CN106073617A - High-building glass cleaning intelligent robot and method of work thereof - Google Patents
High-building glass cleaning intelligent robot and method of work thereof Download PDFInfo
- Publication number
- CN106073617A CN106073617A CN201610429758.6A CN201610429758A CN106073617A CN 106073617 A CN106073617 A CN 106073617A CN 201610429758 A CN201610429758 A CN 201610429758A CN 106073617 A CN106073617 A CN 106073617A
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- robot
- layer cavity
- cleaning
- glass
- intelligent robot
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
Landscapes
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The present invention relates to a kind of high-building glass cleaning intelligent robot, be provided with two high-pressure mini vacuum pumps in the middle part of internal layer cavity, two high-pressure mini vacuum pumps each connect with a sucker；The inner side of internal layer cavity is provided with pair of parallel rectilinear crawler driving whell and pair of parallel horizontal crawler driving whell, for walking along glass；The top configuration washing sap cavity of outer layer cavity, corresponding inner layer cavity body region arranges sponge brush, and sponge brush connects with washing sap cavity；Dust absorption fan is installed in the bottom of outer layer cavity, and the inner side configuration rubber brush of internal layer cavity, dust absorption fan is for siphoning away larger particles pollutant and discharge；High-building glass cleaning intelligent robot top is provided with the video camera carrying inductive probe, whenever inductive probe senses that direction of advance runs into barrier when, opening photographic head shooting barrier profile and pass to staff, staff sends instructions to robot through judgement and controls its avoiding obstacles or cleaning obstacle.
Description
Technical field
The present invention relates to a kind of high-building glass cleaning intelligent robot and method of work thereof, belong to high-building glass clean technologies
Field.
Background technology
Along with developing rapidly of China's economy and science and technology, the significant skyscraper in various places occurs like the mushrooms after rain, rubs
It building is while playing its various advantages, and the pollution of high-rise glass is the most increasingly concerned about by everybody.If we
The low layer French window of average family, we can wiping voluntarily, window areas is little after all, dangerous low, individual's processing ease.But
It is that present high buildings and large mansions reach five or six hundred meters at the drop of a hat, layers up to a hundred, and in order to save attractive in appearance and good the wanting of daylighting
Asking, nearly all high building outer layer will use glass material.But because the pollution of peri-urban environment and throughout the year gas
Waiting difference, glass material will be adhered to by dust, waste gas and other small particle things after using certain time, in causing
The daylighting of space, portion is deteriorated and mansion aesthetic appearance is also greatly affected.Therefore the glass outer of these high buildings and large mansions
It is accomplished by routine cleaning.
Because the increase of demand, the quantity of the cleaning service of specialty the most drastically rises.Glass outer is cleaned by various high buildings
Work is contracted to cleaning service, and cleaning service goes before sending professional to clean high-rise glass.Professional cleaning personnel must obtain
Reach the high-storey needing to clean, safety line is tied up in loins, be sitting on special stand and out make somebody a mere figurehead work from high-rise glass.This
A little professionals have the title of " sanitation engineer ", are commonly called as " spider-man ".They work during can avoid as far as possible sweltering heat,
Extremely tremble with fear the latter's sleety weather, but the abnormal difficult survey of Changes in weather causes them to suffer to expose to the sun and rain also to be ordinary affair, often have heatstroke
Etc. uncomfortable.These situations not being the most the most serious, the most serious are that high building needs the glass cleaned the highest, make
The wind speed and the wind-force that become this position are all much larger than ground, if " spider-man " blows hard suddenly during work, they
To be suspended in the most directionless waving, this significantly increases their life danger.High buildings and large mansions are used for cleaning glass every year simultaneously
The expense expenditure of glass is also a no small spending for company.
Summary of the invention
The technical issues that need to address of the present invention are: the cleaning of existing skyscraper high-rise glass, and difficulty is big, time-consuming take
Power, cleanup crew's working environment is arduous, and when meeting with suddenly strong wind, can have life danger, complete cleaning simultaneously
Cost the highest.
The present invention takes techniques below scheme:
A kind of high-building glass cleaning intelligent robot, including internal layer cavity and the outer layer chamber away from glass of pressing close to glass
Body, the outside of described outer layer cavity arranges solar panels 1, arranges accumulator 2, described high-building glass cleaning intelligence in outer layer cavity
Before and after robot, both sides are also respectively provided with at least one power generation fan 3, and described electric generator 3, solar panels 1 are each and accumulator
2 connect；Being provided with two high-pressure mini vacuum pumps 9 in the middle part of described internal layer cavity, said two high-pressure mini vacuum pump 9 is each with one
Individual sucker connects, and the different sucker of two radiuses is arranged concentrically, and is used for adsorbing glass；The inner side of described internal layer cavity is provided with one
To parallel rectilinear crawler driving whell 7 and pair of parallel horizontal crawler driving whell 8, for walking along glass；Outside described
The top configuration washing sap cavity of layer cavity, is used for storing cleaning mixture, and corresponding inner layer cavity body region arranges sponge brush 6, described sea
Continuous brush 6 connects with washing sap cavity；Dust absorption fan 4 is installed in the bottom of described outer layer cavity, the inner side configuration rubber brush of internal layer cavity
5, for removing the larger particles pollutant stayed after sponge brush cleans, described dust absorption fan 4 is for dirty by described larger particles
Dye thing siphons away and discharges；High-building glass cleaning intelligent robot top is provided with the video camera 12 carrying inductive probe, often
When inductive probe senses that direction of advance runs into barrier when, open photographic head shooting barrier profile and pass to work people
Member, staff sends instructions to robot through judgement and controls its avoiding obstacles or cleaning obstacle.
Further, described power generation fan 3 can fold, it is simple to storage.
Further, four crawler driving whells surround a rectangle, and described pair of high-pressure mini vacuum pump 9 is arranged on described square
The middle part of shape, described high-building glass cleaning intelligent robot entirety is the most in rectangular configuration.
Further, the top of described high-building glass cleaning intelligent robot is additionally provided with seat belt 11, described seat belt 11
Fix with fixture and be connected, be used for preventing robot from dropping.
Further, the top of described high-building glass cleaning intelligent robot is additionally provided with external charge mouth.
The method of work of a kind of above-mentioned high-building glass cleaning intelligent robot, is fixed on seat belt 11 one end outside building
On the fixture of facade, the other end downwardly extends, and high-building glass cleans at window intelligent robot and the seat belt other end
Fixing, and utilize sucker to be absorbed and fixed on glass surface；Solar panels 1 and power generation fan 3 are continuously accumulator 2 and power；
Robot first moves upward, and sponge brush 6 is carried out wiping to glass, and the top layer dust of clear dirty glass surface, rubber brush 5 is wiped
Wipe the larger particles pollutant stayed after sponge brush 6 cleans, then siphoned away by dust absorption fan and discharge；When inductive probe is supervised
Measuring the when that there is barrier in robot front and start photographic head work, photographic head will shoot barrier material object picture and by picture
By being wirelessly sent to the staff of far-end, staff is by micro-judgment barrier and sends commands to robot,
Robot performs order to carry out obstacle cleaning or detours.
The beneficial effects of the present invention is:
1) achieve the automated cleaning of glass outside skyscraper, it is not necessary to manually clean, greatly improve cleanup crew
Working environment, improve safety.
2) improve cleaning efficiency.
3) reduce enterprise and clean the cost of glass outer.
4) use solar panels to be charged to accumulator with power generation fan simultaneously, prevent cloudy day electric hypodynamic situation,
Preferably make use of the wind energy of eminence.
5) use vertically disposed crawler belt, and robot is set to rectangular configuration, it is simple to the control in direction.
6) double micro vacuum suckers, absorption firmness is high, and reliability is high, prevents owing to one of them pump or sucker occur
Fault causes suction to disappear, and causes danger.
7) video camera of inductive probe is carried in employing, and probe is used for controlling robot and stops, and video camera is for by image
Pass to operator, form interaction with the operator of far-end, thus the direction of travel of remote control robot, improve reliable
Property.
8) setting of seat belt further ensure that security reliability, and in omnidistance use, operator climb without outstanding
Outdoor.
9) dirt of absorption is discharged and both can have been improved efficiency by dust absorption fan, can alleviate again robot because depositing rubbish
The weight increased.
10) wet smear, dry wipe, dust suction, the eliminating bulky grain whole process of thing impurity in order and are accomplished without any letup, and improve glass
The efficiency of glass cleaning and effect.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of high-building glass of the present invention cleaning intelligent robot.
In figure, 1-solar panels, 2-accumulator, 3-power generation fan, 4-dust absorption fan, 5-rubber brush, 6-sponge brush, 7-hang down
The double high-pressure mini vacuum pump of straight crawler driving whell, 8-horizontal crawler driving whell, 9-, 10-external charge mouth, 11-seat belt,
12-carries the video camera of inductive probe.
Detailed description of the invention
The present invention is further described with specific embodiment below in conjunction with the accompanying drawings.
Seeing Fig. 1, when robot normally works when, its top solar panels 1 convert solar energy into electrical energy storage
In lithium battery in outer layer cavity, 4 mini fans make full use of the wind-resources that high-altitude is abundant, convert wind energy into electric energy,
It is stored in the lithium battery of outer layer cavity.Utilizing the electric energy in lithium battery, the double-crawler type driver bottom robot is the most permissible
Band mobile robot moves, and rectilinear crawler type driver 7 provides upper and lower power for robot, and band mobile robot carries out Vertical Square
To cleaning, horizontal crawler type driver 8 to robot provide horizontal direction power, allow the robot to carry out water
Square to cleaning, by coordination exercise vertically and horizontally, robot can cleaning glass window in all directions, Bian Bian
Angle, angle is not let slip.Double high-pressure mini vacuum pump 9 is installed, it is possible to produce the vacuum of two border circular areas in the middle of bottom
Band such that it is able to allowing robot and glass surface closely fit, two of which minipump co-ordination, when one of them is micro-
The when that type high pressure vacuum pump work breaking down, another one high-pressure mini vacuum pump is promptly substituted work, thus ensures machine
Device people can be safe and reliable absorption on high-rise glass.
Being cleaned work when, the top of robot outer layer cavity is equipped with container, and receptacle is by necessarily
The cleaning agent of ratio mediation and clear water, be provided with sponge brush 6 in corresponding inner layer cavity body, when sponge brush clears up dirty glass
Waiting, the first mixed liquor cognition of receptacle penetrates into inside sponge brush, and the then dirty glass of sponge brush wiping so can be the most clear
Except the ground floor of dirty glass surface grieshoch, facilitate follow-up cleaning.Because high-rise glass is regular cleaning, cleaning frequency
Rate is too high, wasting manpower and material resources's financial resources, and cleaning frequency is too low, affects attractive in appearance and work.So whenever needs clean when, glass
Several layers grieshoch has been gathered on glass surface, it is therefore desirable to clean in batches.The bottom of robot internal layer cavity is provided with rubber brush 5,
Can remove the larger particles pollutant stayed after cleaning for the first time, the dust absorption fan then installed by outer layer cavity siphons away side by side
Go out machine, the most both can improve efficiency, the weight that robot increases because depositing rubbish can be alleviated again.
The top of the present invention is also equipped with carrying the video camera 12 of inductive probe, because high-rise glass does not receives clearly for a long time
Wash and be exposed in outdoor environment, so the contaminated degree in each place is different, during robot is carried out
It is likely to run into different barriers, starts photographic head when inductive probe monitors the when that there is barrier in robot front
Work, photographic head will shoot barrier material object picture and by picture by being wirelessly sent to the staff in a distant place, staff
By micro-judgment barrier and send commands to robot, robot performs order to carry out obstacle cleaning or detours, from
And ensure the safety of robot aloft work.In order to be further ensured that the safety of robot, the seat belt 11 in this device is permissible
Together with robot and its initial homeposition fixing device being tightly coupled by rope, prevent robot from fortuitous event occurring
Quit work, drop damage or cause falling object from high altitude to injure pedestrian's event by a crashing object.
It is above the preferred technical solution of the present invention, does not limit the scope of protection of present invention, this area common
Technical staff can carry out proper transformation, and this conversion on present subject matter should be regarded as and the scope of protection of present invention
Equivalent.
Claims (6)
1. a high-building glass cleaning intelligent robot, it is characterised in that:
Including pressing close to the internal layer cavity of glass and the outer layer cavity away from glass, the outside of described outer layer cavity arranges solar panels
(1), arranging accumulator (2) in outer layer cavity, before and after described high-building glass cleaning intelligent robot, both sides are also respectively provided with at least
One power generation fan (3), described electric generator (3), solar panels (1) are each connected with accumulator (2)；
Be provided with two high-pressure mini vacuum pumps (9) in the middle part of described internal layer cavity, said two high-pressure mini vacuum pump (9) each with
The connection of one sucker, the different sucker of two radiuses is arranged concentrically, and is used for adsorbing glass；
The inner side of described internal layer cavity is provided with pair of parallel rectilinear crawler driving whell (7) and pair of parallel horizontal shoe
Band driving wheel (8), for walking along glass；
The top configuration washing sap cavity of described outer layer cavity, is used for storing cleaning mixture, and corresponding inner layer cavity body region arranges sponge
Brush (6), described sponge brush (6) connects with washing sap cavity；
Dust absorption fan (4) is installed in the bottom of described outer layer cavity, inner side configuration rubber brush (5) of internal layer cavity, is used for removing sea
The larger particles pollutant that continuous brush stays after cleaning, described dust absorption fan (4) is for siphoning away described larger particles pollutant also
Discharge；
High-building glass cleaning intelligent robot top is provided with the video camera (12) carrying inductive probe, whenever inductive probe senses
To direction of advance run into barrier when, open photographic head shooting barrier profile pass to staff, staff's warp
Cross judgement send instructions to robot control its avoiding obstacles or cleaning obstacle.
2. high-building glass cleaning intelligent robot as claimed in claim 1, it is characterised in that: described power generation fan (3) can
Fold, it is simple to storage.
3. high-building glass cleaning intelligent robot as claimed in claim 1, it is characterised in that: four crawler driving whells surround one
Individual rectangle, described pair of high-pressure mini vacuum pump (9) is arranged on the middle part of described rectangle, described high-building glass cleaning intelligent robot
Entirety is the most in rectangular configuration.
4. high-building glass cleaning intelligent robot as claimed in claim 1, it is characterised in that: described high-building glass cleaning intelligence
The top of robot is additionally provided with seat belt (11), and described seat belt (11) is fixing with fixture to be connected, and is used for preventing robot from falling
Fall.
5. high-building glass cleaning intelligent robot as claimed in claim 4, it is characterised in that: described high-building glass cleaning intelligence
The top of robot is additionally provided with external charge mouth.
6. the method for work of the high-building glass cleaning intelligent robot described in a claim 4, it is characterised in that:
Being fixed on the fixture of building alien invasion seat belt (11) one end, the other end downwardly extends, by high building at window
Cleaning glass intelligent robot is fixed with the seat belt other end, and utilizes sucker to be absorbed and fixed on glass surface；
Solar panels (1) and power generation fan (3) are continuously accumulator (2) power supply；
Robot first moves upward, and sponge brush (6) is carried out wiping to glass, the top layer dust of clear dirty glass surface, rubber
The larger particles pollutant that glue brush (5) wiping sponge brush (6) stays after cleaning, are then siphoned away by dust absorption fan and discharge；
Starting photographic head work when inductive probe monitors the when that there is barrier in robot front, photographic head will shoot barrier
Picture in kind and by picture by being wirelessly sent to the staff of far-end, staff is by micro-judgment barrier and sends out
Order of losing one's life carries out obstacle cleaning to robot, robot execution order or detours.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610429758.6A CN106073617A (en) | 2016-06-16 | 2016-06-16 | High-building glass cleaning intelligent robot and method of work thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610429758.6A CN106073617A (en) | 2016-06-16 | 2016-06-16 | High-building glass cleaning intelligent robot and method of work thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106073617A true CN106073617A (en) | 2016-11-09 |
Family
ID=57236767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610429758.6A Pending CN106073617A (en) | 2016-06-16 | 2016-06-16 | High-building glass cleaning intelligent robot and method of work thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN106073617A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108497988A (en) * | 2018-04-11 | 2018-09-07 | 重庆第二师范学院 | A kind of embedded high-altitude cleaning glass window machine people's control system |
| CN108670114A (en) * | 2018-08-15 | 2018-10-19 | 中国联合网络通信集团有限公司 | A kind of window cleaning device and its wipe window method |
| CN109953682A (en) * | 2017-12-26 | 2019-07-02 | 科沃斯机器人股份有限公司 | A kind of control method of multimedium Intelligent cleaning robot |
| CN113768403A (en) * | 2021-09-01 | 2021-12-10 | 青岛科技大学 | Suspension type high-rise cleaning robot |
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| CN202669947U (en) * | 2012-04-05 | 2013-01-16 | 科沃斯机器人科技(苏州)有限公司 | Adsorption device and glass wiping device comprising the same |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109953682A (en) * | 2017-12-26 | 2019-07-02 | 科沃斯机器人股份有限公司 | A kind of control method of multimedium Intelligent cleaning robot |
| CN109953682B (en) * | 2017-12-26 | 2021-10-12 | 科沃斯机器人股份有限公司 | Control method of multi-medium intelligent cleaning robot |
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| CN113768403A (en) * | 2021-09-01 | 2021-12-10 | 青岛科技大学 | Suspension type high-rise cleaning robot |
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Application publication date: 20161109 |