CN107320010A - The robot that a kind of remote control work high above the ground cleans the windows - Google Patents
The robot that a kind of remote control work high above the ground cleans the windows Download PDFInfo
- Publication number
- CN107320010A CN107320010A CN201710791818.3A CN201710791818A CN107320010A CN 107320010 A CN107320010 A CN 107320010A CN 201710791818 A CN201710791818 A CN 201710791818A CN 107320010 A CN107320010 A CN 107320010A
- Authority
- CN
- China
- Prior art keywords
- remote control
- ground
- robot
- fuselage
- windows
- 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
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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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses the robot that a kind of remote control work high above the ground cleans the windows, including fuselage, fuselage surrounding is uniformly connected with four horns, and the other end of each horn is mounted on electric propeller, also includes remote control；The bottom of fuselage is connected with rotating mechanism, and rotating mechanism includes the rotary spacing seat for being fixed on the bottom of fuselage and the rotation connecting rod being hinged with rotary spacing seat, glass cleaning device is connected with the other end for rotating connecting rod；The top of fuselage is provided with camera, battery module, flight control modules, cleaning control module and data transmission module.The robot that a kind of remote control work high above the ground that the present invention is provided cleans the windows; glass-cleaning robot safety and precise can be placed on the windowpane of skyscraper by the remote control of ground staff; avoid the casualties that work high above the ground is brought; job area is big; mobility strong, cleaning effect is good, is easy to carry and operates; there is self-protection function simultaneously, be also not damaged even if falling from high altitude.
Description
Technical field
The invention belongs to intelligent robot technology field, and in particular to the robot that a kind of remote control work high above the ground cleans the windows.
Background technology
Present commercial building, residenter house middle-high building is more and more universal, and story height cleans the difficulty of glass increasingly
Greatly, the cleaning method at present to the windowpane of skyscraper mainly still takes hanging basket using simple cleaning by street cleaner
Instrument is completed, not only labor intensity is high for this traditional cleaning mode, and the efficiency that wastes time and energy is low, more mainly work high above the ground
It is dangerous very big, easily produce security incident and bring casualties.
Occur in that the intelligent glass-cleaning robot (also known as window is precious) of various brands, such glass-cleaning robot on the market at present
Although can substitute manual wipping cleaning glass, liberate the both hands of people, still needing in use manually should
Class glass-cleaning robot is placed on glass to be cleaned, so be not suitable for cleaning the windowpane of skyscraper, and such
Glass-cleaning robot once undesirably falls off windowpane and damage will be broken into pieces by falling.
The content of the invention
In view of above-mentioned many weak points, it is an object of the invention to provide the machine that a kind of remote control work high above the ground cleans the windows
People, unmanned air vehicle technique is applied on glass-cleaning robot, can pacified glass-cleaning robot by the remote control of ground staff by it
It is accurately placed entirely on the windowpane of skyscraper, while being also not damaged even if unexpected falling from high altitude.
In order to achieve the above object, this invention takes following technical scheme：
The robot that a kind of remote control work high above the ground cleans the windows, mainly includes fuselage and remote control；The fuselage surrounding is uniform
Four horns are connected with, the other end of each horn is mounted on electric propeller；
The bottom of the fuselage is connected with rotating mechanism, and the rotating mechanism includes being fixed on the rotation limit of the bottom of fuselage
Position seat and the rotation connecting rod being hinged with rotary spacing seat, glass cleaning device is connected with the other end of the rotation connecting rod；
The top of the fuselage is provided with camera, battery module, flight control modules, cleaning control module and data transfer mould
Block；
The battery module is used for the electric propeller, rotating mechanism, camera, flight control modules, cleaning control
Module and data transmission module are powered；
The flight control modules are used to receiving the instruction that the remote control on ground sends and shoot flight parameter and camera
Picture send the remote control on ground to by data transmission module；Acceleration of gravity biography is additionally provided with the flight control modules
Sensor, for falling when automatic start electric propeller；
The cleaning control module is used to receive instruction, the action of control rotating mechanism, institute that the remote control on ground is sent
Cleaning control module is stated to be additionally operable to automatically control the absorption of glass cleaning device, walking and cleaning action.
Further, the rotary spacing seat is provided with the holding tank for connecting the rotation connecting rod, forms upper limit
Portion and lower limit portion.
Further, camera frame is provided with the one end on the top of the fuselage, the camera is rotatably connected at the phase
Frame.
Further, the top of the remote control is provided with display screen, and bottom is provided with button, advance and retreat plectrum, steering plectrum
(64), lifting plectrum and rotating mechanism rotate plectrum.
Further, the battery module is detachable, is installed on fuselage.
The beneficial effects of the present invention are：
The robot that a kind of remote control work high above the ground that the present invention is provided cleans the windows, unmanned air vehicle technique is ingenious applied to wiping glass
In glass robot, glass-cleaning robot safety and precise can be placed into the glass of skyscraper by the remote control of ground staff
On window, it is to avoid the casualties that work high above the ground is brought, the equipment availability scope is big, and mobility strong, cleaning effect is good, be easy to take
Band and operation, while equipment has self-protection function, even if colliding foreign matter or unexpected falling from high altitude is also not damaged.
Brief description of the drawings
The robot schematic perspective view one that Fig. 1 cleans the windows for the remote control work high above the ground of the embodiment of the present invention；
The robot schematic perspective view two that Fig. 2 cleans the windows for the remote control work high above the ground of the embodiment of the present invention；
The robot schematic perspective view three that Fig. 3 cleans the windows for the remote control work high above the ground of the embodiment of the present invention；
Fig. 4 is the glass cleaning device schematic perspective view of the embodiment of the present invention；
Fig. 5 is the remote control schematic perspective view of the embodiment of the present invention；
The robot working state figure one that Fig. 6 cleans the windows for the remote control work high above the ground of the embodiment of the present invention；
The robot working state figure two that Fig. 7 cleans the windows for the remote control work high above the ground of the embodiment of the present invention；
The robot working state figure three that Fig. 8 cleans the windows for the remote control work high above the ground of the embodiment of the present invention.
Reference：1 fuselage, 2 horns, 3 electric propellers, 4 anti-collision rings, 5 anticollision covers, 6 remote controls, 7 rotating mechanisms, 8
Glass cleaning device, 9 cameras, 11 battery modules, 12 flight control modules, 13 cleaning control modules, 14 data transmission modules, 61 show
Display screen, 62 buttons, 63 advance and retreat plectrums, 64 turn to plectrums, 65 lifting plectrums, 66 rotating mechanisms rotate plectrum, 71 rotary spacings seat,
72 rotate connecting rod, 81 traveling crawlers, 82 absorption disks, 83 cleaning cushions, 711 upper limit portions, 712 lower limit portions, 821 air-breathings
Hole, 91 camera frames.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described：
As shown in Figure 1, 2, the robot that a kind of remote control work high above the ground cleans the windows, including fuselage 1, the surrounding of fuselage 1 uniformly connect
Four horns 2 are connected to, the other end of each horn 2 is mounted on electric propeller 3, also includes remote control 6；In fuselage 1
Bottom is connected with rotating mechanism 7, and rotating mechanism 7 includes the rotary spacing seat 71 and and rotary spacing for being fixed on the bottom of fuselage 1
The rotation connecting rod 72 that seat 71 is hinged, glass cleaning device 8 is connected with the other end for rotating connecting rod 72；On the top of fuselage 1
Provided with camera 9, battery module 11, flight control modules 12, cleaning control module 13 and data transmission module 14；Battery module 11
For to electric propeller 3, rotating mechanism 6, camera 9, flight control modules 12, cleaning control module 13 and data transmission module
14 power supplies；Flight control modules 12 are used to receiving the instruction that the remote control 6 on ground sends and shoot flight parameter and camera 9
Picture sent to by data transmission module 14 in the remote control 6 on ground, flight control modules 12 and be additionally provided with acceleration of gravity
Sensor, for falling when automatic start electric propeller 3；The remote control 6 that cleaning control module 13 is used to receive ground is sent
Instruction, control rotating mechanism 7 action, cleaning control module 13 also store normal procedure intelligent glass-cleaning robot program,
Absorption, walking and cleaning action for automatically controlling glass cleaning device 8.
Specifically, as shown in Fig. 2 rotary spacing seat 71 is provided with the holding tank that connecting rod 72 is rotated for connecting, formation
Limiting section 711 and lower limit portion 712.So, connecting rod 72 after folding and unfolding glass cleaning device 8 is realized can reliable location, more
It is easy to control.
Specifically, as shown in Figure 2,4, the bottom of glass cleaning device 8 is provided with two groups of traveling crawlers 81, an absorption disk 82
With a cleaning cushion 83, two groups of traveling crawlers 81 are symmetrically dispersed in the two bottom sides of glass cleaning device 8, and absorption disk 82 is set
In two groups of traveling crawlers 81, cleaning cushion 83 is located at one end of the bottom of glass cleaning device 8.
Because cleaning cushion 83 is using can be dirty after a period of time, continue on for clean wiping glass, cleaning effect can be big
Big reduction, it is therefore desirable to regularly replace the cleaning cushion 83, designs detachable as cleaning cushion 83 is improved, passes through Velcro
The bottom of glass cleaning device 8 is connected to, Velcro connected mode can make replacing more efficient and convenient.
In order that the robot that the remote control work high above the ground cleans the windows can be adsorbed on windowpane more securely, in absorption
Disk 82 is provided with multiple suction holes 821, and the circumference uniform distribution of suction hole 821 so adsorbs disk 82 and glass in absorption disk 82
Bigger negative pressure can be formed between window, and the pull of vacuum is evenly distributed, and adsorbs more reliable and more stable.
In order to obtain the picture in the broader visual field, it is easy to be precisely controlled, camera frame is provided with the one end on the top of fuselage 1
91, camera 9 is rotatably connected at the camera frame 91.
As an improvement, provided with the anti-collision ring 4 with the rotor coaxial line of electric propeller 3, anticollision on each horn 2
The upper surface of circle 4 is separately installed with ventilative anticollision cover 5 with lower surface, up and down the anticollision cover 10 of two and the formation of anti-collision ring 4
Space is used to accommodate protection electric propeller 3.So electric propeller 3 just by anticollision cover 5 and anti-collision ring 4 protect wherein and
It will not deform or fracture to barriers such as walls because of impact in flight course.
Preferably, anticollision cover 5 is made with anti-collision ring 4 of the elastomeric material of lightweight, the structure for adding them is round and smooth, touches
Bumping against after barrier can also flick immediately, without being damaged.
The robot cleaned the windows in the market is all powered using power line, and the length of power line directly determines wiping window
The working range of robot, wants to make window wiping robot progress long distance work just highly difficult, while power line is excessively tediously long
Be inconvenient to carry and operate.The robot that the remote control work high above the ground of the present invention cleans the windows is improved motor-driven to overcome above mentioned problem
Property, the powering mode used powers for battery module 11, and battery module 11 is detachable, can be installed on machine quick-replaceable
On body 1.
As specific scheme, the robot that the remote control work high above the ground of remote control 6 and the present invention clean the windows is supporting, such as Fig. 5
It is shown, display screen 61 is provided with the top of remote control 6, bottom is dialled provided with button 62, advance and retreat plectrum 63, steering plectrum 64, lifting
Piece 65 and rotating mechanism rotate plectrum 66, and display screen 61 is used for the flight ginseng for showing the robot that the remote control work high above the ground cleans the windows
The picture that number (such as GPS location data) and camera 9 are shot, button 62 is used for the operation such as input instruction or positional parameter, retreats
Plectrum 63 is used for the forward-reverse for the robot for controlling the remote control work high above the ground to clean the windows, and turning to plectrum 64 is used to control the remote control
The left and right turn for the robot that work high above the ground cleans the windows, lifting plectrum 65 is used to control the machine that the remote control work high above the ground cleans the windows
The rise and fall of people, to meet on request adjustment flight attitude in time.
The operating method and operation principle for the robot that the remote control work high above the ground of the present invention cleans the windows are as follows：
(1), operating personnel is reached at the ground downstairs of the skyscraper of windowpane to be cleaned, and the remote control work high above the ground is wiped
The robot of glass is placed on the ground vertically, is in using the bottom of glass cleaning device 8 on level ground；
(2), the advance and retreat plectrum 63 of operating personnel's remote controller 6, steering plectrum 64 and lifting plectrum 65, make the remote control high
The robot that idle job cleans the windows flies to high-rise architectural windowpane to be cleaned, as shown in fig. 6, then manipulating camera 9
Shoot, the captured in real-time picture on observation remote control 6 on display screen 61 finely tunes the remote control work high above the ground according to captured in real-time picture
Behind the location of robot cleaned the windows, the position that suitable glass cleaning device 8 to be achieved is adsorbed, GPS location this moment is preserved
Data, and the robot for making the remote control work high above the ground clean the windows keeps floating state；
(3), the rotating mechanism of operating personnel's remote controller 6 rotates plectrum 66, is allocated to " curved " shelves, turn of rotating mechanism 7
Dynamic connecting rod 72 is rotated immediately, and the upward direction of limiting section 711 in lower limit portion 712 for leaving rotary spacing seat 71 is rotated, until supporting
Upper limit portion 711 is against, then while observing the captured in real-time picture on remote control 6 on display screen 61, while manipulating remote control 6
Advance and retreat plectrum 63, the cleaning cushion 83 for the glass cleaning device 8 of robot that control remote control work high above the ground cleans the windows stands tightly against
In on glass, reaching state as shown in Figure 7；
(4), operating personnel's remote controller 6, is opened " cleaning mode " by button, the random start work of glass cleaning device 8
Make, the negative pressure of vacuum of generation robot stabilized is reliably adsorbed in by adsorbing disk 82 by what the remote control work high above the ground cleaned the windows
On glass, " offline mode " now is closed, cleaning control module 13 controls traveling crawler 81 according to the movement locus of plug-in
Run, the plug-in is identical with the plug-in of conventional glass-cleaning robot on the market, is transported in traveling crawler 81
During row, cleaning cushion 83, which is pressed on glass, to be moved, and realizes the function of cleaning glass surface.
(5), when the dump energy of battery module 11 reaches warning value, the meeting automatic alarm of remote control 6 is automatically saved simultaneously
The GPS location data of equipment when glass cleaning device 8 interrupts, operating personnel's remote controller 6 starts " pattern of making a return voyage ",
, can be according to above-mentioned step after battery module 11, which is changed, to be finished so as to reclaim the robot that the remote control work high above the ground cleans the windows
Suddenly (1)-(4) carry out the operation that cleans the windows again, can also transfer GPS location data during last time interrupt operation, make the remote control
The robot that work high above the ground cleans the windows reaches that specified location continues executing with the operation that cleans the windows of last time.
In above-mentioned operation process, as shown in fig. 7, when glass cleaning device 8 undesirably falls off glass surface, flight control mould
The gravity accelerometer set in block 12 can trigger " offline mode " automatically, automatic start electric propeller during for falling
3, the robot that the remote control work high above the ground cleans the windows is kept floating state, it is to avoid device fall is damaged；On by remote control 6
When captured in real-time picture on display screen 61 observes that there is the foreign matter of protrusion on windowpane periphery, remote controller 6 can be passed through
Rotating mechanism rotates plectrum 66, is allocated to " straight " shelves, the rotation connecting rod 72 of rotating mechanism 7 is left the upper limit of rotary spacing seat 71
Position portion 711, the downward direction of limiting section 712 is rotated, until lower limit portion 712 is resisted against, as shown in figure 8, can so avoid window
The stop of the foreign matters such as frame, wall.
The robot that a kind of remote control work high above the ground that the present invention is provided cleans the windows, unmanned air vehicle technique is ingenious applied to wiping glass
In glass robot, glass-cleaning robot safety and precise can be placed into the glass of skyscraper by the remote control of ground staff
On window, it is to avoid the casualties that work high above the ground is brought, the equipment availability scope is big, and mobility strong, cleaning effect is good, be easy to take
Band and operation, while equipment has self-protection function, even if colliding foreign matter or unexpected falling from high altitude is also not damaged.
Above-mentioned embodiment is exemplary, is to enable those skilled in the art to understand and real in order to more preferable
Apply the present invention, it is impossible to be not understood as limiting the scope of the invention.As long as made based on disclosed spirit
Any equivalent change or modification, each fall within protection scope of the present invention.
Claims (5)
1. the robot that a kind of remote control work high above the ground cleans the windows, it is characterised in that mainly including fuselage (1) and remote control (6)；Institute
State fuselage (1) surrounding and be uniformly connected with four horns (2), the other end of each horn (2) is mounted on electric propeller
(3)；
The bottom of the fuselage (1) is connected with rotating mechanism (7), and the rotating mechanism (7) includes being fixed on the bottom of fuselage (1)
Rotary spacing seat (71) and with rotary spacing seat (71) the rotation connecting rod (72) that is hinged, in the rotation connecting rod (72)
The other end is connected with glass cleaning device (8)；
The top of the fuselage (1) is provided with camera (9), battery module (11), flight control modules (12), cleaning control module
And data transmission module (14) (13)；
The battery module (11) is used for the electric propeller (3), rotating mechanism (6), camera (9), flight control modules
(12), cleaning control module (13) and data transmission module (14) power supply；
The flight control modules (12) are used to receiving the instruction that the remote control (6) on ground sends and by flight parameter and camera
(9) picture shot sends the remote control (6) on ground to by data transmission module (14)；In the flight control modules (12)
Be additionally provided with gravity accelerometer, for falling when automatic start electric propeller (3)；
The cleaning control module (13) is used to receiving the dynamic of the instruction, control rotating mechanism (7) that the remote control (6) on ground sends
Make, the cleaning control module (13) is additionally operable to automatically control the absorption, walking and cleaning action of glass cleaning device (8).
2. the robot that a kind of remote control work high above the ground according to claim 1 cleans the windows, it is characterised in that the rotation limit
Position seat (71) is provided with the holding tank for connecting the rotation connecting rod (72), forms upper limit portion (711) and lower limit portion
(712)。
3. the robot that a kind of remote control work high above the ground according to claim 1 cleans the windows, it is characterised in that in the fuselage
(1) one end on top is provided with camera frame (91), and the camera (9) is rotatably connected at the camera frame (91).
4. the robot that a kind of remote control work high above the ground according to claim 1 cleans the windows, it is characterised in that the remote control
(6) top is provided with display screen (61), and bottom is provided with button (62), advance and retreat plectrum (63), steering plectrum (64), lifting plectrum
(65) and rotating mechanism rotate plectrum (66).
5. the robot that a kind of remote control work high above the ground according to claim 1 cleans the windows, it is characterised in that the battery mould
Block (11) is detachable, is installed on fuselage (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710791818.3A CN107320010A (en) | 2017-09-05 | 2017-09-05 | The robot that a kind of remote control work high above the ground cleans the windows |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710791818.3A CN107320010A (en) | 2017-09-05 | 2017-09-05 | The robot that a kind of remote control work high above the ground cleans the windows |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107320010A true CN107320010A (en) | 2017-11-07 |
Family
ID=60204782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710791818.3A Pending CN107320010A (en) | 2017-09-05 | 2017-09-05 | The robot that a kind of remote control work high above the ground cleans the windows |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107320010A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639176A (en) * | 2018-03-26 | 2018-10-12 | 浙江大学 | A kind of suspension push-press type climbing robot |
| KR102198788B1 (en) * | 2019-08-20 | 2021-01-06 | 선문대학교 산학협력단 | Dron for Cleaning |
| WO2022201142A1 (en) * | 2021-03-21 | 2022-09-29 | B.G. Negev Technologies & Applications Ltd., At Ben-Gurion University | An aerial vehicle also capable of moving on inclined surfaces |
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| CN101626873A (en) * | 2007-02-09 | 2010-01-13 | 金容旭 | Robot for cleaning outer wall |
| CN203244339U (en) * | 2013-05-06 | 2013-10-23 | 科沃斯机器人科技(苏州)有限公司 | Atomization cleaning robot |
| CN204071930U (en) * | 2014-03-17 | 2015-01-07 | 科沃斯机器人科技(苏州)有限公司 | Absorption robot |
| CN205031188U (en) * | 2015-09-10 | 2016-02-17 | 于东方 | Clean robot can fly |
| CN205675242U (en) * | 2016-06-08 | 2016-11-09 | 安徽农业大学 | A kind of water quality monitoring unmanned plane being suitable for complex water areas |
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2017
- 2017-09-05 CN CN201710791818.3A patent/CN107320010A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101626873A (en) * | 2007-02-09 | 2010-01-13 | 金容旭 | Robot for cleaning outer wall |
| CN203244339U (en) * | 2013-05-06 | 2013-10-23 | 科沃斯机器人科技(苏州)有限公司 | Atomization cleaning robot |
| CN204071930U (en) * | 2014-03-17 | 2015-01-07 | 科沃斯机器人科技(苏州)有限公司 | Absorption robot |
| CN205031188U (en) * | 2015-09-10 | 2016-02-17 | 于东方 | Clean robot can fly |
| CN205675242U (en) * | 2016-06-08 | 2016-11-09 | 安徽农业大学 | A kind of water quality monitoring unmanned plane being suitable for complex water areas |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639176A (en) * | 2018-03-26 | 2018-10-12 | 浙江大学 | A kind of suspension push-press type climbing robot |
| KR102198788B1 (en) * | 2019-08-20 | 2021-01-06 | 선문대학교 산학협력단 | Dron for Cleaning |
| WO2022201142A1 (en) * | 2021-03-21 | 2022-09-29 | B.G. Negev Technologies & Applications Ltd., At Ben-Gurion University | An aerial vehicle also capable of moving on inclined surfaces |
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Application publication date: 20171107 |