CN111374587B - Glass cleaning robot and cleaning method - Google Patents

Glass cleaning robot and cleaning method Download PDF

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Publication number
CN111374587B
CN111374587B CN202010368786.8A CN202010368786A CN111374587B CN 111374587 B CN111374587 B CN 111374587B CN 202010368786 A CN202010368786 A CN 202010368786A CN 111374587 B CN111374587 B CN 111374587B
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CN
China
Prior art keywords
cleaning
distance
spray
cleaned
face
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CN202010368786.8A
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Chinese (zh)
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CN111374587A (en
Inventor
连芷萱
李奕成
连一帆
宋绍鑫
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Beijing Hualande Technology Consulting Service Co ltd
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Beijing Hualande Technology Consulting Service Co ltd
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Priority to CN202010368786.8A priority Critical patent/CN111374587B/en
Publication of CN111374587A publication Critical patent/CN111374587A/en
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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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/022—Tethered aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT 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
    • 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
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B64U2201/202—Remote controls using tethers for connecting to ground station

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Electrochemistry (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Remote Sensing (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

The invention discloses a glass cleaning robot and a cleaning method, and relates to the field of unmanned aerial vehicle control, wherein the cleaning robot comprises an unmanned aerial vehicle, a mooring rope and a ground trolley; the unmanned aerial vehicle comprises a cleaning reaction force adjusting device, a telescopic long rod device, a steering device and the like; the telescopic long rod device comprises a long rod which can be telescopically adjusted and is used for driving the cleaning device to move back and forth along with the telescopic adjustment of the long rod; the steering device comprises a fixed seat and a rotating body and is used for driving the cleaning device to rotate left and right along with the rotation adjustment of the rotating body; the cleaning reaction force adjusting device is connected with the other end of the telescopic long rod device and is used for generating a reaction force which is a pair of acting forces on the unmanned aerial vehicle when the cleaning device sprays liquid; the mooring rope is used for conveying power supply of the unmanned aerial vehicle, transmitting control signals and conveying cleaning water and cleaning liquid for cleaning; the floor truck is used for generating control signals and storing cleaning liquid. The invention has the advantages of small power and wide application range.

Description

Glass cleaning robot and cleaning method
Technical Field
The invention relates to the field of unmanned aerial vehicle control, in particular to a glass cleaning robot and a cleaning method.
Background
Unmanned aerial vehicle in the present market, most all regard unmanned aerial vehicle flight, photography, inspection, plant to spray etc. as main functions, and in current unmanned aerial vehicle that can regard as operating platform application, its application mode is mostly still with hoist and mount, throw perpendicularly, operation such as vertical traction are mainly. One of the main features of these applications is: the operation directions are all perpendicular to the ground direction. That is, the unmanned aerial vehicle screw is located the whole operation platform directly over, as long as keep unmanned aerial vehicle operation process's focus not take place too big skew, under flight control system's control, whole operation process and operation stage can not all produce too big influence to unmanned aerial vehicle flight. However, in addition to the above application, there are application modes that require the unmanned side as our working direction, such as: the unmanned aerial vehicle is utilized to carry out wall surface cleaning, high-altitude wall surface painting or mark drawing, or horizontal shooting of the unmanned aerial vehicle, and the like. A common feature of such applications is the need to spread out the work on the unmanned side and that during the work it is possible to generate a certain lateral reaction force, which may be relatively constant, may be abrupt, or may be continuously disturbed. The existence of the transverse reaction force can generate larger influence on the unmanned aerial vehicle flight platform, and directly or indirectly influence the operation precision, the subsequent operation sustainability and the safety.
Some cleaning unmanned aerial vehicles are also provided in order to overcome the defects in the prior art, but because the cleaning device is loaded on the unmanned aerial vehicle platform, the load is increased, the precision of the overweight platform is easily reduced due to the influence of factors such as inertia when the gesture control is performed, and the energy consumption is high. Because the limitation of this washing structure can only wash the face that is a little more far away, and the unmanned aerial vehicle platform can't be close to the flight far away, application scope is little.
Disclosure of Invention
Therefore, the technical problem to be solved by the embodiment of the invention is to overcome the defects of low precision, large energy consumption and small application range of the cleaning unmanned aerial vehicle in the prior art, thereby providing the glass cleaning robot and the cleaning method.
To this end, a cleaning robot according to an embodiment of the present invention includes: unmanned plane, mooring rope and ground trolley;
the unmanned aerial vehicle comprises a cleaning reaction force adjusting device, a four-rotor wing mounting seat, a telescopic long rod device, a steering device, a cleaning device and a distance and angle detecting device;
the four-rotor wing mounting seat is connected with four rotor wings of the unmanned aerial vehicle;
the telescopic long rod device is arranged right below the gravity center position of the four-rotor wing mounting seat and comprises a long rod which can be telescopically adjusted and is used for driving the cleaning device to move forwards and backwards along with the telescopic adjustment of the long rod;
the steering device comprises a fixed seat and a rotating body, wherein the fixed seat is connected with one end of the telescopic long rod device, and the rotating body is connected with the cleaning device and is used for driving the cleaning device to rotate left and right along with the rotation adjustment of the rotating body;
the cleaning device is used for spraying cleaning water and cleaning liquid for cleaning;
the cleaning reaction force adjusting device is connected with the other end of the telescopic long rod device and is used for generating a reaction force which is a pair of acting forces on the unmanned aerial vehicle when the cleaning device sprays liquid;
the distance and angle detection device is arranged on the cleaning device and is used for detecting the distance and angle between the surface to be cleaned and the cleaning device;
the mooring rope comprises a mooring rope limiting device, and the mooring rope limiting device is arranged below a telescopic long rod device right below the gravity center position of the four-rotor wing mounting seat and is used for fixing the mooring rope connected with the unmanned aerial vehicle; the mooring rope is used for conveying power supply of the unmanned aerial vehicle, transmitting control signals and conveying cleaning water and cleaning liquid for cleaning;
the ground trolley is respectively connected with the cleaning reaction force adjusting device, the telescopic long rod device, the steering device and the cleaning device through mooring ropes and is used for controlling the cleaning reaction force adjusting device, the telescopic long rod device, the steering device and the cleaning device and storing cleaning water and cleaning liquid for cleaning.
Preferably, the cleaning reaction force adjusting means includes a first propeller, a second propeller, and a third propeller;
the first propeller is arranged at the tail part of the other end of the telescopic long rod device and is used for generating forward reaction force;
the second propeller is arranged at the left side of the other end of the telescopic long rod device and is used for generating a rightward reaction force;
the third screw propeller is arranged on the right side of the other end of the telescopic long rod device and is used for generating a left reaction force.
Preferably, the fixing seat of the steering device comprises a bearing, an arc-shaped elastic piece and an inflation ring;
the fixing seat is provided with a vertical through hole, the bearing is arranged in the through hole, and the fixing seat is connected with the rotating body through the bearing;
the arc elastic piece is made of elastic materials, one end of the arc elastic piece is connected with the inner wall of the through hole, the other end of the arc elastic piece is a free movable end which is bent towards one end, one end and the other end of the arc elastic piece are surrounded to form a hook part, and the hook part is used for expanding to contact the rotating body and limit the rotation of the rotating body when the arc elastic piece is stretched under stress;
the inflation ring is positioned in the hook part and is used for inflating and deflating to expand or restore the hook part.
Preferably, the rotating body comprises a rotating shaft, a positioning gear and an epicyclic gear;
the rotating shaft is connected in series with the bearing and is used for driving the positioning gear to rotate;
the positioning gear is sleeved at one end of the rotating shaft;
the turnover gear is meshed with the positioning gear and rotates along the circumferential direction of the positioning gear, and the turnover gear is used for driving the cleaning device connected with the turnover gear to rotate left and right along with the turnover gear.
Preferably, the cleaning device comprises an auxiliary booster pump, a cleaning water spray head, a spray cover and a cleaning liquid spray head;
the auxiliary booster pump is connected with the cleaning water spray head and used for improving the speed of spraying the cleaning water out of the cleaning water spray head;
the cleaning solution spray head is connected with the ground trolley through a mooring rope and is used for outputting cleaning solution under the control of the ground trolley;
the spray cover is sleeved on the cleaning water spray head and the cleaning liquid spray head and is used for limiting the spraying range of the cleaning water and the cleaning liquid.
Preferably, the tether includes an electrical cable, a control cable, and a media delivery cable;
the power cable is used for conveying power supply power of the unmanned aerial vehicle;
the control cable adopts an optical fiber cable and is used for transmitting control signals;
the medium transfer cable is used for transferring the washing water and the washing liquid for washing.
Preferably, the ground trolley comprises a tethered winch device, a controller and a liquid storage device;
the mooring winch device is used for winding and releasing the mooring rope wound on the mooring winch device;
the controller is used for automatically controlling the cleaning reaction force adjusting device, the telescopic long rod device, the steering device, the cleaning device, the mooring winch device and the liquid storage device;
the liquid storage device is used for storing and outputting cleaning water and cleaning liquid for cleaning.
The embodiment provides a cleaning method, which comprises the following steps:
acquiring the distance and the included angle between the end face of the spray cover and the surface to be cleaned, which are detected by the angle detection device;
judging whether the included angle between the end face of the spray cover and the surface to be cleaned is 0;
when the included angle between the end face of the spray cover and the surface to be cleaned is 0, acquiring the distance and the distance between the end face of the spray cover and the surface to be cleaned, which are detected by the angle detection device;
judging whether the distance between the end face of the spray cover and the surface to be cleaned is greater than or equal to a safe flight distance, wherein the safe flight distance is the minimum distance from the surface to be cleaned when the unmanned aerial vehicle meets the safe flight condition;
when the distance between the end face of the spray cover and the surface to be cleaned is greater than or equal to the safe flight distance, judging whether the distance between the end face of the spray cover and the surface to be cleaned is smaller than or equal to the maximum cleaning distance, wherein the maximum cleaning distance is the maximum distance that the cleaning device can spray cleaning water;
when the distance between the end face of the spray cover and the surface to be cleaned is smaller than or equal to the maximum cleaning distance, the auxiliary booster pump is controlled to be started to spray cleaning liquid from the cleaning water spray head, or the auxiliary booster pump is controlled to be started to spray cleaning water from the cleaning water spray head and control the cleaning liquid spray head to output cleaning liquid, so that a mixed liquid of the cleaning water and the cleaning liquid is formed, and meanwhile, the first propeller is controlled to rotate to generate forward reaction force moment equal to the spraying force moment.
Preferably, the method further comprises the following steps:
when the distance between the end face of the spray cover and the surface to be cleaned is greater than the maximum cleaning distance, the telescopic long rod device is controlled to extend to drive the cleaning device to move forwards, so that the end face of the spray cover is positioned at a position, which is less than or equal to the maximum cleaning distance, from the surface to be cleaned;
the auxiliary booster pump is controlled to be started to spray cleaning liquid from the cleaning water spray head, or the auxiliary booster pump is controlled to be started to spray cleaning water from the cleaning water spray head and control the cleaning liquid spray head to output cleaning liquid, and meanwhile, the first propeller is controlled to rotate to enable forward reaction force moment generated by the first propeller to be equal to spraying force moment.
Preferably, the method further comprises the following steps:
when the included angle between the end face of the spray cover and the surface to be cleaned is not 0, the rotating shaft is controlled to drive the positioning gear to rotate so as to drive the turnover gear to rotate circumferentially, the cleaning device rotates left and right along with the rotation until the included angle between the end face of the spray cover and the surface to be cleaned is 0, and the rotating direction and the rotating angle of the cleaning device are recorded;
controlling the inflation ring to inflate so that the hook part of the arc-shaped elastic piece is expanded to contact the rotating shaft and limit the rotating shaft to rotate;
acquiring the distance between the end face of the spray cover and the surface to be cleaned, which are detected by the distance and angle detection device;
judging whether the distance between the end face of the spray cover and the surface to be cleaned is greater than or equal to the safe flight distance;
when the distance between the end face of the spray cover and the surface to be cleaned is greater than or equal to the safe flight distance, judging whether the distance between the end face of the spray cover and the surface to be cleaned is smaller than or equal to the maximum cleaning distance;
when the distance between the end face of the spray cover and the surface to be cleaned is smaller than or equal to the maximum cleaning distance, the auxiliary booster pump is controlled to be started to spray cleaning liquid from the cleaning water spray head, or the auxiliary booster pump is controlled to be started to spray cleaning water from the cleaning water spray head and control the cleaning liquid spray head to output cleaning liquid, and meanwhile, according to the rotating direction and angle of the cleaning device, the combination of the first propeller and the second propeller or the combination of the first propeller and the third propeller is controlled to rotate, so that the forward right or forward left reaction force moment generated by the combination of the first propeller and the third propeller is equal to the spraying force moment.
The technical scheme of the embodiment of the invention has the following advantages:
1. according to the cleaning robot provided by the embodiment of the invention, as the unmanned aerial vehicle is not provided with the power supply equipment and the liquid storage equipment, the weight of the unmanned aerial vehicle is greatly reduced, the energy consumption is reduced, the advantages of low power are achieved, the gesture control precision is improved, and the cleaning precision is improved. Through setting up flexible stock device, increased the cleaning distance, enlarged application scope. The electric power supply is implemented through the ground trolley, so that the cleaning robot has the advantage of long emptying time.
2. According to the cleaning method provided by the embodiment of the invention, after the unmanned aerial vehicle is controlled to fly to reach the preset position, the included angle and the distance between the end face of the spray cover and the surface to be cleaned are judged, so that the position of the cleaning device is accurately adjusted, and the cleaning precision is improved. And according to the rotation direction and the angle of the cleaning device, different combinations of the first screw propeller, the second screw propeller and the third screw propeller are selected to generate proper reaction force, so that the stability of the unmanned aerial vehicle during cleaning is ensured, the cleaning precision is further improved, the shape range of the cleanable surface is also enlarged, and the application range is enlarged.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic front view of a specific example of a drone in embodiment 1 of the present invention;
fig. 2 is a schematic top view of a specific example of the unmanned aerial vehicle in embodiment 1 of the present invention;
fig. 3 is a cross-sectional view showing a specific example of the active state of the steering device in embodiment 1 of the present invention;
fig. 4 is a cross-sectional view showing a specific example of the locked state of the steering device in embodiment 1 of the present invention;
fig. 5 is a schematic structural view showing a specific example of the cleaning device in embodiment 1 of the present invention;
fig. 6 is a schematic structural view showing a specific example of the floor truck in embodiment 1 of the present invention;
fig. 7 is a flowchart showing a specific example of the cleaning method in embodiment 2 of the present invention.
Reference numerals: the device comprises a 1-unmanned plane, a 11-first propeller, a 12-second propeller, a 13-third propeller, a 14-four-rotor mounting seat, a 15-telescopic long rod device, a 16-steering device, a 61-fixing seat, a 611-bearing, a 612-arc-shaped elastic piece, a 613-charging ring, a 62-rotating body, a 621-rotating shaft, a 622-positioning gear, a 623-turnover gear, a 17-cleaning device, a 71-auxiliary booster pump, a 72-cleaning water spray nozzle, a 73-spray cover, a 74-cleaning water spray nozzle, an 18-distance and angle detection device, a 2-mooring rope, a 21-mooring rope limiting device, a 3-ground trolley, a 31-mooring winch device, a 32-controller and a 33-liquid storage device.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In describing the present invention, it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The use of the terms "comprises" and/or "comprising," when used in this specification, are intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The term "and/or" includes any and all combinations of one or more of the associated listed items. The terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, or can be communicated inside the two components, or can be connected wirelessly or in a wired way. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, it is understood that the term controller/control unit refers to a hardware device comprising a memory and a processor. The memory is configured as a memory module and the processor is specifically configured to execute the processes stored in the memory module to thereby perform one or more processes.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Example 1
The present embodiment provides a cleaning robot, as shown in fig. 1, 2 and 6, including: the unmanned aerial vehicle 1, the mooring rope 2 and the ground trolley 3; for example, the drone 1 is a quad-rotor drone or otherwise.
The unmanned aerial vehicle 1 comprises a cleaning reaction force adjusting device, a four-rotor wing mounting seat 14, a telescopic long rod device 15, a steering device 16, a cleaning device 17 and a distance and angle detecting device 18; the quad-rotor mount 14 is connected to the quad-rotor of the unmanned aerial vehicle; the telescopic long rod device 15 is arranged right below the gravity center position of the four-rotor wing mounting seat 14 and comprises a long rod which can be telescopically adjusted and is used for driving the cleaning device 17 to move back and forth along with the telescopic adjustment of the long rod; the steering device 16 comprises a fixed seat 61 and a rotating body 62, wherein the fixed seat 61 is connected with one end of the telescopic long rod device 15, and the rotating body 62 is connected with the cleaning device 17 and is used for driving the cleaning device 17 to rotate left and right along with the rotation adjustment of the rotating body 62; the cleaning device 17 is used for ejecting cleaning water and cleaning liquid (having the effects of foam formation, decontamination, etc.) for performing cleaning; the cleaning reaction force adjusting device is connected with the other end of the telescopic long rod device 15 and is used for generating a reaction force which is a pair of the acting force of the unmanned aerial vehicle when the cleaning device 17 sprays liquid; a distance and angle detecting device 18 is mounted on the cleaning device 17 and is used for detecting the distance and angle between the surface to be cleaned and the cleaning device 17, for example, an optical distance meter and the like can be selected; the mooring rope 2 comprises a mooring rope limiting device 21, and the mooring rope limiting device 21 is arranged below a telescopic long rod device 15 right below the gravity center position of the four-rotor wing mounting seat 14 and is used for fixing the mooring rope 2 connected with the unmanned aerial vehicle 1; the mooring rope 2 is used for conveying power supply of the unmanned aerial vehicle, transmitting control signals and conveying cleaning water and cleaning liquid for cleaning, and can respectively convey the cleaning water and the cleaning liquid for two conveying pipelines; the floor truck 3 is connected to the washing reaction force adjusting device, the telescopic long rod device 15, the steering device 16 and the washing device 17 through the mooring rope 2, respectively, for controlling the washing reaction force adjusting device, the telescopic long rod device 15, the steering device 16 and the washing device 17, and storing washing water and washing liquid for performing washing.
Above-mentioned cleaning robot adopts unmanned aerial vehicle mooring technique, and unmanned aerial vehicle uses the energy cable to be connected with ground dolly promptly. The power of the unmanned aerial vehicle, the supply of cleaning medium, the processing of control signals and the like are all placed on the ground trolley, after control parameters are input into the controller, the controller of the ground trolley controls the ground trolley to travel to a preset position, for example, through a GPS/Beidou positioning module and the like, and at the same time, the unmanned aerial vehicle takes off, a mooring winch device on the ground trolley controls a winding drum of the winch to release a mooring rope along with the take-off speed of the unmanned aerial vehicle through a tension controller; feeding back the ground trolley after the unmanned aerial vehicle flies to a preset working height, wherein the ground trolley controls the cleaning water and the cleaning liquid in the liquid storage device to be respectively sent to the unmanned aerial vehicle cleaning device through the mooring rope; the auxiliary booster pump carried by the cleaning device is synchronously opened when the cleaning device conveys the cleaning water through the ground trolley, the cleaning water is sprayed out from the cleaning water spray head at the front end of the unmanned aerial vehicle, and the cleaning water spray head can be selectively opened when the cleaning solution is needed or can be selectively closed when the cleaning solution is not needed, so that the cleaning or cleaning action is completed. The acting force generated by liquid sprayed by the cleaning device to the unmanned aerial vehicle in the cleaning process is overcome through the cleaning reaction force adjusting device arranged at the other end (namely the tail part of the unmanned aerial vehicle) of the telescopic long rod device. The drone descends or rises to continue the operation after the same altitude operation is completed.
Preferably, as shown in fig. 1 and 2, the cleaning reaction force adjusting means includes a first propeller 11, a second propeller 12, and a third propeller 13; the first propeller 11 is arranged at the tail part of the other end of the telescopic long rod device 15 and is used for generating forward reaction force; the second propeller 12 is installed at the left side of the other end of the telescopic long rod device 15 for generating a reaction force to the right; the third screw propeller 13 is installed at the right side of the other end of the telescopic long-rod apparatus 15 for generating a reaction force to the left. The liquid ejecting direction is a forward direction, the left direction is a leftward direction, and the right direction is a rightward direction. Through the combination of three propellers, the adjustable direction of the reaction force is enlarged, and the cleaning machine is suitable for multidirectional cleaning.
Preferably, as shown in fig. 3 and 4, the fixing seat 61 of the steering device 16 includes a bearing 611, an arc-shaped elastic member 612 and an air charging ring 613; the fixing seat 61 is provided with a vertical through hole, the bearing 611 is arranged in the through hole, and the fixing seat 61 and the rotating body 62 are connected through the bearing 611; the arc-shaped elastic member 612 is made of elastic material, one end of the elastic member is connected with the inner wall of the through hole, the other end is a free movable end which is bent towards one end, and one end and the other end are wound around to form a hook part which is used for expanding to contact the rotating body 62 and limit the rotation of the rotating body 62 when being stretched under stress; an inflation ring 613 is positioned within the hook portion for inflating and deflating the hook portion to expand or restore the hook portion.
Preferably, the rotating body 62 includes a rotating shaft 621, a positioning gear 622, and an epicyclic gear 623; the rotating shaft 621 is connected in series to the bearing 611 and is used for driving the positioning gear 622 to rotate; the positioning gear 622 is sleeved at one end of the rotating shaft 621; the turn-around gear 623 is engaged with the positioning gear 622, rotates in the circumferential direction of the positioning gear 622, and serves to drive the cleaning device 17 connected thereto to rotate left and right therewith.
When the cleaning device 17 is required to be limited to rotate after rotating in place, as shown in fig. 4, the inflation ring 613 is controlled to inflate so that the hook portion of the arc-shaped elastic piece 612 is expanded to contact the rotating shaft 621 and limit the rotating shaft 621 to rotate, and when the cleaning device 17 is required to rotate again, the inflation ring 613 is controlled to deflate so that the arc-shaped elastic piece 612 is restored. Generally, because the acting force generated during cleaning is larger, in order to avoid unnecessary rotation of the cleaning device during cleaning, the rotation of the cleaning device can be limited during cleaning by arranging a locking structure mainly composed of an arc-shaped elastic piece and an air charging ring, so that the cleaning precision is improved. Through adopting arc elastic component and charging collar, can be according to the different effort that washs water shower nozzle and cleaning solution shower nozzle injection liquid produced and adjust the charge of charging collar when wasing to obtain the different deformation degree of arc elastic component, and then produce different braking forces, prevent the excessive wear of arc elastic component, increase of service life.
Preferably, as shown in fig. 5, the cleaning apparatus 17 includes an auxiliary booster pump 71, a cleaning water spray head 72, a spray cap 73, and a cleaning liquid spray head 74; the auxiliary booster pump 71 is connected to the washing water spray head 72 for increasing the speed at which the washing water spray head 72 sprays out the washing water; the cleaning solution spray head 74 is connected with the ground trolley 3 through the mooring rope 2 and is used for outputting cleaning solution under the control of the ground trolley 3; the spraying speed of the cleaning liquid can be smaller than that of the cleaning water, and when the cleaning liquid above the cleaning water is sprayed out, the cleaning water is mixed and is sprayed to the surface to be cleaned together under the driving of the cleaning water; the spray cap 73 is sleeved on the cleaning water spray head 72 and the cleaning liquid spray head 74 for limiting the spray range of the cleaning water and the cleaning liquid. Preferably, the distance and angle detecting device 18 is installed at the upper end surface position of the spray cap 73, and can detect the distance and the included angle between the end surface of the spray cap 73 and the surface to be cleaned. Through setting up supplementary booster pump, improved the cleaning distance, enlarged application scope. Through setting up the spray cap, prevent that the hydrojet from splashing everywhere, improved the cleaning accuracy.
Preferably, the mooring line 2 comprises an electric power cable, a control cable and a medium transfer cable; the power cable is used for conveying power supply power of the unmanned aerial vehicle; the control cable adopts an optical fiber cable and is used for transmitting control signals; the medium transfer cable is used for transferring the washing water and the washing liquid for washing. For example, the power cable is a 24V direct current power supply cable, a 0.8mm optical fiber communication cable is used as a control cable, and two 12mm flexible rubber hoses are used as a medium transmission cable. Preferably, the outer tube of the mooring line 2 can be made of a hard hose which is not easy to deform under pressure, and the liquid in the mooring line is not affected when the hose is wound on a winding drum.
Preferably, as shown in fig. 6, the ground trolley 3 comprises a mooring winch 31, a controller 32 and a liquid storage device 33; the mooring winch device 31 is used for winding and releasing the mooring rope 2 wound on the mooring winch device; the controller 32 is used for implementing automatic control of the cleaning reaction force adjusting device, the telescopic long rod device 15, the steering device 16, the cleaning device 17, the mooring winch device 31 and the liquid storage device 33; the liquid storage device 33 is used for storing and outputting the washing water and the washing liquid for washing.
Above-mentioned cleaning robot, because unmanned aerial vehicle is last does not load power supply unit and stock solution equipment, greatly reduced unmanned aerial vehicle weight, reduced the energy consumption, have the advantage that power is little, improved gesture control precision to the cleaning precision has been improved. Through setting up flexible stock device, increased the cleaning distance, enlarged application scope. The electric power supply is implemented through the ground trolley, so that the cleaning robot has the advantage of long emptying time.
Example 2
Cleaning preparation: when control parameters are input into the ground trolley controller, the ground trolley is controlled to run to a preset position, for example, through a GPS/Beidou positioning module and the like, and the unmanned aerial vehicle takes off, and meanwhile, a mooring winch device on the ground trolley controls a winding drum of the winch to release a mooring rope along with the take-off speed of the unmanned aerial vehicle through a tension controller; the unmanned aerial vehicle flies to a preset working height and then feeds back to the ground trolley, and the ground trolley controls the cleaning water and the cleaning liquid in the liquid storage device to be sent to the unmanned aerial vehicle cleaning device through the mooring rope.
After the cleaning preparation step is completed, the present embodiment provides a cleaning method that can be applied to the controller 32 to complete the cleaning. As shown in fig. 7, the cleaning method includes the steps of:
s1, acquiring the distance and the included angle between the end face of the spray cover 73 and the surface to be cleaned, which are detected by the angle detection device 18;
s2, judging whether an included angle between the end face of the spray cover 73 and the surface to be cleaned is 0; when the included angle between the end face of the spray cover 73 and the surface to be cleaned is 0, entering S3; when the included angle between the end face of the spray cover 73 and the surface to be cleaned is not 0, entering S9;
s3, acquiring the distance and the distance between the end face of the spray cover 73 and the surface to be cleaned, which are detected by the angle detection device 18;
s4, judging whether the distance between the end face of the spray cover 73 and the surface to be cleaned is larger than or equal to a safe flight distance, wherein the safe flight distance is the minimum distance from the surface to be cleaned when the unmanned aerial vehicle meets the safe flight condition; when the distance between the end face of the spray cap 73 and the surface to be cleaned is greater than or equal to the safe flight distance, entering S5; when the distance between the end face of the spray cover 73 and the surface to be cleaned is smaller than the safe flight distance, the gesture of the unmanned aerial vehicle is adjusted to fly in the direction away from the surface to be cleaned until the unmanned aerial vehicle flies outside the safe flight distance;
s5, judging whether the distance between the end face of the spray cover 73 and the surface to be cleaned is smaller than or equal to the maximum cleaning distance, wherein the maximum cleaning distance is the maximum distance that the cleaning device 17 can spray cleaning water; when the distance between the end face of the spray cap 73 and the surface to be cleaned is less than or equal to the maximum cleaning distance, step S6 is entered; when the distance between the end face of the spray cap 73 and the surface to be cleaned is greater than the maximum cleaning distance, the step S7 is entered;
s6, controlling the auxiliary booster pump 71 to start so as to spray the cleaning liquid from the cleaning water spray head 72, or controlling the auxiliary booster pump 71 to start so as to spray the cleaning water from the cleaning water spray head 72 and controlling the cleaning liquid spray head 74 to output the cleaning liquid, forming a mixed liquid of the cleaning water and the cleaning liquid, and simultaneously controlling the first propeller 11 to rotate so that the forward reaction force moment generated by the first propeller is equal to the spraying force moment.
Preferably, the cleaning method further comprises the steps of:
s7, controlling the extension of the telescopic long rod device 15 to drive the cleaning device 17 to move forwards, so that the end face of the spray cover 73 is positioned at a position where the distance between the end face and the surface to be cleaned is smaller than or equal to the maximum cleaning distance;
s8, controlling the auxiliary booster pump 71 to start so as to spray the cleaning liquid from the cleaning water spray head 72, or controlling the auxiliary booster pump 71 to start so as to spray the cleaning water from the cleaning water spray head 72 and controlling the cleaning liquid spray head 74 to output the cleaning liquid, forming a mixed liquid of the cleaning water and the cleaning liquid, and simultaneously controlling the first propeller 11 to rotate so that the forward reaction force moment generated by the first propeller is equal to the spraying force moment.
Preferably, the cleaning method further comprises the steps of:
s9, the control rotating shaft 621 drives the positioning gear 622 to rotate so as to drive the turnover gear 623 to rotate circumferentially, so that the cleaning device 17 rotates left and right until the included angle between the end surface of the spray cover 73 and the surface to be cleaned is 0, and the rotating direction and the rotating angle of the cleaning device 17 are recorded;
s10, controlling the inflation ring 613 to inflate so that the hook part of the arc-shaped elastic piece 612 is expanded to contact the rotating shaft 621 and limit the rotating shaft 621 to rotate; the inflation ring 613 is deflated when the next rotation of the shaft 621 is required to be controlled;
s11, acquiring the distance and the distance between the end face of the spray cover 73 and the surface to be cleaned, which are detected by the angle detection device 18;
s12, judging whether the distance between the end face of the spray cover 73 and the surface to be cleaned is greater than or equal to the safe flight distance; when the distance between the end face of the spray cap 73 and the surface to be cleaned is greater than or equal to the safe flight distance, entering S13; when the distance between the end face of the spray cover 73 and the surface to be cleaned is smaller than the safe flight distance, the gesture of the unmanned aerial vehicle is adjusted to fly in the direction away from the surface to be cleaned until the unmanned aerial vehicle flies outside the safe flight distance;
s13, judging whether the distance between the end face of the spray cover 73 and the surface to be cleaned is smaller than or equal to the maximum cleaning distance; when the distance between the end face of the spray cap 73 and the surface to be cleaned is less than or equal to the maximum cleaning distance, proceeding to S14; when the distance between the end face of the spray cap 73 and the surface to be cleaned is greater than the maximum cleaning distance, the process goes to S15;
s14, controlling the auxiliary booster pump 71 to start so as to spray cleaning liquid from the cleaning water spray head 72, or controlling the auxiliary booster pump 71 to start so as to spray cleaning water from the cleaning water spray head 72 and controlling the cleaning liquid spray head 74 to output cleaning liquid, forming a mixed liquid of the cleaning water and the cleaning liquid, and simultaneously controlling the combination of the first propeller 11 and the second propeller 12 or the combination of the first propeller 11 and the third propeller 13 to rotate according to the rotating direction and the rotating angle of the cleaning device 17 so that the generated forward and right or forward and left reaction force moment is equal to the spraying force moment. Preferably, when the cleaning device 17 rotates leftward, the combination of the first propeller 11 and the third propeller 13 is controlled to rotate; when the cleaning device 17 rotates rightward, the combination of the first propeller 11 and the second propeller 12 is controlled to rotate; so that the unmanned aerial vehicle is balanced and motionless during cleaning, and the cleaning precision is improved.
Preferably, the cleaning method further comprises the steps of:
s15, controlling the extension of the telescopic long rod device 15 to drive the cleaning device 17 to move forwards, so that the end face of the spray cover 73 is positioned at a position where the distance between the end face and the surface to be cleaned is smaller than or equal to the maximum cleaning distance;
s16, controlling the auxiliary booster pump 71 to start so as to spray cleaning liquid from the cleaning water spray head 72, or controlling the auxiliary booster pump 71 to start so as to spray cleaning water from the cleaning water spray head 72 and controlling the cleaning liquid spray head 74 to output cleaning liquid, forming a mixed liquid of the cleaning water and the cleaning liquid, and simultaneously controlling the combination of the first propeller 11 and the second propeller 12 or the combination of the first propeller 11 and the third propeller 13 to rotate according to the rotating direction and the rotating angle of the cleaning device 17 so that the generated forward and right or forward and left reaction force moment is equal to the spraying force moment. Preferably, when the cleaning device 17 rotates leftward, the combination of the first propeller 11 and the third propeller 13 is controlled to rotate; when the cleaning device 17 rotates rightward, the combination of the first propeller 11 and the second propeller 12 is controlled to rotate
According to the cleaning method, after the unmanned aerial vehicle is controlled to fly to reach the preset position, the included angle and the distance between the end face of the spray cover and the surface to be cleaned are judged, so that the position of the cleaning device is accurately adjusted, and the cleaning precision is improved. And according to the rotation direction and the angle of the cleaning device, different combinations of the first screw propeller, the second screw propeller and the third screw propeller are selected to generate proper reaction force, so that the stability of the unmanned aerial vehicle during cleaning is ensured, the cleaning precision is further improved, the shape range of the cleanable surface is also enlarged, and the application range is enlarged.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.

Claims (3)

1. A cleaning method, comprising the steps of:
acquiring an included angle between the end face of the spray cover (73) detected by the distance and angle detection device (18) and a surface to be cleaned;
judging whether the included angle between the end face of the spray cover (73) and the surface to be cleaned is 0;
when the included angle between the end face of the spray cover (73) and the surface to be cleaned is 0, acquiring the distance between the end face of the spray cover (73) and the surface to be cleaned, which is detected by the distance and angle detection device (18);
judging whether the distance between the end face of the spray cover (73) and the surface to be cleaned is larger than or equal to the safe flight distance, wherein the safe flight distance is the minimum distance from the surface to be cleaned when the unmanned aerial vehicle meets the safe flight condition;
when the distance between the end face of the spray cover (73) and the surface to be cleaned is greater than or equal to the safe flight distance, judging whether the distance between the end face of the spray cover (73) and the surface to be cleaned is smaller than or equal to the maximum cleaning distance, wherein the maximum cleaning distance is the maximum distance that the cleaning device (17) can spray the cleaning water;
when the distance between the end face of the spray cap (73) and the surface to be cleaned is smaller than or equal to the maximum cleaning distance, the auxiliary booster pump (71) is controlled to be started to spray cleaning water from the cleaning water spray head (72), or the auxiliary booster pump (71) is controlled to be started to spray cleaning water from the cleaning water spray head (72) and the cleaning liquid spray head (74) is controlled to output cleaning liquid, so that a mixed liquid of the cleaning water and the cleaning liquid is formed, and meanwhile, the first propeller (11) is controlled to rotate so that the forward reaction force moment generated by the rotation of the first propeller is equal to the spraying force moment.
2. The cleaning method of claim 1, further comprising the step of:
when the distance between the end face of the spray cover (73) and the surface to be cleaned is larger than the maximum cleaning distance, the telescopic long rod device (15) is controlled to extend to drive the cleaning device (17) to move forwards, so that the end face of the spray cover (73) is positioned at a position, which is smaller than or equal to the maximum cleaning distance, from the surface to be cleaned;
the auxiliary booster pump (71) is controlled to be started to spray cleaning liquid from the cleaning water spray head (72), or the auxiliary booster pump (71) is controlled to be started to spray cleaning water from the cleaning water spray head (72) and the cleaning liquid spray head (74) is controlled to output cleaning liquid, so that a mixed liquid of the cleaning water and the cleaning liquid is formed, and meanwhile, the first propeller (11) is controlled to rotate so that forward reaction force moment generated by the first propeller is equal to spraying force moment.
3. The cleaning method according to claim 1 or 2, characterized by further comprising the steps of:
when the included angle between the end face of the spray cover (73) and the surface to be cleaned is not 0, the rotating shaft (621) is controlled to drive the positioning gear (622) to rotate so as to drive the turnover gear (623) to rotate circumferentially, so that the cleaning device (17) rotates left and right along with the rotation until the included angle between the end face of the spray cover (73) and the surface to be cleaned is 0, and the rotating direction and the rotating angle of the cleaning device (17) are recorded;
controlling the inflation ring (613) to inflate so that the hook portion of the arc-shaped elastic piece (612) is enlarged to contact the rotating shaft (621) and limit the rotating shaft (621) to rotate;
acquiring the distance between the end face of the spray cover (73) and the surface to be cleaned, which is detected by a distance and angle detection device (18);
judging whether the distance between the end face of the spray cover (73) and the surface to be cleaned is larger than or equal to the safe flight distance;
when the distance between the end face of the spray cover (73) and the surface to be cleaned is larger than or equal to the safe flight distance, judging whether the distance between the end face of the spray cover (73) and the surface to be cleaned is smaller than or equal to the maximum cleaning distance;
when the distance between the end face of the spray cap (73) and the surface to be cleaned is smaller than or equal to the maximum cleaning distance, the auxiliary booster pump (71) is controlled to be started to spray cleaning liquid from the cleaning water spray head (72), or the auxiliary booster pump (71) is controlled to be started to spray cleaning water from the cleaning water spray head (72) and the cleaning liquid spray head (74) is controlled to output cleaning liquid, so that a mixed liquid of the cleaning water and the cleaning liquid is formed, and meanwhile, according to the rotating direction and the rotating angle of the cleaning device (17), the combination of the first propeller (11) and the second propeller (12) or the combination of the first propeller (11) and the third propeller (13) is controlled to rotate, so that the forward right or forward left reaction force moment generated by the auxiliary booster pump (71) is equal to the spraying force moment.
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CN111962872A (en) * 2020-08-26 2020-11-20 东莞理工学院 Unmanned aerial vehicle with 3D printing function for building construction
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