CN105212844B - A kind of unmanned plane having cleaning function - Google Patents
A kind of unmanned plane having cleaning function Download PDFInfo
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- CN105212844B CN105212844B CN201510672199.7A CN201510672199A CN105212844B CN 105212844 B CN105212844 B CN 105212844B CN 201510672199 A CN201510672199 A CN 201510672199A CN 105212844 B CN105212844 B CN 105212844B
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- cleaning
- unmanned plane
- metope
- cleaned
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Abstract
Having the unmanned plane of cleaning function the present invention provides a kind of, including have the unmanned plane of hovering function, is equipped on the unmanned plane：Scanning element is scanned to obtain metope information specified metope；Cleaning unit cleans designated position, includes the cleaning device that dust is cleared up by wiping mode；Control unit determines cleaning route according to the scanning information of the scanning element, and controls the unmanned plane and cruise along cleaning route, and control cleaning unit cleans designated position while cruise.The present invention can eliminate security risk when high-rise metope cleaning, while improve cleaning efficiency.Current cleaning effect can be grasped at any time by scanning element, to make corresponding adjustment.In addition, the unmanned plane of the present invention can both clear up glass metope, ceramic tile metope can also be cleared up, plane metope can be not only cleaned, curved wall can also be cleaned.
Description
Technical field
The present invention relates to unmanned plane fields, more particularly to a kind of nothing that can carry out automated cleaning to building glass metope
It is man-machine.
Background technology
Currently, for the glass metope of skyscraper, usually by manually being cleaned, using being fixed on building when cleaning
Hoist cable be directly bundled in cleaner, or one workbench of suspention, cleaner's gradually clearing up from top to bottom.It should
Manner of cleaning up efficiency is low, and time-consuming, and there are prodigious security risks.
Invention content
The invention aims to provide one kind to carry out clean unmanned plane to high-rise metope, to reduce working at height
Danger, improve working efficiency.
Particularly, having the unmanned plane of cleaning function the present invention provides a kind of, including have the nothing of hovering function
It is man-machine, it is equipped on the unmanned plane：
Scanning element is scanned to obtain metope information specified metope；
Cleaning unit cleans designated position, includes the cleaning device that dust is cleared up by wiping mode；
Control unit determines cleaning route according to the scanning information of the scanning element, and controls the unmanned plane along clear
Clean route cruise, control cleaning unit cleans designated position while cruise.
Further, the cleaning device is telescopic clearer.
Further, the cleaning unit further includes water injector, and the water injector includes the water tank of water storage, and by institute
State the nozzle that water in water tank is sprayed onto cleaning position.
Further, the water injector further includes recycling the pipe that receives of waste water, and accommodate the storage case of waste water.
Further, the cleaning unit further includes blowing device, to clear up floating ash.
Further, the unmanned plane further includes support device, and the support device is for the unmanned plane in cleaning
It is attached with metope, to support the unmanned plane.
Further, the unmanned plane further includes the anticollision device, collision-prevention device for preventing the unmanned plane from being collided with metope.
Further, described control unit controls the scanning element and is scanned to metope to be cleaned, and according to scanning
Information carries out cleaning region division to metope to be cleaned, then controls the unmanned plane and is patrolled by cleaning region after division
Boat, and it is cleaned by fixed route for each cleaning region.
Further, described control unit also receives structural information and the cleaning plan of the metope to be cleaned obtained in advance,
And the unmanned plane is controlled according to the cleaning plan and is cleaned.
Further, described control unit controls the scanning means and is scanned to cleaning front and back cleaning position, and
Front and back image twice is compared, to confirm cleaning effect, and when not meeting predetermined cleanliness standard, re-starts cleaning.
The present invention can eliminate security risk when high-rise metope cleaning, while improve cleaning efficiency.Pass through scanning element
Current cleaning effect can be grasped at any time, to make corresponding adjustment.It can also be directed to cleaning object simultaneously and formulate specific cleaning side
Formula or dedicated burnisher or cleaning solution.In addition, the unmanned plane of the present invention can both clear up glass metope, can also clear up
Ceramic tile metope can not only clean plane metope, can also clean curved wall.In addition it is also possible to other skyscrapers into
Row cleaning, such as steel tower, water tower, billboard.
Description of the drawings
Fig. 1 is that unmanned plane according to an embodiment of the invention is schematically schemed.
Specific implementation mode
As shown in Figure 1, the unmanned plane 100 of the present invention at least has hovering function, by unmanned plane 100 before flooring
Hovering flooring cleaned.Unmanned plane 100 in the present embodiment is having required for realizing unmanned plane during flying and hovering
Device outside, further include scanning element 20, cleaning unit 30 and control unit 10.
The scanning element 20 is scanned specified metope to obtain metope information, and scanning tools can be video cameras, shine
The equipment such as camera, noctovisor scan instrument pass through the analysis of analysis or metope shape to image, you can obtain the cloth of current metope
Office's situation, including need structure and the distribution of the size, shape, fixed frame or solid wall of clean glass.
Cleaning unit 30 is clear for being cleaned to the metope at 100 hovering position of unmanned plane, including by way of wiping
The cleaning device 31 for managing metope surface dirt, such as clearer, cleaning brush.Cleaning device 31 can be integrally designed with unmanned plane 100,
It can also be used as an additional detachable part.Electronic mode may be used in cleaning device 31, can also use hydraulic-driven.
Telescopic clearer may be used in cleaning device 31, with it is convenient for cleaning when movement and the rotation on different directions.Cleaning
Existing sponge structure may be used in the material of roller.
Control unit 10 can directly utilize the control module that control unmanned plane 100 flies, and can also be one independent
Control module only manages metope cleaning procedure.Can prestore in advance in control unit 10 different floorings shape and corresponding place
Program is managed, current metope real time data to be cleaned can also be received, analyzed in real time.The approach for obtaining data can be by sweeping
It retouches unit 20 to obtain in real time, the parameter of corresponding metope can also be obtained in advance, be input to again in control unit 10 after being analyzed.
Control unit 10 is according to the cruise route and hovering position of the data schema unmanned plane 100 of metope herein and cleaning process.
In cleaning, control unit 10 carries out subregion or fragment according to advance planning, control unmanned plane 100 to metope
Cleaning.Unmanned plane 100 hovers at position to be cleaned, and driving cleaning device 31 directly cleans current metope, specifically
Cleaning means can be the modes such as brush, wiping.According to the region of division or the size of piece, unmanned plane 100 can drive cleaning device 31
It is moved in the region or piece.After a region or piece are cleaned, control unit 10 controls unmanned plane and packs up sanitizer cartridge again
It sets 31 and is cleaned with entering next region or piece, repeated the above process, until completing the cleaning of all metopes.
During cleaning, control unit 10 can be according to front and back image comparison be cleaned, to confirm clearly in region or piece
Clean effect, and determined the need for according to result cleaning or moving to next cleaning region or piece again.When cleaning device 31
When the cleanliness factor of body is less than some predetermined value, control unit 10 can control the replacement processing that unmanned plane 100 carries out corresponding component,
It can also be moved at maintenance personnel, by manually being replaced or being cleaned.
Although the present embodiment is only illustrated with a unmanned plane 100, in other embodiments, can also be simultaneously
Using multiple unmanned planes 100 for having cleaning function, while current metope is cleaned.In addition, the present embodiment nobody
Machine 100 can both clear up glass metope, can also clear up ceramic tile metope, can not only clean plane metope, can also clean arc
Shape metope.In addition it is also possible to other skyscrapers are cleaned, such as steel tower, water tower, billboard.
Through this embodiment, security risk when high-rise metope cleaning can be eliminated, while improving cleaning efficiency.By sweeping
Current cleaning effect can be grasped at any time by retouching unit 20, to make corresponding adjustment.It is specific that it can also be directed to cleaning object formulation simultaneously
Cleaning mode or dedicated burnisher or cleaning solution.
To improve cleaning effect, in one embodiment of the invention, which can also include water injector
32, water injector 32 includes at least the water tank of water storage and water in water tank is sprayed onto to the nozzle of cleaning position.In cleaning, Ke Yitong
It crosses nozzle first to spray water to metope to be cleaned, is then wiped again by wiping tool, cleaning solution can be mixed in the water.Nozzle
It can also can independently be used with wiping tool one with constantly being moistened while wiping.
It is further possible to which the pipe that receives of Sewage treatment is arranged on cleaning device 31, and accommodate the storage case of waste water.
Pass through a corresponding enclosed construction, the water for making nozzle spray, after utilization, by receiving pipe to be recycled, to avoid right
Metope forms secondary pollution.
To further increase cleaning effect, which can also be arranged blowing device 33, utilize blowing device 33
Metope before cleaning is blown, after floating ash is first cleared up, then is wiped by clearer, it is difficult to reduce cleaning
Degree.
For convenience of the cleaning operation of unmanned plane, in one embodiment of the invention, which can also be arranged branch
Support arrangement 40, support device 40 are contacted for unmanned plane 100 with metope, and unmanned plane 100 is enable temporarily to be fixed on
On metope, stability of the unmanned plane 100 in cleaning was not only improved, but also can prevent unmanned plane 100 from being blown by wind, and had been sent out with metope
Raw collision.Specific support device 40, can be controlled when needed by control unit 10 with suctorial telescopic rod
It stretches out, to form stable connection relation with metope.And 2-4 roots can be according to circumstances arranged in the quantity of telescopic rod.
In other embodiments, the special anticollision device, collision-prevention device 50 for preventing unmanned plane 100 from being collided with metope can also be set, such as
Elastic anti-collision ring mounted on 100 outer surface of unmanned plane.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or derive many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers other all these variations or modifications.
Claims (8)
- Having the unmanned plane of cleaning function 1. a kind of, including have the unmanned plane of hovering function, pacifies on the unmanned plane It is equipped with：Scanning element is scanned to obtain metope information specified metope；Cleaning unit cleans designated position, includes the cleaning device that dust is cleared up by wiping mode；Control unit determines cleaning route according to the scanning information of the scanning element, and controls the unmanned plane along cleaning road Line cruises, and control cleaning unit cleans designated position while cruise；The cleaning device is telescopic clearer；The cleaning unit further includes water injector, and the water injector includes the water tank of water storage, and water in the water tank is sprayed To the nozzle of cleaning position；The nozzle and clearer one；The unmanned plane further includes support device, and the support device is connected in cleaning with metope for the unmanned plane It connects, to support the unmanned plane；The support device includes with suctorial telescopic rod, to form stable connection with metope Relationship.
- 2. unmanned plane according to claim 1, wherein2-4 roots are arranged in the quantity of the telescopic rod.
- 3. unmanned plane according to claim 1, whereinThe water injector further includes recycling the pipe that receives of waste water, and accommodate the storage case of waste water.
- 4. unmanned plane according to claim 1, whereinThe cleaning unit further includes blowing device, to clear up floating ash.
- 5. unmanned plane according to claim 1, whereinThe unmanned plane further includes the anticollision device, collision-prevention device for preventing the unmanned plane from being collided with metope.
- 6. unmanned plane according to claim 1, whereinDescribed control unit controls the scanning element and is scanned to metope to be cleaned, and according to scanning information, to be cleaned Metope carries out cleaning region division, then controls the unmanned plane and cruises by cleaning region after division, and is directed to each institute Cleaning region is stated to clean it by fixed route.
- 7. unmanned plane according to claim 6, whereinDescribed control unit also receives structural information and the cleaning plan of the metope to be cleaned obtained in advance, and according to the cleaning meter The control unmanned plane is drawn to be cleaned.
- 8. unmanned plane according to claim 1, whereinDescribed control unit controls the scanning element and is scanned to cleaning front and back cleaning position, and to front and back image twice It is compared, to confirm cleaning effect, and when not meeting predetermined cleanliness standard, re-starts cleaning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510672199.7A CN105212844B (en) | 2015-10-16 | 2015-10-16 | A kind of unmanned plane having cleaning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510672199.7A CN105212844B (en) | 2015-10-16 | 2015-10-16 | A kind of unmanned plane having cleaning function |
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| Publication Number | Publication Date |
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| CN105212844A CN105212844A (en) | 2016-01-06 |
| CN105212844B true CN105212844B (en) | 2018-07-24 |
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| CN201510672199.7A Active CN105212844B (en) | 2015-10-16 | 2015-10-16 | A kind of unmanned plane having cleaning function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105642624B (en) * | 2016-03-22 | 2019-07-26 | 深圳市百事达卓越科技股份有限公司 | The cleaning method of oil tank |
| CN105728398A (en) * | 2016-04-15 | 2016-07-06 | 淮安信息职业技术学院 | Automatic flight surface cleaning robot for photovoltaic array |
| 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 |
| CN105942920B (en) * | 2016-06-30 | 2018-04-10 | 宁波优学智能科技有限公司 | A kind of high-altitude glass-cleaning robot |
| CN106108769B (en) * | 2016-08-16 | 2018-12-28 | 郑州邦浩电子科技有限公司 | A kind of clean robot |
| CN107831495A (en) * | 2016-09-15 | 2018-03-23 | 天津思博科科技发展有限公司 | Intelligent aerial platform based on three-dimensional localization techniques |
| CN106308692B (en) * | 2016-10-17 | 2022-04-29 | 罗智诚 | Unmanned aerial vehicle intelligence cleaning device |
| CN106510565A (en) * | 2016-11-08 | 2017-03-22 | 苏州大学 | Air automatic scrubbing device, cleaning group, and suitable wall surface |
| CN106510566A (en) * | 2016-11-15 | 2017-03-22 | 北京历途科技有限公司 | Grading obstacle-surmounting type cleaning machine |
| CN106514663B (en) * | 2016-11-15 | 2023-06-20 | 北京历途科技有限公司 | Multilayer distributed building outer surface cleaning robot |
| CN107392906B (en) * | 2017-08-10 | 2020-09-25 | 芜湖德海机器人科技有限公司 | Glass cleaning method based on multiple image acquisition and mechanical arm |
| CN107481230B (en) * | 2017-08-10 | 2020-09-25 | 芜湖德海机器人科技有限公司 | Intelligent glass cleaning robot hand control system based on image acquisition |
| CN110269540A (en) * | 2018-03-15 | 2019-09-24 | 谢苏琨 | A kind of UAV system of cleaning of buildings metope |
| CN109124454A (en) * | 2018-07-31 | 2019-01-04 | 佛山市高明曦逻科技有限公司 | Intelligent unattended machine vertical cleaning system |
| CN109433732B (en) * | 2018-12-08 | 2023-12-15 | 河南瑞恒电力电气有限公司 | Flying dust remover for cleaning photovoltaic power station and glass curtain wall and dust removing method |
| CN110647169B (en) * | 2019-09-18 | 2023-08-15 | 安徽天德无人机科技有限公司 | Intelligent charging system for plant protection unmanned aerial vehicle battery |
| CN111744688B (en) * | 2019-10-25 | 2022-06-21 | 广州极飞科技股份有限公司 | Uniform spraying operation method and related device |
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| CN105212844A (en) | 2016-01-06 |
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