CN109998431A - Wall top cleans unmanned plane - Google Patents
Wall top cleans unmanned plane Download PDFInfo
- Publication number
- CN109998431A CN109998431A CN201910414270.XA CN201910414270A CN109998431A CN 109998431 A CN109998431 A CN 109998431A CN 201910414270 A CN201910414270 A CN 201910414270A CN 109998431 A CN109998431 A CN 109998431A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- wall top
- idler wheel
- support frame
- cleaning
- 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
- 238000004140 cleaning Methods 0.000 claims abstract description 35
- 230000000712 assembly Effects 0.000 claims abstract description 4
- 238000000429 assembly Methods 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 230000003019 stabilising effect Effects 0.000 claims description 2
- 238000001179 sorption measurement Methods 0.000 abstract description 2
- 238000010521 absorption reaction Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding 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
- A47L11/4063—Driving means; Transmission means therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
The invention discloses a kind of wall tops to clean unmanned plane, the direct current generator that the remote control system, power supply, the support frame being connected with drone body, the idler wheel being located above support frame including drone body, for manipulating its flight and the steering engine for controlling idler wheel left-right rotation and control move forward and backward；The cleaning assemblies for cleaning wall top is additionally provided on support frame as described above；The device generates lift using the propeller in drone body and is close to wall top.Idler wheel is controlled after unmanned plane adsorbs wall top, then through cell phone application move freely device in wall top.The present invention uses the propeller of unmanned plane itself to rotate the lift generated as adsorption capacity, four wheels above unmanned plane provide the onward impulse after absorption and the control in direction, whole device is mobile flexible and can easily keep very much stable state, the complicated manipulation carried out to keep unmanned plane stabilized flight condition is avoided, cleaning is completed under stable moving condition.
Description
Technical field
The present invention relates to a kind of cleaning devices for building wall cleaning, more particularly to one kind is for cleaning building wall
The modified unmanned plane cleaning device on top.
Background technique
With the rapid development of society, more and more building acquisition approvals and rise, much set with dome wherein being no lack of and having
The building of meter, especially commercial building, high-speed rail station, bus station airport etc., are often designed between the floor of these buildings
It is very high, although these design very atmosphere, beauty, cleaning are got up more difficult.Existing wall top cleaning relies primarily on
Traditional artificial cleaning, it is not only time-consuming and laborious using the wipe clean with extendable handle or by lift etc., and efficiency
Lower, there are also very big risk for high altitude operation.
With the fast development of unmanned plane industry.The research of multi-rotor unmanned aerial vehicle is increasingly becoming the heat of unmanned plane research
Point.It is also with a wide range of applications in dual-use field, as low-altitude reconnaissance, meteorological exploration, aeroplane photography, traffic are patrolled
Patrol, river detection etc..As unmanned plane is using more and more extensive, a efficient, convenient, safe wall top cleaning unmanned plane of design
It is imperative.Application No. is 201710293244.7 Chinese patents to disclose a kind of unmanned plane during flying device for cleaning building, this
Design can only clean the side of wall, can not clean to wall top.It is special to refer to install on unmanned plane in some documents
The mechanical arm with cleaning device, implement the cleaning to building walls or wall top by remote controlled drone flight, but
Actually unmanned plane during flying needs certain manipulation skill, needless to say to complete cleaning action while flying control, sprays
Water all can cause the state of flight of unmanned plane extremely unstable the effect of wall applied force, and then influence cleaning action,
So that actual cleaning effect and efficiency are all not satisfactory.
Summary of the invention
Goal of the invention: in view of the above problems, the present invention proposes a kind of wall top cleaning unmanned plane, pair that can be quick and stable
It is effectively cleaned on building wall top.
Technical solution: the technical scheme adopted by the invention is that a kind of wall top cleans unmanned plane, including drone body, use
In the remote control system and power supply that manipulate its flight, drone body is equipped with propeller, which further includes and unmanned plane sheet
Support frame that body is connected, the idler wheel being located above support frame, the driving motor for controlling idler wheel rotation and idler wheel control mould
Block；The device further includes the mobile device for remote control idler wheel；The device generates lift using the propeller and is close to wall
Top keeps device mobile in wall top face by the mobile device；Support frame as described above is equipped with the cleaning group for cleaning wall top
Part.The idler wheel includes steering wheel and driving wheel, and the motor includes rotating the steering engine in dynamic direction for controlling direction and being used for
Control the direct current generator of driving wheel rotation.The device further includes the landing risen and fallen for stabilising arrangement being arranged in below support frame
Frame.
In one embodiment, the cleaning assemblies is giant, by high-pressure water pipe and high-pressure hydraulic pump by water source
It imported at giant and sprays.
In one embodiment, which further includes the camera for observing wall top clean condition.The movement
Equipment uses smart phone, can see the image that thecamera head comes in real time by mobile phone display screen.
In one embodiment, the power supply of device is arranged in drone body, for drone body and rolling
Wheel power supply.But it is to be able to extend the working time of device, can choose and power supply is arranged in ground, drone body, rolling
The electric motor and controller module of wheel is electrically connected with the power supply by route.
The utility model has the advantages that compared with prior art, the present invention having the advantage that the 1, present invention uses the spiral shell of unmanned plane itself
It revolves the lift that paddle rotation generates and is used as adsorption capacity, the four wheels above unmanned plane provide the onward impulse after adsorbing and direction
Control, whole device is mobile flexible and can easily keep very much stable state, avoids to keep unmanned plane to stablize and flying
Row state and the complicated manipulation carried out, cleaning is completed under stable moving condition, at the end of cleaning, can control unmanned plane
Directly fly to it is next need clean place, keep cleaning process very convenient and efficient；2, the present invention is equipped with video camera, can
To monitor the cleaning situation of wall top in real time, and giant can be adjusted according to cleanliness and clean dynamics.
Detailed description of the invention
Fig. 1 is overall construction drawing of the invention；
Fig. 2 is structure top view of the invention；
Fig. 3 is front view of the invention；
Fig. 4 is right view of the invention.
Specific embodiment
Further description of the technical solution of the present invention with reference to the accompanying drawings and examples.
Wall top of the present invention cleans unmanned plane, as shown in Figure 1, its overall structure includes drone body 1 and its distant
Control system, the support frame 18 being connected with drone body structure, the idler wheel for being located at 18 top of support frame and front and rear rolling wheel distinguish phase
The steering engine and direct current generator of connection, and the roller control module 15 for sending and receiving signal.The device further includes manipulation
The unmanned plane smart phone 19 mobile in wall top is equipped with the APP operating software for control on mobile phone 19.Drone body 1
The support frame 18 of upper four balance brackets 20 and cubic shaped with propeller is connected and fixed, and the top of support frame 18 is equipped with
Idler wheel, including by steering engine control direction steering wheel 11 and by direct current generator provide power driving wheel 12, make the device into
It can be mobile in wall top during row is clean.The side of support frame 18 is arranged in by connecting bracket for giant 13, passes through
High-pressure water pipe 32 connects the high-pressure hydraulic pump and water source on ground.Water source on ground is pumped and is sprayed at hydraulic giant, for cleaning wall
Top.Drone body includes propeller, the motor 16 of control propeller rotation, is equipped with control system inside drone body
System, control system mainly includes GPS module, gyro module, accelerometer module, data memory module.It can allow on ground
User clean up task come the arrival place to be cleaned for controlling unmanned plane safety and steady is started by manipulation remote controler 2.Camera shooting
First 14 are mounted on the top of unmanned plane or other can be observed the position in wall top region, lens direction can fix upward or
Person obliquely, can also remotely control to adjust the direction of camera lens by being mounted on by cell phone software on rotatable holder.It takes the photograph
The image information acquired as first 14 is sent to 19 real-time display of smart phone, and operator is facilitated to observe cleaning effect.In support frame
18 lower section is additionally provided with unmanned plane landing frame 17, guarantees the quiet takeoff and landing of device.
The specific embodiment of whole device are as follows: user's hand-held remote controller, control unmanned plane fly to the room for needing to clean
Position 31 is pushed up, unmanned plane generates negative pressure by four blade rotations, the four rolling above the cleaning unmanned plane is made to be tightly attached to wall
It on top, while skidding to prevent idler wheel from meeting water in wall top, the tire of idler wheel uses the enhancing rubber of similar glass fiber structure
Plastics, so that the cleaning device being adsorbed in wall top tightly.After reaching designated place and being adsorbed on wall top, operator's benefit
Pass through the communication unit in wireless network connection roller control module 15 with cell phone application, the STM32 core in roller control module 15
Piece passes through the signal received, allows whole device in wall top to control the idler wheel at the top of the device by control PWM waveform
It is moved according to the needs of control staff.Wherein, a steering engine is installed inside the support frame between steering front wheel 11, the two of steering engine
A steering linkage respectively connected steering wheel.One direct current is installed inside the support frame between the rear drive sprocket 12 of idler wheel
Machine, which is configured to the rotation big driving gear of axis connection, and big driving gear is driven small driven gear and then passes through company simultaneously
It takes over the baton and connects two driving wheels, effect is to realize the synchronous driving of two rear-wheels.The giant 13 of wall top can be with
Selection is provided close to the side of driving wheel 12.Such setting may make cleaning device to be passed by after some place in a forward direction
Hydraulic giant is sprayed water to this place again, avoids wheel slip, device is made to keep stable motion state.Open high-pressure hydraulic pump, giant
13 spray high-velocity flows to be cleaned.The camera on unmanned plane is opened, operator can use cell phone application observation roof
Cleaning situation.After unmanned plane, which is clung to, needs clean position, operator starts rear drive sprocket by cell phone application
12, and open giant and carry out cleaning 13.The video on mobile phone, user are real-time transmitted to according to the camera on unmanned plane
The movement of unmanned plane can be controlled according to the clean-up performance in the region.At the end of the region clean, operator can lead to
It crosses remote control control unmanned plane to fly to the next place to be cleaned, or unmanned plane is allowed independently to make a return voyage.The two of uav bottom
A landing bracket 17 can allow aircraft smoothly to land.All support frames select carbon fibre composite to mitigate unmanned plane weight
Amount.
For the activity duration of growing apparatus, it can choose and the power supply of whole device is arranged in ground, unmanned plane
The electric motor and controller module of ontology and idler wheel and the power supply wired connection.To prevent wire body from winding, can by route according to
It leans against and is fixed on the outside of high-pressure water pipe.Other bands can be used in the mobile smart phone 19 of wall top for manipulating unmanned plane
There is the mobile device of wireless communication function to substitute, such as simple executor (but not having real-time image transmission function), then
Such as iPad etc. has the mobile device of display screen.
Claims (8)
1. a kind of wall top cleans unmanned plane, remote control system and power supply including drone body, for manipulating its flight, nobody
Machine ontology be equipped with propeller, it is characterised in that: the device further include the support frame (18) being connected with drone body (1),
It is located at the idler wheel above support frame (18), driving motor and roller control module (15) for controlling idler wheel rotation；The device
It further include the mobile device for remote control idler wheel；The device generates lift using the propeller and is close to wall top, passes through institute
The mobile device stated keeps device mobile in wall top face；Support frame as described above (18) is equipped with the cleaning assemblies for cleaning wall top.
2. wall top according to claim 1 cleans unmanned plane, it is characterised in that: the cleaning assemblies is giant
(13), water source is imported at giant by high-pressure water pipe (32) and high-pressure hydraulic pump and is sprayed.
3. wall top according to claim 1 cleans unmanned plane, it is characterised in that: the device further includes clear for observing wall top
The camera (14) of clean situation.
4. wall top according to claim 1 cleans unmanned plane, it is characterised in that: the mobile device uses smart phone
(19)。
5. wall top according to claim 1 cleans unmanned plane, it is characterised in that: the idler wheel includes steering wheel (11) and drives
Driving wheel (12), the motor include steering engine for controlling steering wheel (11) rotation direction and for controlling driving wheel (12) rotation
Direct current generator.
6. wall top according to claim 1 cleans unmanned plane, it is characterised in that: the device further includes being arranged in support frame
(18) the landing frame (17) to rise and fall for stabilising arrangement below.
7. wall top according to claim 1 cleans unmanned plane, it is characterised in that: the power supply is arranged in drone body
For powering to device.
8. wall top according to claim 1 cleans unmanned plane, it is characterised in that: the power supply is arranged in ground, unmanned plane
Ontology, idler wheel electric motor and controller module be electrically connected with the power supply by route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910414270.XA CN109998431A (en) | 2019-05-17 | 2019-05-17 | Wall top cleans unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910414270.XA CN109998431A (en) | 2019-05-17 | 2019-05-17 | Wall top cleans unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109998431A true CN109998431A (en) | 2019-07-12 |
Family
ID=67177318
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910414270.XA Pending CN109998431A (en) | 2019-05-17 | 2019-05-17 | Wall top cleans unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109998431A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110609087A (en) * | 2019-10-15 | 2019-12-24 | 飞波那契科技(厦门)有限公司 | Multi-surface contact type flight inspection flaw detection unmanned aerial vehicle and working method thereof |
| CN111735383A (en) * | 2020-07-03 | 2020-10-02 | 义乌市城市规划设计研究院有限公司 | Method for measuring area of rural land homestead |
| CN117799886A (en) * | 2024-03-01 | 2024-04-02 | 中国建筑西北设计研究院有限公司 | Building design survey aircraft and application method thereof |
| CN117799886B (en) * | 2024-03-01 | 2024-04-30 | 中国建筑西北设计研究院有限公司 | Building design survey aircraft and application method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101317744A (en) * | 2008-07-18 | 2008-12-10 | 哈尔滨工业大学 | Wall surface cleaning robot based on positive-negative pressure adsorption principle |
| CN108261148A (en) * | 2018-03-30 | 2018-07-10 | 广东海洋大学 | One kind can flight sweeping robot |
| CN210354583U (en) * | 2019-05-17 | 2020-04-21 | 南京信息工程大学 | Wall top cleaning unmanned aerial vehicle |
-
2019
- 2019-05-17 CN CN201910414270.XA patent/CN109998431A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101317744A (en) * | 2008-07-18 | 2008-12-10 | 哈尔滨工业大学 | Wall surface cleaning robot based on positive-negative pressure adsorption principle |
| CN108261148A (en) * | 2018-03-30 | 2018-07-10 | 广东海洋大学 | One kind can flight sweeping robot |
| CN210354583U (en) * | 2019-05-17 | 2020-04-21 | 南京信息工程大学 | Wall top cleaning unmanned aerial vehicle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110609087A (en) * | 2019-10-15 | 2019-12-24 | 飞波那契科技(厦门)有限公司 | Multi-surface contact type flight inspection flaw detection unmanned aerial vehicle and working method thereof |
| CN111735383A (en) * | 2020-07-03 | 2020-10-02 | 义乌市城市规划设计研究院有限公司 | Method for measuring area of rural land homestead |
| CN117799886A (en) * | 2024-03-01 | 2024-04-02 | 中国建筑西北设计研究院有限公司 | Building design survey aircraft and application method thereof |
| CN117799886B (en) * | 2024-03-01 | 2024-04-30 | 中国建筑西北设计研究院有限公司 | Building design survey aircraft and application method thereof |
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