CN106510567A - Curtain wall scrubbing system based on flying robot - Google Patents
Curtain wall scrubbing system based on flying robot Download PDFInfo
- Publication number
- CN106510567A CN106510567A CN201611145874.1A CN201611145874A CN106510567A CN 106510567 A CN106510567 A CN 106510567A CN 201611145874 A CN201611145874 A CN 201611145874A CN 106510567 A CN106510567 A CN 106510567A
- Authority
- CN
- China
- Prior art keywords
- curtain wall
- scrubbing system
- flying robot
- cleaning
- wall scrubbing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005201 scrubbing Methods 0.000 title claims abstract description 30
- 238000004140 cleaning Methods 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 9
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 7
- 238000009991 scouring Methods 0.000 claims description 2
- 239000002699 waste material Substances 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000001179 sorption measurement Methods 0.000 abstract 2
- 238000010276 construction Methods 0.000 abstract 1
- 238000005406 washing Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010977 unit operation Methods 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
- A47L11/4002—Installations of electric equipment
-
- 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
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a curtain wall scrubbing system based on a flying robot. The curtain wall scrubbing system comprises a scrubbing system body, and further comprises the flying robot and a moving system which are matched with the scrubbing system body, wherein a flying control module, a navigation and positioning module and a moving system control module are arranged in the flying robot; the scrubbing system body comprises a plurality of cleaning units; the cleaning units and the moving system are positioned by virtue of positioning devices; each cleaning unit comprises a machine body; cleaning devices are symmetrically arranged at two sides of the bottom of each machine body; vacuum adsorption pumps are arranged on the sidewalls of the machine bodies; and the cleaning devices and the vacuum adsorption pumps are connected to detection devices and control devices. The curtain wall scrubbing system provided by the invention has the beneficial effects that the system is low in equipment investment cost, high in construction speed and free from risk of personnel security. In addition, the curtain wall scrubbing system is applicable to different buildings, and the shortcoming of an existing intelligent curtain wall scrubbing system which must be applied to a special building is overcome, so that the waste of social resources is greatly relieved.
Description
Technical field
The present invention relates to curtain cleaning technical field, it particularly relates to a kind of curtain wall based on flying robot is cleaned
System.
Background technology
Existing curtain wall scrubbing system, is cleaned using spider-man more, inefficient, but dangerous high, to the people that works
The safety of member causes greatly threat.But existing intelligent curtain wall scrubbing system is had to be used in specific buildings, versatility
Difference, resource utilization be not high.
For the problem in correlation technique, effective solution is not yet proposed at present.
The content of the invention
It is an object of the invention to provide a kind of curtain wall scrubbing system based on flying robot, can solve the problem that existing curtain wall is wiped
Wash System risk big, cleaning efficiency is low, the technical problem such as waste time and energy.
The purpose of the present invention is achieved through the following technical solutions：
A kind of curtain wall scrubbing system based on flying robot, including scrubbing system, also include that what is be engaged with scrubbing system is flown
Row robot and mobile system, are provided with flight control modules, navigation positioning module and mobile system control in the flying robot
Molding block, the flight control modules and navigation positioning module are all connected with system control module；The scrubbing system includes some
Cleaning unit, is positioned using positioner between each described cleaning unit and mobile system；Each described cleaning unit
Including body, detection device and control device, the two bottom sides of the body are arranged with cleaning device, the side wall of the body
It is provided with vacsorb pump；The cleaning device and vacsorb pump are all connected with control device, the control device connection detection dress
Put.
Further, the mobile system is mechanical arm.
Further, the mechanical arm is provided with manipulator grabbing device.
Further, the positioner includes infrared ray positioning, figure identification positioning or bluetooth positioner.
Beneficial effects of the present invention：Equipment investment cost is low, and speed of application is fast, and operating personnel are in terrestrial operation, it is to avoid
At present using in most spider-man's modes of operation personnel more than security risk, personal security risk is zero.And can be not
With building on use, the drawbacks of improving existing intelligent curtain wall scrubbing system and have to be used in specific buildings, significantly
Alleviate social resources waste.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing that needs are used is briefly described, it should be apparent that, drawings in the following description are only some enforcements of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can be being obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is that a kind of curtain wall scrubbing system overall structure based on flying robot described according to embodiments of the present invention is illustrated
Figure；
Fig. 2 is a kind of curtain cleaning cell schematics based on flying robot described according to embodiments of the present invention；
In figure：
1st, vacsorb pump；2nd, cleaning device；3rd, body；4th, control device.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, the every other embodiment obtained by those of ordinary skill in the art belong to present invention protection
Scope.
As shown in Figure 1-2, a kind of curtain wall scrubbing system based on flying robot, including scrubbing system, also includes and wiping
Flying robot and mobile system that the system of washing is engaged, wherein, the mobile system is preferably mechanical arm, on the mechanical arm
Manipulator grabbing device is provided with, for capturing each cleaning unit of scrubbing system.Between the cleaning unit and mobile system
Positioned using positioner, preferred infrared ray location system is positioned, after positioning, mobile system is captured by mechanical arm
Cleaning unit is moved to desired location by cleaning unit.
Flight control modules, navigation positioning module and mobile system control module are provided with the flying robot, it is described
Flight control modules and navigation positioning module are all connected with system control module；The scrubbing system includes some cleaning units, often
The individual cleaning unit includes body 3, detection device and control device 4, and the two bottom sides of the body 3 are arranged with sanitizer cartridge
2 are put, the side wall of the body 3 is provided with vacsorb pump 1；The cleaning device 2 and vacsorb pump 1 are all connected with control device 4,
The control device 4 connects detection device.
A kind of curtain wall scrubbing system based on flying robot, after the flying robot installs mechanical arm additional, by flight
Control module, navigation positioning module and mobile system control module realize the coordination of tissue wash unit moving cleaning unit
Work purpose, is found using infrared ray positioning wherein between mobile system and cleaning unit, and special manipulator is captured and put, profit
Realize that operation is opened in cleaning unit operation with intelligent object.Cleaning unit is responsible for the wiping in the range of each curtain skeleton frame restriction
Wash.Mobile system is responsible for the cleaning unit of the task that completes being moved on next working face.Cleaning unit relies on themselves bottom
Vavuum pump, firmly adsorb on glass.Then corner distance by the automatic detection operations scope of detection device, planning are wiped
Washing path carries out scouring work, and initial position wait is returned to after cleaning is finished moves to next working face.It is described
Cleaning unit can be arranged as required to number.
Beneficial effects of the present invention：Equipment investment cost is low, and speed of application is fast, and operating personnel are in terrestrial operation, it is to avoid
At present using in most spider-man's modes of operation personnel more than security risk, personal security risk is zero.And can be not
With building on use, the drawbacks of improving existing intelligent curtain wall scrubbing system and have to be used in specific buildings, significantly
Alleviate social resources waste.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (4)
1. a kind of curtain wall scrubbing system based on flying robot, including scrubbing system, it is characterised in that also include and clean system
Flying robot and mobile system that system is engaged, are provided with flight control modules, navigation positioning module in the flying robot
With mobile system control module, the flight control modules and navigation positioning module are all connected with system control module；The scouring
System includes some cleaning units, is positioned using positioner between each described cleaning unit and mobile system；Each
The cleaning unit includes body, detection device and control device, and the two bottom sides of the body are arranged with cleaning device, institute
The side wall for stating body is provided with vacsorb pump；The cleaning device and vacsorb pump are all connected with control device, the control dress
Put connection detection device.
2. a kind of curtain wall scrubbing system based on flying robot according to claim 1, it is characterised in that the movement
System is mechanical arm.
3. a kind of curtain wall scrubbing system based on flying robot according to claim 2, it is characterised in that the machinery
Arm is provided with manipulator grabbing device.
4. a kind of curtain wall scrubbing system based on flying robot according to claim 1, it is characterised in that the positioning
Device includes infrared ray positioning, figure identification positioning or bluetooth positioner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611145874.1A CN106510567A (en) | 2016-12-13 | 2016-12-13 | Curtain wall scrubbing system based on flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611145874.1A CN106510567A (en) | 2016-12-13 | 2016-12-13 | Curtain wall scrubbing system based on flying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106510567A true CN106510567A (en) | 2017-03-22 |
Family
ID=58342281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611145874.1A Pending CN106510567A (en) | 2016-12-13 | 2016-12-13 | Curtain wall scrubbing system based on flying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106510567A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2929829A1 (en) * | 2014-04-09 | 2015-10-14 | Panasonic Intellectual Property Management Co., Ltd. | Dust detection apparatus and dust detection method |
| CN105138015A (en) * | 2015-10-08 | 2015-12-09 | 安徽省极索智能科技有限公司 | Intelligent flying robot having high-rise building cleaning function |
| CN205031188U (en) * | 2015-09-10 | 2016-02-17 | 于东方 | Clean robot can fly |
| CN205144465U (en) * | 2015-10-16 | 2016-04-13 | 上海电巴新能源科技有限公司 | Unmanned aerial vehicle who possesses clean function |
| CN205493730U (en) * | 2015-12-03 | 2016-08-24 | 王成忠 | Rotorcraft building outer wall washs and paint spraying machine ware people |
| CN106081081A (en) * | 2016-06-21 | 2016-11-09 | 深圳市博飞航空科技有限公司 | Can be automatically near unmanned vehicle and the control method of vertical |
| 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 |
| CN106200671A (en) * | 2016-07-19 | 2016-12-07 | 成都通甲优博科技有限责任公司 | A kind of comprehensive clean robot device and control method thereof |
-
2016
- 2016-12-13 CN CN201611145874.1A patent/CN106510567A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2929829A1 (en) * | 2014-04-09 | 2015-10-14 | Panasonic Intellectual Property Management Co., Ltd. | Dust detection apparatus and dust detection method |
| CN205031188U (en) * | 2015-09-10 | 2016-02-17 | 于东方 | Clean robot can fly |
| CN105138015A (en) * | 2015-10-08 | 2015-12-09 | 安徽省极索智能科技有限公司 | Intelligent flying robot having high-rise building cleaning function |
| CN205144465U (en) * | 2015-10-16 | 2016-04-13 | 上海电巴新能源科技有限公司 | Unmanned aerial vehicle who possesses clean function |
| CN205493730U (en) * | 2015-12-03 | 2016-08-24 | 王成忠 | Rotorcraft building outer wall washs and paint spraying machine ware people |
| CN106081081A (en) * | 2016-06-21 | 2016-11-09 | 深圳市博飞航空科技有限公司 | Can be automatically near unmanned vehicle and the control method of vertical |
| 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 |
| CN106200671A (en) * | 2016-07-19 | 2016-12-07 | 成都通甲优博科技有限责任公司 | A kind of comprehensive clean robot device and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170322 |