CN106466153B - Glass outer wall cleans unmanned plane - Google Patents
Glass outer wall cleans unmanned plane Download PDFInfo
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- CN106466153B CN106466153B CN201610865457.8A CN201610865457A CN106466153B CN 106466153 B CN106466153 B CN 106466153B CN 201610865457 A CN201610865457 A CN 201610865457A CN 106466153 B CN106466153 B CN 106466153B
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- 239000011521 glass Substances 0.000 title claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 41
- 238000004140 cleaning Methods 0.000 claims abstract description 22
- 230000004888 barrier function Effects 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 230000001939 inductive effect Effects 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 230000001737 promoting effect Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000005611 electricity Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 208000010086 Hypertelorism Diseases 0.000 description 1
- 206010020771 Hypertelorism of orbit Diseases 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- 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
- A47L11/4011—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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L11/408—Means for supplying cleaning or surface treating agents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
- B64U2201/202—Remote controls using tethers for connecting to ground station
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
Present invention discloses a kind of glass outer walls to clean unmanned plane, including unmanned plane unit and surface units, signal wire, power supply line constitute work cable together with water pipe bondage, are connected between the unmanned plane unit and surface units by work cable；The advantage of the invention is that easy to use, can safe and efficient progress exterior wall cleaning, and only need one man operation, reduce the labor intensity of cleaning outer wall work.
Description
Technical field
The present invention relates to unmanned plane field, more particularly, to clean unmanned plane.
Background technique
Currently, require " spider-man " climbing greatly when high-lager building carries out exterior wall cleaning and manually cleaned on exterior wall, this
There is only risks for item work, and staff is also required to ceaselessly go up and down supply replacement cleaning equipment, bothersome laborious.
Summary of the invention
The technical problem to be solved by the present invention is to realize it is a kind of utilize unmanned plane carry out the clean equipment of exterior wall.
To achieve the goals above, the technical solution adopted by the present invention are as follows: glass outer wall cleans unmanned plane, including unmanned plane
Unit and surface units, signal wire, power supply line constitute work cable, the unmanned plane unit and ground together with water pipe bondage
It is connected between unit by work cable；
Unmanned plane unit: being fixed with holder below rotor wing unmanned aerial vehicle, and 1-5 hairbrush electricity is horizontally fixed on the holder
Machine, the output shaft of each hair brush motor is horizontally disposed towards the front of holder, is respectively and fixedly provided with hairbrush on the output shaft
Disk, the brush plate, which is equipped with, is used for clean hairbrush, and the water pipe end is fixed with nozzle, and the nozzle sets quantity and hairbrush
Number of motors is identical, is respectively and fixedly provided with a nozzle above each brush plate, the injection direction of each nozzle is tilted towards
Under, the laser range sensor of measurement flying height downwards, laser range sensor output distance letter are fixed on the holder
Number to signal wire；
Surface units: including liquid storage container, power supply, controller and reel, the power supply connects power supply line, and the reel is used
In folding and unfolding work cable and by coiling motor driven, the water pipe other end connects water pump, and the water pump extracts in liquid storage container
Liquid, the controller connection signal line simultaneously outputs control signals to coiling motor, for remote controlled rotary-wing unmanned plane, hairbrush electricity
The remote controler connection controller of machine, water pump.
The hair brush motor is each attached on electric machine support, and the electric machine support is fixed on the sliding rail of holder, the electricity
Support spring, axial, the sliding rail cloth identical as the glide direction of sliding rail of the support spring are equipped between machine support and holder
It is identical as hair brush motor output axis direction to set direction.
The holder rear is equipped with propulsion rotor fixed vertically, and the propulsions rotor is by rotor wing unmanned aerial vehicle to holder front
It promotes, pressure sensor, the pressure sensor output inductive signal to letter is equipped between the support spring and electric machine support
Number line.
The holder surrounding is respectively and fixedly provided with barrier radar, and the barrier radar output distance signal is until signal wire.
The surface units are fixed on trolley, and the trolley has halting mechanism, and the trolley is equipped with for parking
Unmanned plane unit parks platform, the fixing belt or stationary fixture parked platform and be equipped with fixed unmanned plane unit.
The reel is equipped with the length measurement unit that unreels that length is released for measuring work cable, described to unreel length
Measuring unit exports length signals to controller, and the water storage container is interior to be equipped with water level sensing unit, the water level sensing unit
Water level signal is exported to controller, the controller is furnished with alarm unit and display.
GPS unit is equipped on institute's holder unmanned plane unit and surface units, the GPS unit outputs signal to control
The horizontal direction spacing of device acquisition unmanned plane unit and surface units.
Control method based on glass outer wall cleaning unmanned plane:
After glass outer wall cleans unmanned plane starting, by remote control device rotor wing unmanned aerial vehicle, hair brush motor, pump working；
When rotor wing unmanned aerial vehicle takes off, controller according to the distance controlling unwinding motor of unmanned plane unit and surface units just
Turn, overturning or stop, the unwinding motor unreel length equal to unmanned plane unit at a distance from surface units+safe distance,
The safe distance increases at a distance from surface units with unmanned plane unit and is increased；
When starting hair brush motor and pressure sensor generates pressure signal, rotor starting is promoted, rotor is promoted to make pressure
The numerical value of sensor maintains within preset threshold range, and the bigger propulsion rotor revolving speed of numerical value of pressure sensor is slower, pressure
The smaller propulsion rotor revolving speed of the numerical value of force snesor is faster；When promoting in rotor start-up course, if pressure sensor no pressure is believed
Number, then close propulsion rotor.
Following arbitrary signal is obtained when glass outer wall cleaning unmanned plane work, then is alarmed and gives corresponding prompt；
1) when hair brush motor works, the pressure value that pressure sensor obtains is except preset threshold range；
2) when pump working, the water level numerical value that water level sensing unit obtains is lower than preset threshold；
3) when electric quantity of power supply is lower than default safety value；
4) when barrier detections of radar to obstacle distance is less than preset threshold；
5) when unreel length measurement unit detect unreel length greater than preset threshold when.
The advantage of the invention is that easy to use, can safe and efficient progress exterior wall cleaning, and only need one man operation
, reduce the labor intensity of cleaning outer wall work.
Detailed description of the invention
The content of width attached drawing every in description of the invention expression is briefly described below:
Fig. 1 is that glass outer wall cleans unmanned plane structural block diagram.
Specific embodiment
Glass outer wall of the present invention cleaning unmanned plane includes unmanned plane unit and surface units, unmanned plane unit and surface units
Between by work cable connect, work cable is made of together with water pipe bondage signal wire, power supply line, and glass outer wall is clear
Clean unmanned plane is divided into above-mentioned two part, can greatly improve the flexibility of unmanned plane unit and continuing for aerial work
Boat ability.
Unmanned plane unit main body aviation mechanism is rotor wing unmanned aerial vehicle, and holder, holder point are fixed with below rotor wing unmanned aerial vehicle
Front and back, holder front are fixed with hair brush motor, and the output shaft of hair brush motor is horizontally disposed towards the front of holder, output
Brush plate is fixed on axis, brush plate is used for cleaning outer wall.
It is horizontally fixed with 1-5 hair brush motor on holder, is set according to the load capacity of unmanned plane, hair brush motor is more,
Clean area is bigger, and the output shaft of each hair brush motor is horizontally disposed towards the front of holder, is respectively and fixedly provided on output shaft
Brush plate, brush plate, which is equipped with, is used for clean hairbrush, and each brush plate is each other close to avoiding cleaning dead angle, and own
For the bristle extended position of brush plate in same plane, water pipe end is fixed with nozzle, and nozzle sets quantity and hair brush motor quantity phase
Together, i.e., it is respectively and fixedly provided with a nozzle above each brush plate, the injection direction of each nozzle diagonally downward, can allow nozzle in this way
The water impact metope of ejection improves cleaning effect, while can rinse out the spot on hairbrush, when cleaning outer wall, from upper
Lower cleaning, being capable of more efficient and efficient progress metope cleaning.
Reliability and safety when to ensure to whitewash a wall, hair brush motor are fixed on electric machine support, and electric machine support is fixed on
On the sliding rail of holder, support spring is equipped between electric machine support and holder, the existing buffer function of spring avoids unmanned plane and exterior wall
Shock is generated, can also cooperate and promote rotor that brush plate is made to squeeze exterior wall, improves cleaning effect, support spring is axial with sliding rail
Glide direction is identical, and sliding rail arranged direction is identical as hair brush motor output axis direction.Holder rear is equipped with propulsion fixed vertically
Rotor promotes rotor that rotor wing unmanned aerial vehicle to propulsion in front of holder, is equipped with pressure sensor between support spring and electric machine support,
Pressure sensor exports inductive signal to signal wire.It is capable of detecting when that brush plate squeezes the dynamics of outside by pressure sensor,
To which closed-loop control promotes rotor.
Holder surrounding is respectively and fixedly provided with barrier radar, and barrier radar exports distance signal until signal wire, passes through obstacle
Object radar be understood unmanned plane unit at a distance from peripheral obstacle (also including exterior wall) by can be allowed staff in real time, to avoid view
Feel blind area and the collimation error that hypertelorism generates, improve the reliability of operation, barrier radar can lead to display and show phase
Answer data.
Surface units include liquid storage container, power supply, controller, reel, and surface units are fixed on trolley, facilitate transhipment,
Trolley has halting mechanism, and when guaranteeing device work, trolley will not be moved arbitrarily, improves operational safety, and trolley, which is equipped with, to be used
Platform is parked in park unmanned plane unit, parks fixing belt or stationary fixture that platform is equipped with fixed unmanned plane unit, In
When trolley is mobile, it can guarantee will not falling for unmanned plane unit.
Power supply is the power supply of entire unmanned plane unit by power supply line, is also surface units power supply, is effectively equipped with electricity for power supply
Pond administrative unit, and battery data is delivered to display and is shown, allow staff to understand power supply status in real time.
For reel for folding and unfolding work cable and by coiling motor driven, the water pipe other end connects water pump, and water pump extracts liquid storage
Liquid in container, water storage container is interior to be equipped with water level sensing unit, and water level sensing unit exports water level signal to controller, water level
Data can be shown over the display, and in the too low alarm of water level, staff be facilitated to feed in time.
For the unwrapping wire length of automation control work cable, the Laser Measuring of measurement flying height downwards is fixed on holder
Away from sensor, the distance of laser range sensor output is delivered to controller by signal wire, thus by obtaining unmanned plane list
The height of taking off of member obtains the approximate distance of unmanned plane unit and surface units, and controller controls coiling electricity by the distance signal
Machine work, so that the length of unwrapping wire is controlled, the precision of acquisition unmanned plane unit and surface units distance, cloud to further increase
GPS unit is equipped on platform unmanned plane unit and surface units, the GPS unit outputs signal to controller and obtains unmanned plane
The horizontal direction spacing of unit and surface units, so as to obtain more accurate unmanned plane unit and ground using Pythagorean theorem
The distance of face unit improves the precision of work cable unwrapping wire length.
Reel, which is equipped with, releases length for measuring work cable and unreels length measurement unit, unreels length measurement unit
Length signals are exported to controller, controller is furnished with alarm unit and display, can show different parameters, data, and benefit
Give the corresponding warning note of staff with alarm unit, for remote controlled rotary-wing unmanned plane, hair brush motor, water pump remote controler
Controller is connected, controller connection signal line issues control signal to unmanned plane unit.
Since reel work is rotation status, the reel end of work cable has a rotary joint and surface units
Each equipment connection, rotary joint includes the rotary joint of water pipe rotary joint and power supply line and signal wire, due to line,
There are three pipe tools, can be affixed with reel by section components, keeps synchronous rotary, can also be gone out respectively using reel both ends
The mode of line, pipe solves the problems, such as wiring, adapter tube.
Control method based on above-mentioned glass outer wall cleaning unmanned plane:
It is distant by remote control device rotor wing unmanned aerial vehicle, hair brush motor, pump working after glass outer wall cleans unmanned plane starting
Control signal includes the flight of rotor wing unmanned aerial vehicle, the opening and closing of hair brush motor and water pump；
When rotor wing unmanned aerial vehicle takes off, controller according to the distance controlling unwinding motor of unmanned plane unit and surface units just
Turn, overturning or stop, unwinding motor unreel length equal to unmanned plane unit at a distance from surface units+safe distance, it is described
Safe distance increases at a distance from surface units with unmanned plane unit and is increased, so that work cable be made to remain at a peace
Complete unreels in length；
When starting hair brush motor and pressure sensor generates pressure signal, rotor starting is promoted, rotor is promoted to make pressure
The numerical value of sensor maintains within preset threshold range, and the bigger propulsion rotor revolving speed of numerical value of pressure sensor is slower, pressure
The smaller propulsion rotor revolving speed of the numerical value of force snesor is faster, automatic electrodeless adjustment；When promoting in rotor start-up course, if pressure passes
Sensor no pressure signal then closes propulsion rotor.Rotor is promoted to be provided with revolving speed bound, rotational speed regulation range when work
Within this bound, control promotes rotor opening and closing and revolving speed through the above way, so that the easy to operate of cleaning can
It leans on, the degree of automation is higher, but also cleaning is more safe.
Following arbitrary signal is obtained when glass outer wall cleaning unmanned plane work, then is alarmed and gives corresponding prompt；
1) when hair brush motor works, the pressure value that pressure sensor obtains is except preset threshold range；
2) when pump working, the water level numerical value that water level sensing unit obtains is lower than preset threshold；
3) when electric quantity of power supply is lower than default safety value；
4) when barrier detections of radar to obstacle distance is less than preset threshold；
5) when unreel length measurement unit detect unreel length greater than preset threshold when；
By above-mentioned early warning, so that device work is more safe and reliable.
Claims (3)
1. glass outer wall cleans unmanned plane, it is characterised in that: including unmanned plane unit and surface units, signal wire, power supply line and
Water pipe bondage constitutes work cable together, is connected between the unmanned plane unit and surface units by work cable；
Unmanned plane unit: it is fixed with holder below rotor wing unmanned aerial vehicle, 1-5 hair brush motor is horizontally fixed on the holder, often
The output shaft of a hair brush motor is horizontally disposed towards the front of holder, is respectively and fixedly provided with brush plate on the output shaft, institute
It states brush plate to be equipped with for clean hairbrush, the water pipe end is fixed with nozzle, the nozzle quantity and hair brush motor number
It measures identical, is respectively and fixedly provided with a nozzle above each brush plate, the injection direction of each nozzle is diagonally downward, described
The laser range sensor of measurement flying height downwards is fixed on holder, laser range sensor exports distance signal to signal
Line；
Surface units: including liquid storage container, power supply, controller and reel, the power supply connects power supply line, and the reel is for receiving
Put work cable and by coiling motor driven, the water pipe other end connects water pump, and the water pump extracts the liquid in liquid storage container
Body, the controller connection signal line simultaneously output control signals to coiling motor, for remote controlled rotary-wing unmanned plane, hair brush motor,
The remote controler of water pump connects controller;
The hair brush motor is each attached on electric machine support, and the electric machine support is fixed on the sliding rail of holder, the motor branch
Support spring, axial, the sliding rail arrangement side identical as the glide direction of sliding rail of the support spring are equipped between frame and holder
It is identical to axis direction is exported with hair brush motor；
The holder rear is equipped with propulsion rotor fixed vertically, and the propulsion rotor pushes away rotor wing unmanned aerial vehicle to holder front
Into equipped with pressure sensor between the support spring and electric machine support, the pressure sensor exports inductive signal to signal
Line；
The holder surrounding is respectively and fixedly provided with barrier radar, and the barrier radar output distance signal is until signal wire；
The surface units are fixed on trolley, and the trolley has halting mechanism, and the trolley is equipped with for parking nobody
Machine unit parks platform, the fixing belt or stationary fixture parked platform and be equipped with fixed unmanned plane unit；
The reel is equipped with the length measurement unit that unreels that length is released for measuring work cable, described to unreel linear measure longimetry
Unit exports length signals to controller, and the liquid storage container is interior to be equipped with water level sensing unit, the water level sensing unit output
Water level signal to controller, the controller is furnished with alarm unit and display；
GPS unit is equipped on unmanned plane unit and surface units, the GPS unit outputs signal to controller and obtains nobody
The horizontal direction spacing of machine unit and surface units.
2. the control method based on the cleaning unmanned plane of glass outer wall described in claim 1, it is characterised in that:
After glass outer wall cleans unmanned plane starting, by remote control device rotor wing unmanned aerial vehicle, hair brush motor, pump working；
When rotor wing unmanned aerial vehicle takes off, controller is rotated forward according to the distance controlling unwinding motor of unmanned plane unit and surface units, is turned over
Turn or stop, the unwinding motor unreel length equal to unmanned plane unit at a distance from surface units+safe distance, the peace
Full distance increases at a distance from surface units with unmanned plane unit and is increased；
When starting hair brush motor and pressure sensor generates pressure signal, rotor starting is promoted, rotor is promoted to make pressure sensing
The numerical value of device maintains within preset threshold range, and the bigger propulsion rotor revolving speed of numerical value of pressure sensor is slower, and pressure passes
The smaller propulsion rotor revolving speed of the numerical value of sensor is faster；When promoting in rotor start-up course, if pressure sensor no pressure signal,
It closes and promotes rotor.
3. control method according to claim 2, it is characterised in that: when glass outer wall cleaning unmanned plane work when obtain with
Lower arbitrary signal is then alarmed and gives corresponding prompt；
1) when hair brush motor works, the pressure value that pressure sensor obtains is except preset threshold range；
2) when pump working, the water level numerical value that water level sensing unit obtains is lower than preset threshold；
3) when electric quantity of power supply is lower than default safety value；
4) when barrier detections of radar to obstacle distance is less than preset threshold；
5) when unreel length measurement unit detect unreel length greater than preset threshold when.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610865457.8A CN106466153B (en) | 2016-09-29 | 2016-09-29 | Glass outer wall cleans unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610865457.8A CN106466153B (en) | 2016-09-29 | 2016-09-29 | Glass outer wall cleans unmanned plane |
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| Publication Number | Publication Date |
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| CN106466153A CN106466153A (en) | 2017-03-01 |
| CN106466153B true CN106466153B (en) | 2019-11-29 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106963281A (en) * | 2017-03-21 | 2017-07-21 | 南京信息工程大学 | A kind of flight cleaning robot system |
| CN106882377B (en) * | 2017-03-29 | 2019-03-19 | 河南寰球航空装备科技有限公司 | A kind of unmanned plane for glass cleaning |
| CN108784560A (en) * | 2017-04-28 | 2018-11-13 | 蔡连锁 | Clean the unmanned plane during flying device in building |
| CN107440627A (en) * | 2017-07-19 | 2017-12-08 | 桂林电子科技大学 | A kind of captive unmanned plane high-altitude wall cleaning operation system and its method of work |
| CN107432723A (en) * | 2017-08-22 | 2017-12-05 | 曹东生 | External wall of high-rise building body intelligence cleaning machine |
| CN107595191A (en) * | 2017-09-03 | 2018-01-19 | 徐高超 | Oriented suspending formula glass curtain wall intelligent cleaning brush system |
| CN110269540A (en) * | 2018-03-15 | 2019-09-24 | 谢苏琨 | A kind of UAV system of cleaning of buildings metope |
| CN110239731B (en) * | 2019-05-08 | 2022-07-05 | 广州中国科学院先进技术研究所 | Multifunctional unmanned aerial vehicle system for operation of suspended building outer wall |
| CN110051265A (en) * | 2019-06-18 | 2019-07-26 | 常州工程职业技术学院 | A kind of skyscraper cleaning systems based on unmanned plane |
| CN111846262B (en) * | 2020-08-06 | 2021-07-13 | 德清创赢机械科技有限公司 | Unmanned aerial vehicle carries high altitude glass cleaning device |
| CN112137488B (en) * | 2020-11-10 | 2022-03-01 | 广东工贸职业技术学院 | Glass wiping robot |
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| CN105942920A (en) * | 2016-06-30 | 2016-09-21 | 张学衡 | High-altitude glass cleaning robot |
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|---|---|---|---|---|
| CN201431424Y (en) * | 2009-04-13 | 2010-03-31 | 南昌大学 | High-rise external wall surface cleaning device |
| WO2015150529A1 (en) * | 2014-04-03 | 2015-10-08 | Pardell Ricard | Agcfds: automated glass cleaning flying drone system |
| CN105599916A (en) * | 2016-03-18 | 2016-05-25 | 浙江空行飞行器技术有限公司 | Fluid and power supply system of unmanned aerial vehicle |
| CN105942920A (en) * | 2016-06-30 | 2016-09-21 | 张学衡 | High-altitude glass cleaning robot |
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| CN106466153A (en) | 2017-03-01 |
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Effective date of registration: 20231130 Address after: 518000, 4th Floor, Building 39, Kaihaoda Industrial Park, No. 239 Huachang Road, Shuiwei Community, Dalang Street, Longhua District, Shenzhen, Guangdong Province Patentee after: SHENZHEN SANHE XINYI TECHNOLOGY DEVELOPMENT CO.,LTD. Address before: 241000 2nd floor, Xihu Xincheng, Sanshan District, Wuhu City, Anhui Province Patentee before: ANHUI INSOON FLIGHT SAFETY TECHNOLOGY CO.,LTD. |