CN104787342B - Based on without man-machine curtain cleaning method - Google Patents

Based on without man-machine curtain cleaning method Download PDF

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Publication number
CN104787342B
CN104787342B CN201510236935.4A CN201510236935A CN104787342B CN 104787342 B CN104787342 B CN 104787342B CN 201510236935 A CN201510236935 A CN 201510236935A CN 104787342 B CN104787342 B CN 104787342B
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man
machine
water tank
cleaning
foul water
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CN104787342A (en
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郑云隆
庄俊龙
欧阳智贤
尤延铖
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Xiamen Tengxi Aviation Technology Co ltd
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Xiamen University
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Abstract

Based on without man-machine curtain cleaning method, it relates to curtain cleaning. Adopting and clean curtain wall without man-machine, described cleaning curtain wall is provided with fuselage, 4 spiral engines, flight controlling system, cleaning solution circulating device, washing unit, landing gears without man-machine. Taking off without man-machine, camera collection is without man-machine graphic information around, and is delivered to the flight controlling device on ground by antenna; Image is presented on the indicating meter of flight controlling device, terrestrial operation personnel judge to be put and fly attitude and adjusted accordingly by push button in unmanned seat in the plane, and washing unit is started working, and slide block is along guide rail to-and-fro movement, water jet spraywashing liquid on slide block, dirty liquid flows back to cleaning solution circulating device; Dirty liquid, first by strainer, then flows into foul water tank, and negative pressure generator forms negative pressure in foul water tank, reclaiming the dirty liquid lower than foul water tank height, the dirty liquid deposited in foul water tank is transported in clear water tanks, and the scavenging solution deposited in clear water tanks is transported to secondary filter, spray by water jet, complete the cleaning to curtain wall.

Description

Based on without man-machine curtain cleaning method
Technical field
The present invention relates to curtain cleaning, particularly relate to a kind of based on without man-machine curtain cleaning method.
Background technology
Unmanned spacecraft is a kind of not manned aircraft by the flight of time variable control on remote-control equipment or machine. It is characterized in that structure is simple, volume is little, weight is light, maneuvering ability is good, flight time length, cost are low, without the need to airfield runway, can repeatedly reclaim and reuse. Owing to unmanned facility are for above-mentioned advantage, it has very big application prospect in civilian or military field.
Curtain wall is the modern large-scale lightweight body of wall with decorative effect conventional with Highrise buildings, and general area is in more greatly and mostly tens meters even eminence of up to a hundred meters, and the support around can not climbed up by holding on to, and the cleaning of curtain wall becomes heavy, a dangerous job. Curtain cleaning before works primarily of manually completing, but cleaning difficulty is big, security risk height and efficiency lower[1]. Though the wall surface cleaning robot researched and developed recently instead of traditional manpower but it moves main dependence to the absorption in wall face, owing to curtain wall construction is complicated and changeable, if tightness system is unreliable, it is easy to security incident. Also to there is translational speed in wall surface cleaning robot relatively slow simultaneously, the problems such as working efficiency is not high.
Summary of the invention
It is an object of the invention to the problems referred to above for prior art, it is provided that a kind of based on without man-machine curtain cleaning method.
Described based on without man-machine curtain cleaning method adopt clean curtain wall without man-machine, described cleaning curtain wall is provided with fuselage, 4 spiral engines, flight controlling system, cleaning solution circulating device, washing unit, landing gears without man-machine; Described 4 spiral engines are fixedly arranged on fuselage, flight controlling system is provided with panorama camera, antenna, flight controlling device, and panorama camera is located at fuselage top, and 4 spiral engine tops are located at by antenna, flight controlling device is located on ground, and flight controlling device is used for flight controlling; Cleaning solution circulating device is provided with strainer, foul water tank, negative pressure generator, sump pump, magnetic valve, clear water tanks, water purification pump, secondary filter, and cleaning solution circulating device is located at fuselage bottom, and forebody is located at by washing unit, and fuselage bottom is located at by landing gear; Described washing unit is provided with guide rail, slide block, water jet, refluxing opening, hairbrush, scraping article; The outlet of refluxing opening connects the entrance of foul water tank by metal hose through strainer, and the outlet of foul water tank connects the import of clear water tanks successively through sump pump and magnetic valve, and the outlet of clear water tanks connects water jet through water purification pump and secondary filter successively, and negative pressure generator is connected with foul water tank; Guide rail is installed in the side of fuselage, and slide block is located at outside guide rail and slides up and down on guide rail, and water jet, refluxing opening, hairbrush, scraping article are located on slide block.
Described based on without man-machine curtain cleaning method, comprising the following steps:
1) ground state stops on ground without the man-machine supporting role by landing gear, after screw engine start working, take off without man-machine;
2) panorama camera starts to gather without man-machine graphic information around, and the graphic information collected is delivered to the flight controlling device on ground by antenna;
3) it is presented on the indicating meter of flight controlling device without the man-machine image collected, terrestrial operation personnel are by the image on indicating meter, judge now with flight attitude and to be adjusted accordingly by push button without man-machine position, ensure to reach work point smoothly without man-machine;
4) washing unit is started working, slide block under driven by power along guide rail to-and-fro movement, water jet spraywashing liquid on slide block, hairbrush stirs scavenging solution and forms Interface Current and accelerate the dissociating of dirt, emulsification and dispersion, scraping article is for wiping totally by residual dirt scraping, and final dirty liquid flows back to cleaning solution circulating device by refluxing opening;
5) first dirty liquid filter the poly-particulate matter of bigger wadding by strainer, 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 dirty liquid lower than foul water tank height, the dirty liquid deposited in foul water tank is transported in clear water tanks by the suction function of sump pump, and the opening and closing of transport passage is by solenoid control;
6) scavenging solution deposited in clear water tanks is transported to secondary filter by the suction function of water purification pump and is filtered by tiny suspended particulate, sprays by water jet afterwards, completes the cleaning to curtain wall.
Described guide rail is used for guide shoe and moves back and forth.
Described slide block along guide rail to-and-fro movement, slide block can be provided with scraping article under driven by power, and described scraping article is for wiping totally by residual dirt scraping; Described scraping article is made up of rubber.
Described water jet is used for spraywashing liquid; Described water jet is connected with cleaning solution circulating device by flexible rubber pipe.
Described refluxing opening is for reclaiming dirty liquid; 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 scavenging solution; Described hairbrush adopts man-made fiber silk that is soft and that have certain rigidity to make.
Described cleaning solution circulating device is installed on bottom unmanned aerial vehicle body and is connected with water jet and refluxing opening respectively by flexible rubber pipe, and described strainer is made up of for filtering the poly-particulate matter of bigger wadding filter screen, 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, such that it is able to reclaim the dirty liquid lower than foul water tank height, described sump pump is used for being drawn into sewage higher position.
Described magnetic valve is for controlling the flowing of sewage to clear water tanks.
Described clear water tanks is used for depositing scavenging solution, and described water purification pump is used for being drawn into scavenging solution higher position.
Described secondary filter adopts nano material to make, for filtering superfine little suspended particulate.
Described panorama camera is for gathering without man-machine graphic information around.
Described antenna is used for being delivered to the graphic information collected the flight controlling device on ground and accepts the signal that ground flight controlling device sends.
Described flight controlling device is used for controlling in the face of the flight attitude of unmanned machine and course on ground.
The present invention has following outstanding technique effect:
1) adopting cleaning curtain wall without the man-machine cleaning for performing constructure screen wall, have following feature: (1) adopts four rotors without man-machine power set, maneuvering ability is good and anti-wind energy power is strong. (2) without image collection and launching device being housed to ground control system transmission signal on man-machine, and the control of ground control system is accepted. (3) unmanned aerial vehicle body is configured with cleaning solution circulating device can be utilized by sewage secondary. (4) on man-machine, supporting washing unit is housed for completing the cleaning of curtain wall. (5) unmanned aerial vehicle body is for loading airborne equipment.
2) cleaning to curtain wall is completed by main body of four rotor wing unmanned aerial vehicles.
3) by without the image collection on man-machine and launching device to ground control system transmission signal, be easy to control without man-machine.
4) sewage secondary can be utilized without man-machine body is configured with cleaning solution circulating device.
5) four rotor wing unmanned aerial vehicles have can the features such as VTOL, aerial hovering, maneuvering ability wind energy power good, anti-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 of the present invention without man-machine embodiment.
Fig. 2 is the schematic top plan view of cleaning curtain wall of the present invention without man-machine embodiment.
Fig. 3 is that cleaning curtain wall of the present invention is without man-machine embodiment washing unit structural representation.
Fig. 4 is that cleaning curtain wall of the present invention is without man-machine embodiment cleaning solution circulating device structural representation.
Embodiment
As shown in figures 1-4, cleaning curtain wall of the present invention is provided with fuselage 1,4 spiral engines 2, flight controlling system 3, cleaning solution circulating device 4, washing unit 5, landing gears 6 without man-machine embodiment. Described 4 spiral engines 2 are fixedly arranged on fuselage 1, flight controlling system 3 is provided with panorama camera 31, antenna 32, flight controlling device 33, panorama camera 31 is located at fuselage 1 top, 4 spiral engine 2 tops are located at by antenna 32, flight controlling device 33 is located on ground, and flight controlling device 33 is for flight controlling; Cleaning solution circulating device 4 is provided with strainer 41, foul water tank 42, negative pressure generator 43, sump pump 44, magnetic valve 45, clear water tanks 46, water purification pump 47, secondary filter 48, cleaning solution circulating device 4 is located at bottom fuselage 1, it is anterior that fuselage 1 is located at by washing unit 5, and landing gear 6 is located at bottom fuselage 1; Described washing unit 5 is provided with guide rail 51, slide block 52, water jet 53, refluxing opening 54, hairbrush 55, scraping article 56; The outlet of refluxing opening 54 connects the entrance of foul water tank 42 by metal hose through strainer 41, the outlet of foul water tank 42 connects the import of clear water tanks 46 successively through sump pump 44 and magnetic valve 45, the outlet of clear water tanks 46 connects water jet 53 through water purification pump 47 and secondary filter 48 successively, and negative pressure generator 43 is connected with foul water tank 42; Guide rail 51 is installed in the side of fuselage 1, and slide block 52 is located at outside guide rail 51 and slides up and down on guide rail 51, and water jet 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 to-and-fro movement, slide block can be provided with scraping article under driven by power, and described scraping article is for wiping totally by residual dirt scraping; Described scraping article is made up of rubber.
Described water jet is used for spraywashing liquid; Described water jet is connected with cleaning solution circulating device by flexible rubber pipe.
Described refluxing opening is for reclaiming dirty liquid; 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 scavenging solution; Described hairbrush adopts man-made fiber silk that is soft and that have certain rigidity to make.
Described cleaning solution circulating device is installed on bottom unmanned aerial vehicle body and is connected with water jet and refluxing opening respectively by flexible rubber pipe, and described strainer is made up of for filtering the poly-particulate matter of bigger wadding filter screen, 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, such that it is able to reclaim the dirty liquid lower than foul water tank height, described sump pump is used for being drawn into sewage higher position.
Described magnetic valve is for controlling the flowing of sewage to clear water tanks.
Described clear water tanks is used for depositing scavenging solution, and described water purification pump is used for being drawn into scavenging solution higher position.
Described secondary filter adopts nano material to make, for filtering superfine little suspended particulate.
Described panorama camera is for gathering without man-machine graphic information around.
Described antenna is used for being delivered to the graphic information collected the flight controlling device on ground and accepts the signal that ground flight controlling device sends.
Described flight controlling device is used for controlling in the face of the flight attitude of unmanned machine and course on ground.
Hereinafter provide described based on without man-machine curtain cleaning method:
1) ground state stops on ground without the man-machine supporting role by landing gear 6, after screw engine 2 start working, take off without man-machine.
2) panorama camera 31 starts to gather without man-machine graphic information around, and the graphic information collected is delivered to the flight controlling device 33 on ground by antenna 32.
3) it is presented on the indicating meter of flight controlling device 33 without the man-machine image collected, terrestrial operation personnel are by the image on indicating meter, judge now with flight attitude and to be adjusted accordingly by push button without man-machine position, ensure to reach work point smoothly without man-machine.
4) washing unit 5 is started working, slide block 52 under driven by power along guide rail 51 to-and-fro movement, water jet 53 spraywashing liquid on slide block 52, hairbrush 55 stirs scavenging solution and forms Interface Current and accelerate the dissociating of dirt, emulsification and dispersion, scraping article 56 is for wiping totally by residual dirt scraping, and final dirty liquid flows back to cleaning solution circulating device 4 by refluxing opening 54.
5) first dirty liquid filter the poly-particulate matter of bigger wadding by strainer 41, then flow into foul water tank 42 to store, being communicated with negative pressure generator 43 in foul water tank 42, negative pressure generator 43 forms negative pressure in foul water tank, such that it is able to reclaim the dirty liquid lower than foul water tank height; The dirty liquid deposited in foul water tank 42 is transported in clear water tanks 46 by the suction function of sump pump 44, and the opening and closing of transport passage is controlled by magnetic valve 45.
6) scavenging solution deposited in clear water tanks 46 is transported to secondary filter 48 by the suction function of water purification pump 47 and is filtered by tiny suspended particulate, sprays by water jet 53 afterwards, completes the cleaning to curtain wall.
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 resources, more environmental protection.

Claims (6)

1. based on without man-machine curtain cleaning method, it is characterised in that adopting and clean curtain wall without man-machine, described cleaning curtain wall is provided with fuselage, 4 spiral engines, flight controlling system, cleaning solution circulating device, washing unit, landing gears without man-machine; Described 4 spiral engines are fixedly arranged on fuselage, flight controlling system is provided with panorama camera, antenna, flight controlling device, and panorama camera is located at fuselage top, and 4 spiral engine tops are located at by antenna, flight controlling device is located on ground, and flight controlling device is used for flight controlling; Cleaning solution circulating device is provided with strainer, foul water tank, negative pressure generator, sump pump, magnetic valve, clear water tanks, water purification pump, secondary filter, and cleaning solution circulating device is located at fuselage bottom, and forebody is located at by washing unit, and fuselage bottom is located at by landing gear; Described washing unit is provided with guide rail, slide block, water jet, refluxing opening, hairbrush, scraping article; The outlet of refluxing opening connects the entrance of foul water tank by metal hose through strainer, and the outlet of foul water tank connects the import of clear water tanks successively through sump pump and magnetic valve, and the outlet of clear water tanks connects water jet through water purification pump and secondary filter successively, and negative pressure generator is connected with foul water tank; Guide rail is installed in the side of fuselage, and slide block is located at outside guide rail and slides up and down on guide rail, and water jet, refluxing opening, hairbrush, scraping article are located on slide block;
Described method, comprises the following steps:
1) ground state stops on ground without the man-machine supporting role by landing gear, rear screw engine start working, take off without man-machine;
2) panorama camera starts to gather without man-machine graphic information around, and the graphic information collected is delivered to the flight controlling device on ground by antenna;
3) it is presented on the indicating meter of flight controlling device without the man-machine image collected, terrestrial operation personnel are by the image on indicating meter, judge now with flight attitude and to be adjusted accordingly by push button without man-machine position, ensure to reach work point smoothly without man-machine;
4) washing unit is started working, slide block under driven by power along guide rail to-and-fro movement, water jet spraywashing liquid on slide block, hairbrush stirs scavenging solution and forms Interface Current and accelerate the dissociating of dirt, emulsification and dispersion, scraping article is for wiping totally by residual dirt scraping, and final dirty liquid flows back to cleaning solution circulating device by refluxing opening;
5) first dirty liquid filter the poly-particulate matter of bigger wadding by strainer, 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 dirty liquid lower than foul water tank height, the dirty liquid deposited in foul water tank is transported in clear water tanks by the suction function of sump pump, and the opening and closing of transport passage is by solenoid control;
6) scavenging solution deposited in clear water tanks is transported to secondary filter by the suction function of water purification pump and is filtered by tiny suspended particulate, sprays by water jet afterwards, completes the cleaning to curtain wall.
2. as claimed in claim 1 based on without man-machine curtain cleaning method, it is characterised in that described scraping article adopts rubber scraping article.
3. as claimed in claim 1 based on without man-machine curtain cleaning method, it is characterised in that described water jet is connected with cleaning solution circulating device by flexible rubber pipe.
4. as claimed in claim 1 based on without man-machine curtain cleaning method, it is characterised in that described refluxing opening is connected with cleaning solution circulating device by flexible rubber pipe.
5. as claimed in claim 1 based on without man-machine curtain cleaning method, it is characterised in that described hairbrush adopts man-made fiber silk hairbrush.
6. as claimed in claim 1 based on without man-machine curtain cleaning method, it is characterised in that described secondary filter adopts nano material to make, for filtering superfine little suspended particulate.
CN201510236935.4A 2015-05-11 2015-05-11 Based on without man-machine curtain cleaning method Active CN104787342B (en)

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