CN108888167A - A kind of high-altitude cleaning unmanned plane and the method using high-altitude cleaning unmanned plane progress building high-altitude cleaning - Google Patents
A kind of high-altitude cleaning unmanned plane and the method using high-altitude cleaning unmanned plane progress building high-altitude cleaning Download PDFInfo
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- CN108888167A CN108888167A CN201811025202.6A CN201811025202A CN108888167A CN 108888167 A CN108888167 A CN 108888167A CN 201811025202 A CN201811025202 A CN 201811025202A CN 108888167 A CN108888167 A CN 108888167A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 131
- 238000000034 method Methods 0.000 title claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 120
- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 238000003860 storage Methods 0.000 claims abstract description 15
- 239000010865 sewage Substances 0.000 claims description 38
- 239000007921 spray Substances 0.000 claims description 25
- 244000007853 Sarothamnus scoparius Species 0.000 claims description 23
- 239000010802 sludge Substances 0.000 claims description 23
- 238000011084 recovery Methods 0.000 claims description 11
- 239000002351 wastewater Substances 0.000 claims description 6
- 239000000654 additive Substances 0.000 claims description 3
- 230000000996 additive effect Effects 0.000 claims description 3
- 238000000746 purification Methods 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 239000013589 supplement Substances 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 239000011521 glass Substances 0.000 abstract description 7
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 241001465382 Physalis alkekengi Species 0.000 abstract description 5
- 239000000725 suspension Substances 0.000 abstract description 4
- 238000004064 recycling Methods 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
Landscapes
- Cleaning In General (AREA)
Abstract
The present invention relates to High Altitude UAV fields, more particularly to a kind of high-altitude cleaning unmanned plane and the method for carrying out building high-altitude cleaning using high-altitude cleaning unmanned plane, including body, rotor is equipped with around body, high-altitude cleaning unmanned plane further includes walking mechanism, wiper mechanism, water storage mechanism and effluent cycle mechanism, walking mechanism and wiper mechanism are fixed on body side, high-altitude cleaning unmanned plane is adsorbed and is walked on smooth surface by walking mechanism, water storage mechanism and effluent cycle mechanism are set to below body, and water storage mechanism is connected to effluent cycle machine by water pipe.The technical problem to be solved in the present invention is to provide a kind of high-altitude cleaning unmanned plane and the methods for carrying out building high-altitude cleaning using high-altitude cleaning unmanned plane, unmanned air vehicle technique is combined with cleaning machine, the ability for making robot have high altitude operation, and the cleaning of the suspension furniture such as cleaning and lamps and lanterns that can be carried out indoor and outdoor glass, realize automation cleaning, energy consumption is saved, cruise duration is improved, improves cleannes.
Description
Technical field
The present invention relates to High Altitude UAV field, be specifically related to a kind of high-altitude cleaning unmanned plane and using high-altitude cleaning without
The method of man-machine carry out building high-altitude cleaning.
Background technique
With the continuous improvement of living standards and the continuous development of artificial intelligence, household cleaning machine people just gradually into
Enter the visual field of people, however existing household cleaning machine people can only be confined to the cleaning on ground, it can not be by cleaning applications
It expands to aerial, it is therefore necessary to a kind of high-altitude cleaning of building high-altitude cleaning equipment progress building is designed, to help people
Realize full-automatic, comprehensive cleaning service, thoroughly solve the cleaning problems of people.However existing building high-altitude is clear
The mode for washing unmanned plane cleaning high-altitude wall or glass is suspended in the air generally by rotor, then clear by water spray and jet
Surface is washed, disadvantage is that：One, be suspended in for a long time it is aerial more power-consuming, in order to reach better needs in cruise duration
Battery capacity is increased, but increases battery capacity simultaneously and will increase unmanned plane self weight again, causes energy loss；Two, using water spray and
The mode of jet, which is cleaned, is unable to reach ideal cleanliness.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of high-altitude cleaning unmanned plane and using high-altitude cleaning unmanned plane into
Unmanned air vehicle technique is combined with cleaning machine, robot is made to have the energy of high altitude operation by the method for row building high-altitude cleaning
Power, and the cleaning of the suspension furniture such as cleaning and lamps and lanterns that can be carried out indoor and outdoor glass, realize automation cleaning, cleaning surface is light
When sliding surface, to save energy consumption, cruise duration can be improved, improves cleannes, sewage will not be straight by way of sucker suction
It connects low, causes secondary pollution, the absorption of sucker is more firm, to solve the problems, such as to propose in background technique.
In order to solve the above technical problems, the technical solution adopted by the present invention is as follows：A kind of high-altitude cleaning unmanned plane, including machine
Body is equipped with rotor around the body, and high-altitude cleaning unmanned plane further includes walking mechanism, wiper mechanism, water storage mechanism and sewage
Circulation mechanism, the walking mechanism and wiper mechanism are fixed on body side, and the high-altitude cleaning unmanned plane is by walking mechanism
It adsorbs and walks on smooth surface, the water storage mechanism and effluent cycle mechanism are set to below body, the water storage mechanism
It is connected to effluent cycle machine by water pipe.
Preferably, the walking mechanism includes longitudinal movement unit and cross travel unit；
The longitudinal movement unit includes vertically moving frame, the longitudinal screw mandrel being hubbed on longitudinal movement frame and indulging
It is rotated to the parallel Der Laengslenker of the axis of screw rod, the longitudinal slide unit being slideably positioned on Der Laengslenker, driving longitudinal screw mandrel
Longitudinal rotating electric machine and the longitudinal linear motor being distributed on longitudinal movement four angles of frame, the longitudinal slide unit and longitudinal silk
Bar is threadedly coupled；
The cross travel unit includes transverse shifting frame, the cross lead screw being hubbed on transverse shifting frame and cross
It is rotated to the parallel lateral guide rod of the axis of screw rod, the horizontal slide unit being slideably positioned on lateral guide rod, driving cross lead screw
Transverse rotation motor and the horizontal linear motor being distributed on four angles of transverse shifting frame, the horizontal slide unit and transverse wire
Bar is threadedly coupled, and the output shaft end of the longitudinal direction linear motor and horizontal linear motor is installed with sucker, the longitudinal slide unit and
Horizontal slide unit is fixedly connected, and the unmanned plane is fixedly connected with longitudinal slide unit or horizontal slide unit.
Preferably, the wiper mechanism includes that rotary broom and the coaxially connected crank of rotary broom, driving rotary broom rotate
It rolls motor, connecting rod, sliding guide rod, the sliding block being slideably positioned on sliding guide rod, the spray head for providing clean water and is used for
The water receiving tank of sewage is accepted, one end of the connecting rod and crank pivot joint, the other end and sliding block are pivotally connected, on the rotary broom and sliding block
Equipped with bristle.
Preferably, the sliding block is located above rotary broom, and the water receiving tank is located at below rotary broom, and the spray head, which is located at, to be slided
Above block.
Preferably, the water storage mechanism includes the water tank being fixedly arranged below body, and the water tank is equipped with and can be opened and closed
Adding mouth, water outlet pump is equipped in the water tank, the spray head is connect by pipeline with water outlet pump.
Preferably, there are two the spray head is set, two spray heads are placed in body two sides.
Preferably, the effluent cycle mechanism includes being fixedly arranged on cyclone below water tank, sewage recovery pump and fixed
Sludge containing box below cyclone, the cyclone include the outer barrel and inner cylinder of coaxial line, the outer barrel bottom
In cone, wastewater inlet is equipped at the top of the outer barrel, outer barrel bottom is equipped with sewage draining exit, is equipped with circulation at the top of the inner cylinder
Water out, the water inlet and water receiving trench bottom of the sewage recovery pump pass through pipe by pipeline connection, water outlet and wastewater inlet
Road connection, the sewage draining exit are connected to the sludge containing box, and the circulating water outlet is connected to by pipeline with water tank.
It preferably, further include balance mechanism, the balance mechanism includes being fixedly arranged on balance adjustment frame below body, fixed
In on balance adjustment frame equilibrium orbit, be hubbed on balance adjustment frame balance adjustment screw rod, driving balance adjustment screw rod rotation
The balance adjustment motor turned and the balance weight connecting with balance adjustment wire rod thread, the water tank are slideably positioned in balance track
On road, the balance weight is fixedly connected with water tank.
Preferably, the body upper end is installed with camera and distance measuring sensor.
A method of building high-altitude cleaning being carried out using above-mentioned high-altitude cleaning unmanned plane, is included the following steps：
Step 1: passing through camera to the specified altitude assignment of building by remote control control high-altitude cleaning unmanned plane during flying
The case where observing building surface understands high-altitude cleaning unmanned plane at a distance from building surface by distance measuring sensor, adjustment
High-altitude cleaning unmanned plane is to specified position；
Step 2: if sucker is in collapsed state, and high-altitude cleaning unmanned plane passes through rotation when building surface is rough surface
The wing is suspended in the air, and close to building surface, if building surface is shiny surface, high-altitude cleaning unmanned plane passes through sucker
It is adsorbed in building surface；
Step 3: store the prior deployed clean water with cleaning additive in water tank, spray head is toward building table
Clean water is sprayed in face, and in the case where crank and connecting rod drive, simulation manually up and down reciprocatingly wipes sliding block, while rotary broom rotation wiping is built
Build object surface；
Step 4: the sewage that wiping generates is flow in water receiving tank, and sprays into cyclone under the drive of sewage recovery pump, it is dirty
Water separates in cyclone, and water purification returns to water tank via circulating water outlet, and sludge is collected to outer barrel bottom, and from row
Dirty mouth drains into sludge containing box；
Step 5: when needing mobile high-altitude cleaning unmanned plane to replace clean surface, if building surface is rough surface,
Unmanned plane lateral or longitudinal movement is directly controlled, if building surface is shiny surface, is moved as follows：
Transverse shifting：The output shaft end sucker of horizontal linear motor is withdrawn, the output shaft end sucker of longitudinal linear motor is protected
Adsorbed state is held, and keeps horizontal slide unit position motionless, drives transverse shifting frame to move left and right by transverse rotation motor, so
The output shaft end sucker suction building surface for stretching out horizontal linear motor afterwards, the output shaft end for recycling longitudinal linear motor are inhaled
Disk drives horizontal slide unit and body to be moved to new cleaning surface, and stretches out horizontal linear motor by transverse rotation motor later
Output shaft end sucker suction building surface；
Longitudinal movement：The output shaft end sucker of longitudinal linear motor is withdrawn, the output shaft end sucker of horizontal linear motor is protected
Adsorbed state is held, and keeps longitudinal slide unit position motionless, drives longitudinal movement frame to move up and down by longitudinal rotating electric machine, so
The output shaft end sucker suction building surface for stretching out longitudinal linear motor afterwards, the output shaft end for recycling horizontal linear motor are inhaled
Disk drives longitudinal slide unit and body to be moved to new cleaning surface, and stretches out longitudinal linear motor by longitudinal rotating electric machine later
Output shaft end sucker suction building surface；
Step 6: after having cleaned building surface, control high-altitude cleaning unmanned plane flies back bottom surface, supplements in water tank again
Clean water, clear up sludge in sludge containing box, and it is stand-by to charge.
High-altitude cleaning unmanned plane and building high-altitude cleaning method of the present invention has the advantages that：
One, unmanned air vehicle technique is combined with cleaning machine, breaks through existing intelligent robot and carries out asking for bottom surface operation
Topic, the ability for making robot have high altitude operation；
Two, automation cleaning is realized in the cleaning for carrying out the suspension furniture such as cleaning and lamps and lanterns of indoor and outdoor glass；
Three, when cleaning surface is shiny surface, to save energy consumption, and vehicle with walking machine can be passed through by way of sucker suction
Structure is moved in cleaning surface, and energy consumption substantially reduces, and improves cruise duration；
Four, slide-action die intends the movement of manual wipping, and is further wiped by rotary broom, and cleannes are high；
Five, sewage is carried out being separated and recovered from utilization, adds clean water without the frequent ground that returns, and sewage will not be straight
It connects low, causes secondary pollution；
Six, the position of water tank is adjusted by balance mechanism, to keep anterior-posterior balance, keeps flight more steady, clear
During washing, water tank and effluent cycle mechanism are moved near the position of cleaning surface, center of gravity can be made as close as possible to clear
It washes one's face, the absorption of sucker is more firm.
Detailed description of the invention
Fig. 1 is the schematic perspective view of high-altitude cleaning unmanned plane of the present invention.
Fig. 2 is the schematic perspective view of high-altitude cleaning unmanned plane of the present invention.
Fig. 3 is the top view of Fig. 1.
Fig. 4 is the A-A cross-sectional view of Fig. 3.
Fig. 5 is the local a enlarged diagram of Fig. 4.
Fig. 6 is the walking mechanism of high-altitude cleaning unmanned plane of the present invention and the structural schematic diagram of wiper mechanism.
Fig. 7 is the walking mechanism of high-altitude cleaning unmanned plane of the present invention and the structural schematic diagram of wiper mechanism.
Specific embodiment
Below by way of specific embodiment, the invention will be further described.
Specific embodiment one
High-altitude cleaning unmanned plane of the invention, including body 1, rotor 11 is equipped with around body 1, and rotor 11 is electric by rotor
Machine drives, and battery and flight controller are equipped in body 1, and rotor motor and battery and flight controller circuit connection, flight are controlled
Micro-control module 586-Engine of the TERN company based on AMD Elan SC520 processor can be used in device processed, has highly reliable
The features such as property, compact-sized and low-power consumption, the analog input of flight controller is terminated into vertical gyroscope, rate gyroscope
With throttle high low signal device, the serial communication of flight controller is terminated into GPS receiver, remote telemetry device.
As illustrated in fig. 1 and 2, high-altitude cleaning unmanned plane of the invention further includes walking mechanism 2, wiper mechanism 3, water storage mechanism
4, effluent cycle mechanism 5 and balance mechanism 6.Walking mechanism 2 and wiper mechanism 3 are fixed on 1 same side of body, high-altitude cleaning without
Man-machine when cleaning to metope, walking mechanism 2 and wiper mechanism 3 are towards metope, and high-altitude cleaning unmanned plane is by walking mechanism 2
It adsorbs and walks on smooth surface, water storage mechanism 4 and effluent cycle mechanism 5 are set to 1 lower section of body, water storage mechanism 4 and dirt
Water circulator is connected to by water pipe.
Walking mechanism 2 includes longitudinal movement unit and cross travel unit；
As shown in Figures 6 and 7, longitudinal movement unit includes longitudinal movement frame 211, is hubbed on longitudinal movement frame 211
Longitudinal screw mandrel 212, the Der Laengslenker 213 parallel with the axis of longitudinal screw mandrel 212, be slideably positioned on Der Laengslenker 213
The longitudinal rotating electric machine 215 and be distributed in longitudinal movement frame 211 4 that longitudinal slide unit 214, driving longitudinal screw mandrel 212 rotate
Longitudinal linear motor 216 on angle, longitudinal slide unit 214 are threadedly coupled with longitudinal screw mandrel 212；
Cross travel unit include transverse shifting frame 221, the cross lead screw being hubbed on transverse shifting frame 221 222,
The lateral guide rod 223 parallel with the axis of cross lead screw 222, drives at the horizontal slide unit 224 being slideably positioned on lateral guide rod 223
The dynamic transverse rotation motor 225 rotated of cross lead screw 222 and the lateral straight line being distributed on 221 4 angles of transverse shifting frame
Motor 226, horizontal slide unit 224 are threadedly coupled with cross lead screw 222, longitudinal linear motor 216 and horizontal linear motor 226 it is defeated
Shaft end is installed with sucker 23 out, in the present embodiment, the output shaft end of linear motor 216 and horizontal linear motor 226 longitudinally in each
It is fixed with a sucker 23, in other embodiments, the output shaft of linear motor 216 and horizontal linear motor 226 longitudinally in each
End is fixed with more than one sucker 23, and longitudinal slide unit 214 is fixedly connected with horizontal slide unit 224, unmanned plane and longitudinal slide unit 214
Or horizontal slide unit 224 is fixedly connected.
When cleaning surface is shiny surface, such as glass, high-altitude cleaning unmanned plane of the invention are adsorbed in clearly by sucker 23
On washing one's face, rotor 11 stops operating at this time, without hanging by rotor 11, can greatly save electric energy, longitudinal under cleaning state
The sucker 23 of the output shaft end of linear motor 216 and horizontal linear motor 226 adsorbs on glass, vehicle with walking machine under cleaning state
Structure 2 realizes that the principle of walking is as follows：
Transverse shifting：Withdraw the output shaft end sucker 23 of horizontal linear motor 226, the output shaft of longitudinal linear motor 216
Terminal sucker 23 keeps adsorbed state, and keeps 224 position of horizontal slide unit motionless, drives lateral shifting by transverse rotation motor 225
Dynamic frame 221 moves left and right, and the output shaft end sucker 23 for then stretching out horizontal linear motor 226 adsorbs building surface, recycling
The output shaft end sucker 23 of longitudinal linear motor 216 drives horizontal slide unit 224 and body 1 by transverse rotation motor 225 later
It is moved to new cleaning surface, and the output shaft end sucker 23 for stretching out horizontal linear motor 226 adsorbs building surface；
Longitudinal movement：Withdraw the output shaft end sucker 23 of longitudinal linear motor 216, the output shaft of horizontal linear motor 226
Terminal sucker 23 keeps adsorbed state, and keeps 214 position of longitudinal slide unit motionless, drives longitudinal shifting by longitudinal rotating electric machine 215
Dynamic frame 211 moves up and down, and the output shaft end sucker 23 for then stretching out longitudinal linear motor 216 adsorbs building surface, recycling
The output shaft end sucker 23 of horizontal linear motor 226 drives longitudinal slide unit 214 and body 1 by longitudinal rotating electric machine 215 later
It is moved to new cleaning surface, and the output shaft end sucker 23 for stretching out longitudinal linear motor 216 adsorbs building surface；
As shown in Figures 6 and 7, wiper mechanism 3 includes that rotary broom 31 and the coaxially connected crank 32 of rotary broom 31, driving are rolled
The rolling motor 33 of 31 rotation of cylinder brush, sliding guide rod 35, the sliding block 36 being slideably positioned on sliding guide rod 35, is used for connecting rod 34
The spray head 37 and water receiving tank 38 for accepting sewage that clean water is provided, one end of connecting rod 34 and the pivot joint of crank 32, the other end with
Sliding block 36 is pivotally connected, and rotary broom 31 and sliding block 36 are equipped with bristle, and the axis of roller is parallel with 222 axis of cross lead screw, and sliding is led
The axis of bar 35 is parallel with 212 axis of longitudinal screw mandrel.
Sliding block 36 is located at 31 top of rotary broom, and water receiving tank 38 is located at 31 lower section of rotary broom, after water receiving tank 38 accepts cleaning
Sewage, and sewage will not be directly low, causes secondary pollution, spray head 37 is located at 36 top of sliding block, and sliding block 36 simulates manual wipping
Movement, and further wiped by rotary broom 31, cleannes are high.
In the present embodiment, unit is vertically moved between body 1 and cross travel unit, body 1 and longitudinal slide unit 214
It being fixedly connected, wiper mechanism 3 is set on transverse shifting frame 221, and sliding guide rod 35 is fixed on transverse shifting frame 221,
Roller is rotatably disposed on transverse shifting frame 221.
As shown in figure 4, water storage mechanism 4 includes the water tank 41 for being fixedly arranged on 1 lower section of body, water tank 41 is equipped with and can be opened and closed
For adding the adding mouth (not shown) of clean water, water outlet pump 42 is equipped in water tank 41, spray head 37 passes through pipeline and water outlet
42 connection of pump.
In the present embodiment, there are two spray head 37 is set, two spray heads 37 are placed in 1 two sides of body, in other embodiments, spray
First 37 can be other quantity, and the spray regime of spray head 37 covers the width of sliding block 36 in scattering.
As shown in figure 5, effluent cycle mechanism 5 includes the cyclone 51 for being fixedly arranged on 41 lower section of water tank, sewage recovery pump 52
With the sludge containing box 53 for being fixedly arranged on 51 lower section of cyclone, cyclone 51 includes the outer barrel 511 and inner cylinder 512 of coaxial line,
511 bottom of outer barrel is in cone, and wastewater inlet 513 is equipped at the top of outer barrel 511, and 511 bottom of outer barrel is equipped with sewage draining exit 514,
Circulating water outlet 515 is equipped at the top of inner cylinder 512, the water inlet of sewage recovery pump 52 and 38 bottom of water receiving tank are connected by pipeline
Logical, water outlet and wastewater inlet 513 are by pipeline connection, and sewage draining exit 514 is connected to sludge containing box 53, circulating water outlet 515
It is connected to by pipeline with water tank 41, sludge containing box 53 is equipped with the blowdown opening that can be opened and closed, and sludge box can be from rotation
Cleaning is disassembled on stream device 51.
Effluent cycle mechanism 5 recycle sewage principle be：The sewage that water receiving tank 38 is accepted is via sewage recovery pump 52 from dirt
Water inlet 513 is pumped into cyclone 51, forms swirl channel between 512 outer wall of 511 inner wall of outer barrel and inner cylinder, sewage is helically
Downwards, and centrifugal action occurs, separates water and sludge, water is flowed up via the channel inside inner cylinder 512, and finally by
Circulating water outlet 515 is discharged, and flows into water tank, and sludge is gradually concentrated in outer barrel 511 in the bottom of cone, is finally discharged into dirt
Mud containing box 53, sludge containing box 53 are provided with exhaust outlet close to top.
As shown in Figures 1 to 3, balance mechanism 6 includes the balance adjustment frame 61 for being fixedly arranged on 1 lower section of body, is fixedly arranged on balance tune
Save the equilibrium orbit 62 on frame 61, the balance adjustment screw rod 63 being hubbed on balance adjustment frame 61, driving balance adjustment screw rod 63
The balance adjustment motor 64 of rotation and the balance weight 65 being threadedly coupled with balance adjustment screw rod 63, water tank 41 are slideably positioned in
On equilibrium orbit 62, balance weight 65 is fixedly connected with water tank 41, and balance adjustment motor 64 accesses flight controller, due to flying
In capable process, with the reduction for cleaning water consumption in water tank 41, the balance before and after high-altitude cleaning unmanned plane changes, and flies
Data of the line control unit according to vertical gyroscope, the control rotation of balance adjustment motor 64, band dynamic balance adjustment screw rod 63 rotate, into
And drive water tank 41 and the past direction opposite with walking mechanism 2 and wiper mechanism 3 of effluent cycle mechanism 5 mobile, make front and back weight
Newly reach balance, flies more steady, during cleaning, water tank 41 and effluent cycle mechanism 5 are moved near clear
The position washed one's face, can make center of gravity as close as possible to cleaning surface, and the absorption of sucker 23 is more firm.
1 upper end of body is installed with camera 12 and distance measuring sensor 13, and camera 12 is closed for observing cleaning surface with finding
Suitable adsorption plane, and avoiding barrier is assisted, distance measuring sensor 13 is used to detect the spacing of unmanned plane and cleaning surface.
Camera 12, distance measuring sensor 13 are connect with flight controller output end signal, longitudinal rotating electric machine 215, transverse direction
Rotating electric machine 225 rolls motor 33, water outlet pump 42, sewage recovery pump 52, the connection of 64 output end signal of balance adjustment motor.
Specific embodiment two
In the present embodiment, cross travel unit is located between body 1 and longitudinal movement unit, body 1 and horizontal slide unit 224
It being fixedly connected, wiper mechanism 3 is set on longitudinal movement frame 211, and sliding guide rod 35 is fixed on longitudinal movement frame 211,
Roller is rotatably disposed on longitudinal movement frame 211, and other technical characteristics are the same as specific embodiment one.
A method of building high-altitude cleaning being carried out using high-altitude cleaning unmanned plane described in above-described embodiment one and two,
Include the following steps：
Step 1: passing through camera to the specified altitude assignment of building by remote control control high-altitude cleaning unmanned plane during flying
The case where 12 observation building surface, understands high-altitude cleaning unmanned plane at a distance from building surface by distance measuring sensor 13,
High-altitude cleaning unmanned plane is adjusted to specified position；
Step 2: if sucker 23 is in collapsed state, and high-altitude cleaning unmanned plane passes through when building surface is rough surface
Rotor 11 is suspended in the air, and close to building surface, prepares cleaning；If building surface is shiny surface, high-altitude cleaning
Unmanned plane is adsorbed in building surface by sucker 23, prepares cleaning；
Step 3: the prior deployed clean water with cleaning additive is stored in water tank 41, the past building of spray head 37
Clean water is sprayed on object surface, and sliding block 36 is in the case where crank 32 and connecting rod 34 drive, and simulation manually up and down reciprocatingly wipes, while rotary broom
31 rotation wiping building surfaces；
Step 4: the sewage that wiping generates is flow in water receiving tank 38, and cyclone is sprayed under the drive of sewage recovery pump 52
In 51, sewage separates in cyclone 51, and water purification returns to water tank 41 via circulating water outlet 515, and sludge is collected to outer
511 bottom of cylinder, and sludge containing box 53 is drained into from sewage draining exit 514；
Step 5: when needing mobile high-altitude cleaning unmanned plane to replace clean surface, if building surface is rough surface,
Unmanned plane lateral or longitudinal movement is directly controlled by rotor 11, if building surface is shiny surface, high-altitude cleaning unmanned plane
It is adsorbed in building surface by sucker 23, is moved as follows：
Transverse shifting：Withdraw the output shaft end sucker 23 of horizontal linear motor 226, the output shaft of longitudinal linear motor 216
Terminal sucker 23 keeps adsorbed state, and keeps 224 position of horizontal slide unit motionless, drives lateral shifting by transverse rotation motor 225
Dynamic frame 221 moves left and right, and the output shaft end sucker 23 for then stretching out horizontal linear motor 226 adsorbs building surface, recycling
The output shaft end sucker 23 of longitudinal linear motor 216 drives horizontal slide unit 224 and body 1 by transverse rotation motor 225 later
It is moved to new cleaning surface, and the output shaft end sucker 23 for stretching out horizontal linear motor 226 adsorbs building surface；
Longitudinal movement：Withdraw the output shaft end sucker 23 of longitudinal linear motor 216, the output shaft of horizontal linear motor 226
Terminal sucker 23 keeps adsorbed state, and keeps 214 position of longitudinal slide unit motionless, drives longitudinal shifting by longitudinal rotating electric machine 215
Dynamic frame 211 moves up and down, and the output shaft end sucker 23 for then stretching out longitudinal linear motor 216 adsorbs building surface, recycling
The output shaft end sucker 23 of horizontal linear motor 226 drives longitudinal slide unit 214 and body 1 by longitudinal rotating electric machine 215 later
It is moved to new cleaning surface, and the output shaft end sucker 23 for stretching out longitudinal linear motor 216 adsorbs building surface；
Step 6: after having cleaned building surface, control high-altitude cleaning unmanned plane flies back bottom surface, supplements water tank 41 again
Interior clean water clears up sludge in sludge containing box 53, and it is stand-by to charge.
High-altitude cleaning unmanned plane provided by the invention can using with the hanging furniture such as purge chamber's external and internal wall or lamps and lanterns, have
Following beneficial effect：
One, unmanned air vehicle technique is combined with cleaning machine, breaks through existing intelligent robot and carries out asking for bottom surface operation
Topic, the ability for making robot have high altitude operation；
Two, the cleaning for carrying out the suspension furniture such as cleaning and lamps and lanterns of indoor and outdoor glass is to realize automation cleaning；
Three, when cleaning surface is shiny surface, to save energy consumption, and walking can be passed through in such a way that sucker 23 adsorbs
Mechanism 2 is moved in cleaning surface, and energy consumption substantially reduces, and improves cruise duration；
Four, sliding block 36 simulates the movement of manual wipping, and is further wiped by rotary broom 31, and cleannes are high；
Five, sewage is carried out being separated and recovered from utilization, adds clean water without the frequent ground that returns, and sewage will not be straight
It connects low, causes secondary pollution；
Six, the position of water tank 41 is adjusted by balance mechanism 6, to keep anterior-posterior balance, keeps flight more steady,
During cleaning, water tank 41 and effluent cycle mechanism 5 are moved near the position of cleaning surface, center of gravity can be made to lean on as far as possible
The absorption of nearly cleaning surface, sucker 23 is more firm.
It above are only several specific embodiments of the invention, but the design concept of the present invention is not limited to this, all benefits
It is made a non-material change to the present invention, should all be belonged to behavior that violates the scope of protection of the present invention with this design.
Claims (10)
1. a kind of high-altitude cleaning unmanned plane, including body, rotor is equipped with around the body, it is characterised in that：It further include walking
Mechanism, wiper mechanism, water storage mechanism and effluent cycle mechanism, the walking mechanism and wiper mechanism are fixed on body side, institute
It states high-altitude cleaning unmanned plane and adsorbs and walk on smooth surface by walking mechanism, the water storage mechanism and effluent cycle mechanism
It is set to below body, the water storage mechanism is connected to effluent cycle machine by water pipe.
2. high-altitude cleaning unmanned plane according to claim 1, it is characterised in that：The walking mechanism includes that longitudinal movement is single
Member and cross travel unit；
The longitudinal movement unit includes vertically moving frame, the longitudinal screw mandrel being hubbed on longitudinal movement frame and longitudinal silk
The longitudinal direction that the parallel Der Laengslenker of the axis of bar, the longitudinal slide unit being slideably positioned on Der Laengslenker, driving longitudinal screw mandrel rotate
Rotating electric machine and the longitudinal linear motor being distributed on longitudinal movement four angles of frame, the longitudinal slide unit and longitudinal screw mandrel spiral shell
Line connection；
The cross travel unit includes transverse shifting frame, the cross lead screw being hubbed on transverse shifting frame and transverse wire
The parallel lateral guide rod of the axis of bar, the horizontal slide unit being slideably positioned on lateral guide rod, the transverse direction of driving cross lead screw rotation
Rotating electric machine and the horizontal linear motor being distributed on four angles of transverse shifting frame, the horizontal slide unit and cross lead screw spiral shell
The output shaft end of line connection, the longitudinal direction linear motor and horizontal linear motor is installed with sucker, the longitudinal slide unit and transverse direction
Slide unit is fixedly connected, and the unmanned plane is fixedly connected with longitudinal slide unit or horizontal slide unit.
3. high-altitude cleaning unmanned plane according to claim 1, it is characterised in that：The wiper mechanism include rotary broom, with
The coaxially connected crank of rotary broom, driving rotary broom rotation rolling motor, connecting rod, slide guide rod, be slideably positioned in sliding and lead
Sliding block on bar, the spray head for providing clean water and the water receiving tank for accepting sewage, one end of the connecting rod and crank pivot
It connects, the pivot joint of the other end and sliding block, the rotary broom and sliding block are equipped with bristle.
4. high-altitude cleaning unmanned plane according to claim 3, it is characterised in that：The sliding block is located above rotary broom, institute
It states water receiving tank to be located at below rotary broom, the spray head is located above sliding block.
5. high-altitude cleaning unmanned plane according to claim 3, it is characterised in that：The water storage mechanism includes being fixedly arranged on body
The water tank of lower section, the water tank are equipped with adding mouth to be opened/closed, water outlet pump are equipped in the water tank, and the spray head is logical
Pipeline is crossed to connect with water outlet pump.
6. high-altitude cleaning unmanned plane according to claim 3, it is characterised in that：There are two the spray head is set, two spray heads
Be placed in body two sides.
7. high-altitude cleaning unmanned plane according to claim 5, it is characterised in that：The effluent cycle mechanism includes being fixedly arranged on
Cyclone, sewage recovery pump below water tank and the sludge containing box being fixedly arranged below cyclone, the cyclone include same
The outer barrel and inner cylinder of axis, the outer barrel bottom are in cone, are equipped with wastewater inlet, outer barrel bottom at the top of the outer barrel
Portion is equipped with sewage draining exit, and circulating water outlet, the water inlet and water receiving trench bottom of the sewage recovery pump are equipped at the top of the inner cylinder
By pipeline connection, water outlet and wastewater inlet by pipeline connection, the sewage draining exit is connected to the sludge containing box, described
Circulating water outlet is connected to by pipeline with water tank.
8. high-altitude cleaning unmanned plane according to claim 5, it is characterised in that：It further include balance mechanism, the balancing machine
Structure includes being fixedly arranged on balance adjustment frame below body, the equilibrium orbit that is fixedly arranged on balance adjustment frame, being hubbed at balance adjustment
The balance adjustment motor and connect with balance adjustment wire rod thread that balance adjustment screw rod, driving balance adjustment screw rod on frame rotate
The balance weight connect, the water tank are slideably positioned on equilibrium orbit, and the balance weight is fixedly connected with water tank.
9. high-altitude cleaning unmanned plane according to claim 1, it is characterised in that：The body upper end be installed with camera and
Distance measuring sensor.
10. a kind of method that the high-altitude cleaning unmanned plane using described in claim 1 to 9 carries out building high-altitude cleaning, special
Sign is, includes the following steps：
Step 1: being observed to the specified altitude assignment of building by camera by remote control control high-altitude cleaning unmanned plane during flying
The case where building surface, understands high-altitude cleaning unmanned plane at a distance from building surface by distance measuring sensor, adjusts high-altitude
Unmanned plane is cleaned to specified position；
Step 2: high-altitude cleaning unmanned plane is outstanding by rotor if sucker is in collapsed state when building surface is rough surface
Float in the air, and close to building surface, if building surface is shiny surface, high-altitude cleaning unmanned plane passes through sucker suction
In building surface；
Step 3: storing the prior deployed clean water with cleaning additive in water tank, spray head is sprayed toward building surface
Clean water is penetrated, in the case where crank and connecting rod drive, simulation manually up and down reciprocatingly wipes sliding block, while rotary broom rotation wiping building
Surface；
Step 4: the sewage that wiping generates is flow in water receiving tank, and sprays into cyclone under the drive of sewage recovery pump, sewage exists
It separates in cyclone, via circulating water outlet return water tank, sludge is collected to outer barrel bottom for water purification, and from sewage draining exit
Drain into sludge containing box；
Step 5: when needing mobile high-altitude cleaning unmanned plane to replace clean surface, if building surface is rough surface, directly
Unmanned plane lateral or longitudinal movement is controlled, if building surface is shiny surface, is moved as follows：
Transverse shifting：The output shaft end sucker of horizontal linear motor is withdrawn, the output shaft end sucker of longitudinal linear motor keeps inhaling
Attached state, and keep horizontal slide unit position motionless, it drives transverse shifting frame to move left and right by transverse rotation motor, then stretches
The output shaft end sucker suction building surface of horizontal linear motor out recycles the output shaft end sucker of longitudinal linear motor, it
It drives horizontal slide unit and body to be moved to new cleaning surface by transverse rotation motor afterwards, and stretches out the output of horizontal linear motor
Shaft end sucker suction building surface；
Longitudinal movement：The output shaft end sucker of longitudinal linear motor is withdrawn, the output shaft end sucker of horizontal linear motor keeps inhaling
Attached state, and keep longitudinal slide unit position motionless, it drives longitudinal movement frame to move up and down by longitudinal rotating electric machine, then stretches
The output shaft end sucker suction building surface of longitudinal linear motor out, recycles the output shaft end sucker of horizontal linear motor, it
It drives longitudinal slide unit and body to be moved to new cleaning surface by longitudinal rotating electric machine afterwards, and stretches out the output of longitudinal linear motor
Shaft end sucker suction building surface；
Step 6: after having cleaned building surface, control high-altitude cleaning unmanned plane flies back bottom surface, supplements again clear in water tank
Clean water clears up sludge in sludge containing box, and it is stand-by to charge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811025202.6A CN108888167A (en) | 2018-09-04 | 2018-09-04 | A kind of high-altitude cleaning unmanned plane and the method using high-altitude cleaning unmanned plane progress building high-altitude cleaning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811025202.6A CN108888167A (en) | 2018-09-04 | 2018-09-04 | A kind of high-altitude cleaning unmanned plane and the method using high-altitude cleaning unmanned plane progress building high-altitude cleaning |
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| Publication Number | Publication Date |
|---|---|
| CN108888167A true CN108888167A (en) | 2018-11-27 |
Family
ID=64358823
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811025202.6A Pending CN108888167A (en) | 2018-09-04 | 2018-09-04 | A kind of high-altitude cleaning unmanned plane and the method using high-altitude cleaning unmanned plane progress building high-altitude cleaning |
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| CN114771859A (en) * | 2022-04-07 | 2022-07-22 | 南京航空航天大学 | Rough/smooth negative surface unmanned aerial vehicle landing mechanism based on micro-thorn array and bionic dry adhesion material |
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