing equipment is started working, slide block under driven by power along guide rail crank motion, water injector spraywashing liquid on slide block, hairbrush stirs cleaning liquid and forms Interface Current and accelerate the dissociating of dirt, emulsification and dispersion, scraping article is used for entrapped contaminants to scrape totally, and final soiling solution flows back to cleaning solution circulating device by refluxing opening;
5) first soiling solution filters larger wadding by rough filter and gathers particulate matter, then flow into foul water tank to store, foul water tank is communicated with negative pressure generator, negative pressure generator forms negative pressure in foul water tank, reclaim the soiling solution lower than foul water tank height, the soiling solution deposited in foul water tank is transported in clear water tanks by the swabbing action of sewage water pump, and the opening and closing of transport channel is by solenoid control;
6) cleaning liquid deposited in clear water tanks is transported to precision filter by the swabbing action of clarified water pump and is filtered by tiny suspended particulate substance, is sprayed afterwards, complete the cleaning to curtain wall by water injector.
2., as claimed in claim 1 based on the curtain cleaning method of unmanned plane, described in it is characterized in that, scrape strip adoption vulcanite scraper bar.
3., as claimed in claim 1 based on the curtain cleaning method of unmanned plane, it is characterized in that described water injector is connected with cleaning solution circulating device by flexible rubber pipe.
4., as claimed in claim 1 based on the curtain cleaning method of unmanned plane, it is characterized in that described refluxing opening is connected with cleaning solution circulating device by flexible rubber pipe.
5., as claimed in claim 1 based on the curtain cleaning method of unmanned plane, it is characterized in that described hairbrush adopts chemical fiber silk hairbrush.
6., as claimed in claim 1 based on the curtain cleaning method of unmanned plane, it is characterized in that described precision filter adopts nano material to make, for filtering superfine little suspended particulate substance.
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| CN201510236935.4A CN104787342B (en) | 2015-05-11 | 2015-05-11 | Based on without man-machine curtain cleaning method |
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| CN105127133A (en) * | 2015-09-23 | 2015-12-09 | 云南电网有限责任公司电力科学研究院 | Electrified cleaning insulator device based on unmanned aerial vehicle |
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| CN105355343A (en) * | 2015-11-30 | 2016-02-24 | 国网山西省电力公司临汾供电公司 | Unmanned sweeping device for power insulators |
| CN105438456A (en) * | 2015-11-30 | 2016-03-30 | 无锡觅睿恪科技有限公司 | Cleaning unmanned aerial vehicle with dye brushing function |
| CN106114857A (en) * | 2016-06-28 | 2016-11-16 | 深圳市元征科技股份有限公司 | Outside Wall Cleaning method based on unmanned plane and unmanned plane |
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| CN106423969A (en) * | 2016-10-25 | 2017-02-22 | 饶斯婷 | Robot for cleaning facade |
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| CN107198498A (en) * | 2017-06-17 | 2017-09-26 | 广东容祺智能科技有限公司 | A kind of equipment for washing external wall based on unmanned plane |
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| CN106364673A (en) * | 2015-07-24 | 2017-02-01 | 林信嘉 | Engineering unmanned aerial vehicle carrier with auxiliary stabilizing function |
| CN105170523A (en) * | 2015-09-23 | 2015-12-23 | 云南电网有限责任公司电力科学研究院 | Electrified insulator cleaning method based on unmanned aerial vehicle |
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| CN105355343A (en) * | 2015-11-30 | 2016-02-24 | 国网山西省电力公司临汾供电公司 | Unmanned sweeping device for power insulators |
| CN105438456A (en) * | 2015-11-30 | 2016-03-30 | 无锡觅睿恪科技有限公司 | Cleaning unmanned aerial vehicle with dye brushing function |
| WO2017123431A1 (en) * | 2016-01-11 | 2017-07-20 | The Procter & Gamble Company | Aerial drone cleaning device and method of cleaning a target surface therewith |
| US9963230B2 (en) | 2016-01-11 | 2018-05-08 | The Procter & Gamble Company | Aerial drone cleaning device and method of cleaning a target surface therewith |
| CN106114857A (en) * | 2016-06-28 | 2016-11-16 | 深圳市元征科技股份有限公司 | Outside Wall Cleaning method based on unmanned plane and unmanned plane |
| CN106423969A (en) * | 2016-10-25 | 2017-02-22 | 饶斯婷 | Robot for cleaning facade |
| CN107198498A (en) * | 2017-06-17 | 2017-09-26 | 广东容祺智能科技有限公司 | A kind of equipment for washing external wall based on unmanned plane |
| CN107253523B (en) * | 2017-06-21 | 2019-10-08 | 胡方娟 | A kind of Intelligent unattended machine for glass cleaning |
| CN107253523A (en) * | 2017-06-21 | 2017-10-17 | 深圳市雷凌广通技术研发有限公司 | A kind of Intelligent unattended machine for glass cleaning |
| US10633094B2 (en) | 2017-07-05 | 2020-04-28 | Ford Global Technologies | Unmanned aerial vehicle for cleaning |
| CN107361705B (en) * | 2017-07-18 | 2019-12-13 | 河北三丰航空科技股份有限公司 | Intelligent unmanned aerial vehicle who has glass cleaning function based on thing networking |
| CN107361705A (en) * | 2017-07-18 | 2017-11-21 | 深圳市雷凌广通技术研发有限公司 | A kind of intelligent unmanned plane with the function that cleans the windows based on Internet of Things |
| CN108583857A (en) * | 2018-04-16 | 2018-09-28 | 胡琴 | A kind of oil exploration multi-purpose unmanned aerial vehicle |
| CN108583857B (en) * | 2018-04-16 | 2020-12-25 | 山东宇能机械股份有限公司 | Multipurpose unmanned aerial vehicle for oil exploration |
| CN108888167A (en) * | 2018-09-04 | 2018-11-27 | 蔡鹏翔 | A kind of high-altitude cleaning unmanned plane and the method using high-altitude cleaning unmanned plane progress building high-altitude cleaning |
| CN109436323A (en) * | 2018-10-16 | 2019-03-08 | 王怀翠 | One kind is for winning cellular unmanned plane |
| CN109466767A (en) * | 2018-12-26 | 2019-03-15 | 山东大学 | A kind of clean uses unmanned plane device and its application method |
| CN113305084A (en) * | 2021-05-25 | 2021-08-27 | 国网江西省电力有限公司吉安供电分公司 | Unmanned aerial vehicle is washd to high-tension line |
| CN113305084B (en) * | 2021-05-25 | 2022-05-31 | 国网江西省电力有限公司吉安供电分公司 | Unmanned aerial vehicle is washd to high-tension line |
| CN113371199A (en) * | 2021-07-21 | 2021-09-10 | 浙江财经大学 | Be used for clear unmanned aerial vehicle of high-rise building |
| CN113371199B (en) * | 2021-07-21 | 2022-05-20 | 浙江财经大学 | Be used for clear unmanned aerial vehicle of high-rise building |
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