CN113042212A

CN113042212A - Suspended fluff electrostatic cleaning device and cleaning method

Info

Publication number: CN113042212A
Application number: CN202110303455.0A
Authority: CN
Inventors: 陈桂鹏; 李庆; 李聪; 郭阳; 梁华; 严志雁; 丁建
Original assignee: INSTITUTE OF AGRICULTURAL ECONOMICS AND INFORMATION JIANGXI ACADEMY OF AGRICULTURAL SCIENCES
Current assignee: INSTITUTE OF AGRICULTURAL ECONOMICS AND INFORMATION JIANGXI ACADEMY OF AGRICULTURAL SCIENCES
Priority date: 2021-03-22
Filing date: 2021-03-22
Publication date: 2021-06-29
Anticipated expiration: 2041-03-22
Also published as: CN113042212B

Abstract

The invention relates to the technical field of livestock and poultry, in particular to a suspension type electrostatic fluff cleaning device and a cleaning method, wherein the cleaning device comprises a suspension structure, a movable mechanism and a cleaning mechanism, wherein the suspension structure comprises an installation structure and the movable mechanism is used for driving the installation structure to move along a preset track; at least one static strip vertically hung below the mounting structure, wherein the static strip comprises a movable section; the detection device is arranged on the electrostatic strip and/or the suspension structure and is used for detecting whether an obstacle exists below the electrostatic strip; the lifting mechanism is connected with the connecting piece connected to the movable section, and when the detection device detects the obstacle, the lifting mechanism lifts the connecting piece to enable the movable section to be lifted to avoid the obstacle. The self-adaptive obstacle avoidance function is achieved, the cleaning range is wide, and the cleaning effect is good.

Description

Suspended fluff electrostatic cleaning device and cleaning method

Technical Field

The invention relates to the technical field of livestock and poultry, in particular to a suspended fluff electrostatic cleaning device and a cleaning method.

Background

Indoor air purification equipment is an indispensable facility in household or industry nowadays, and the most important function of the equipment is to remove dust, particulate matters and the like suspended in air and simultaneously solve indoor volatile organic compounds caused by decoration or other reasons. Along with the improvement of the quality of life of people, the requirement of living conditions is higher and higher, people also have stronger and stronger demands on air cleanness and comfort, and the research and development of purifying equipment are also more and more paid attention.

With the development of livestock and poultry industry, the transaction of livestock and poultry is more frequent. In the process of breeding and trading of young birds, the young birds easily fall down automatically, or collide with each other or rub with objects such as a box cage in the process of moving, or fall down due to the fact that the young birds are touched by breeding personnel or trading personnel, and the like. Meanwhile, as the fluff belongs to inflammable materials, the air is filled with a large amount of fluff, which is a hidden danger for safety.

Existing cleaning devices generally include floor standing and suspended type in terms of installation. The term "mobile" generally includes both stationary and mobile types. The purification method can be classified into an electrostatic adsorption type, an air circulation filtration adsorption type or an air circulation electrostatic adsorption type. Floor type cleaning equipment is generally fixed, has a large volume and a large occupied space, and is greatly limited in cleaning area and cleaning effect. Some floor-standing cleaning devices are movable, and although the cleaning area and the cleaning effect of the cleaning device are improved, the cleaning effect of the cleaning device on flotage floating in high air is still poor. In order to solve the above technical problems, a suspension type purification device is also designed in the prior art, and the cleaning device with such a structure can reduce the floor area of the equipment and can well clean the flotage floating in the air.

Existing ceiling-mounted cleaning devices typically include a cleaning mechanism and a suspension structure. Suspension structure includes mounting structure and walking wheel, and clean mechanism hangs in the mounting structure below, and the walking wheel is installed on mounting structure and is removed the setting on the mounted beam, and the walking wheel passes through driving motor drive mounting structure and clean mechanism and according to the movably setting of predetermined orbit subaerial such as on the room roof beam to it is clean to the absorption of the wadding thing that floats in the air to realize the omnidirectional. However, the cleaning device with such a structure still has some problems, namely when an obstacle exists below the cleaning mechanism and is located on a walking path at the lowest end of the cleaning mechanism, the cleaning device cannot walk according to a preset track, so that the cleaning work cannot be completed, and the self-adaptive capacity is poor.

Disclosure of Invention

The invention aims to solve the defect of poor self-adaptive capacity of a suspension type cleaning device in the prior art, and provides a suspension type fluff electrostatic cleaning device and a cleaning method.

To achieve the above object, one of the objects of the present invention is to provide a suspended fluff electrostatic cleaning device, comprising:

the suspension structure comprises a mounting structure and a moving mechanism for driving the mounting structure to move along a preset track;

the static strip is vertically hung below the mounting structure and comprises a movable section, and the movable section is formed by connecting a plurality of movable blocks which are spaced and movable in series through connecting pieces;

the detection device is arranged on the electrostatic strip and/or the suspension structure and is used for detecting whether an obstacle exists below the electrostatic strip;

the lifting mechanism is connected with a connecting piece connected to the movable section, and when the detection device detects an obstacle, the lifting mechanism lifts the connecting piece to lift the movable section to avoid the obstacle.

Preferably, the suspended fluff electrostatic cleaning device, the detecting device comprises:

at least one first photodetector and at least one second photodetector, wherein the first photodetector is disposed on the mounting structure and the second photodetector is disposed on the active segment;

the input end of the controller is respectively connected with the first photoelectric detector and the second photoelectric detector, and the output end of the controller is connected with the lifting mechanism;

the first photoelectric detector detects the height of the mounting structure from the ground, and the second photoelectric detector detects the height of the movable section from the ground;

the controller obtains the variation quantity DeltaL 1 of the height of the mounting structure from the ground through calculation and obtains the height DeltaL 2 of the movable section which is lifted through calculation; when the delta L1 is larger than 0, the controller controls the lifting mechanism to pull up the movable section to lift so as to avoid the obstacle; when Δ L2 >/Δ L1, the controller controls the lifting mechanism to stop pulling up the active segment.

Preferably, the movable section of the suspended fluff electrostatic cleaning device is a bendable section, the bendable section is formed by connecting a plurality of movable blocks which are spaced and movable in series through the connecting piece, and the surface of any movable block opposite to the adjacent movable block is an inclined plane, so that an avoiding gap for performing bending movement is formed between the two adjacent movable blocks;

the second photoelectric detector is movably connected to the movable section through a movable piece, and the detection end of the second photoelectric detector is always vertically downward;

one end of the bendable section, which is far away from the lifting mechanism, is provided with a stop piece, and the movable section can be switched between a vertical state and a bent state, and the movable piece is pressed against the stop piece in the vertical state.

Preferably, the suspended fluff electrostatic cleaning device comprises:

the movable sleeve is sleeved on the bendable section in a sliding mode and is pressed against the blocking piece in the vertical state;

the vertical piece rotates and sets up on the movable sleeve and vertical downwards all the time, the second photoelectric detector is installed on the vertical piece.

Preferably, the first photo detector and the second photo detector are both laser distance measuring sensors.

Preferably, the electrostatic cleaning device of hanging fluff, the electrostatic strip comprises an electrostatic strip body, the electrostatic strip body comprises:

the movable section and the vertical section are connected with one end of the lifting mechanism, the vertical section is connected with the mounting structure, and the connecting piece extends into the vertical section.

Preferably, the number of the electrostatic strips of the suspended fluff electrostatic cleaning device is at least two, and at least two electrostatic strips are suspended below the mounting structure at intervals;

and any one of the electrostatic strips is correspondingly provided with one second photoelectric detector.

Preferably, the suspension type electrostatic fluff cleaning device is characterized in that the lifting mechanism is a rotating motor, and the connecting piece is a string.

Preferably, the suspension type fluff electrostatic cleaning device is provided with a moving mechanism which is a walking wheel or a sliding block.

It is another object of the present invention to provide a cleaning method comprising the steps of:

acquiring the variable quantity delta L1 of the distance between the mounting structure and the ground;

if the result that the Delta L1 is greater than 0 is judged, the obstacle is judged to exist, and the lifting mechanism lifts the movable section of the electrostatic strip;

acquiring the lifting height delta L2 of the movable section;

when Δ L2 > [ Δ L1 is determined, the pull-up of the active segment is stopped.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the suspension type fluff electrostatic cleaning device, the electrostatic strips are movably arranged on the preset track through the suspension structure, and through the arrangement of the movable section, when the detection device detects that an obstacle such as a turnover box exists, the controller sends an instruction to control the lifting mechanism to pull up the movable section, so that the electrostatic strips are lifted to avoid the obstacle, and the suspension type fluff electrostatic cleaning device has a self-adaptive obstacle avoiding function. In addition, the moving mechanism is used for driving the static and static electric strips to move in an open space such as a young bird exchange, so that floaters suspended in the air can be adsorbed to achieve the purpose of cleaning, the cleaning range is wide, and the cleaning effect is good.

2. According to the suspension type fluff electrostatic cleaning device, the movable section is a bendable section, the bendable section comprises a plurality of movable blocks which are spaced and movable, and the opposite surfaces of the movable blocks and the adjacent movable blocks are inclined planes, so that an avoiding gap is formed between the adjacent movable blocks, the movable blocks can be close to each other towards the avoiding gap when lifted by the lifting mechanism, the purpose of bending and lifting is achieved, the structure is simple, and compared with the lifting height required for directly vertically lifting the movable section, the lifting height is lower, and the lifting is more labor-saving.

3. According to the suspended electrostatic fluff cleaning device, the second photoelectric detector is movably arranged on the movable section through the movable part, when the suspended electrostatic fluff cleaning device is in a vertical state, the second photoelectric detector is located at the bottommost end of the movable section and is limited by the blocking piece, and when the suspended electrostatic fluff cleaning device is in a bending state, the second photoelectric detector slides to the lowest point position of the bent movable section, so that the second photoelectric detector always detects the distance between the lowest position of the movable section and the ground, the lowest height can be lifted, namely only the lowest position of the movable section exceeds the obstacle, and the required lifting height is lower.

4. According to the suspension type fluff electrostatic cleaning device, the lifting mechanism is the rotary motor, the connecting piece is the string, and the connecting piece is wound through the rotary motor, so that the purposes of lifting the movable section and lifting the electrostatic strips are achieved, and the suspension type fluff electrostatic cleaning device is simple in structure and low in manufacturing cost.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art 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 can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural view of a suspended fluff electrostatic cleaning device in an upright position (moving mechanism, lifting mechanism and controller are not shown) according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a suspended electrostatic fluff cleaning device in a flexed state (the moving mechanism, the lifting mechanism and the controller are not shown) according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of the electrostatic fluff cleaning apparatus of FIG. 1 with the mounting structure and the first photodetector omitted (the moving mechanism, the lifting mechanism, and the controller are not shown);

FIG. 4 is a schematic structural view of the electrostatic fluff cleaning apparatus of FIG. 2 with the mounting structure and the first photodetector omitted (the moving mechanism, the lifting mechanism, and the controller are not shown);

fig. 5 is a schematic structural diagram of a suspended fluff electrostatic cleaning device provided with a plurality of electrostatic strips and omitting a first photodetector in an embodiment of the present invention (a moving mechanism, a lifting mechanism and a controller are not shown).

Description of reference numerals:

1. an electrostatic strip; 10. an electrostatic strip body; 101. an active segment; 1010. a movable block; 1011. avoiding the gap; 102. a vertical section; 103. a connecting member; 11. a movable member; 111. a movable sleeve; 112. a vertical member; 12. a blocking member; 2. a mounting structure; 3. a first photodetector; 4. a second photodetector; a. a ground surface; b. an obstacle.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1 to 5, the suspended fluff electrostatic cleaning device of the present embodiment comprises a suspension structure, at least one electrostatic strip 1, a detection device and a lifting mechanism. The suspension structure comprises a mounting structure 2 and a moving mechanism for driving the mounting structure 2 to move along a preset track. At least one static bar 1 is suspended vertically below the mounting structure 2, the static bar 1 comprising a movable section 101. The detection means are arranged on the electrostatic strip 1 and/or the suspension structure for detecting the presence of an obstacle b below the electrostatic strip 1. The lifting mechanism is connected with the connecting piece 103, and when the detection mechanism detects the obstacle b, the lifting mechanism lifts the connecting piece 103 so as to lift the movable section 101 to avoid the obstacle b.

The detection means comprises at least one first photo detector 3, a second photo detector 4 and a controller. A first photo detector 3 is mounted on the mounting structure 2 and a second photo detector 4 is provided on the active segment 101. The input end of the controller is respectively connected with the first photoelectric detector 3 and the second photoelectric detector 4, and the output end of the controller is connected with the lifting mechanism. Specifically, as shown in fig. 3, the first photodetector 3 and the second photodetector 4 each include one. The first photoelectric detector 3 detects the height L1 of the mounting structure 2 from the ground a, the processor in the controller processes and calculates the change quantity delta L1 of the height of the mounting structure from the ground, the second photoelectric detector 4 detects the height L2 of the movable section 101 from the ground, and the processor of the controller processes and calculates the height delta L2 of the lifted movable section. When the delta L1 is more than 0, the controller controls the lifting mechanism to pull up the movable section 101 to avoid the obstacle b; when Δ L2 >/Δ L1, the controller controls the lifting mechanism to stop pulling up the active segment 101. More specifically, when the electrostatic cleaning device starts to work, the moving mechanism drives the mounting structure 2 to move so as to drive the static and static strips 1 to move along a preset track, and the preset track can be an annular track, a linear track, a spiral track or the like. When the moving mechanism moves, the first photoelectric detector 3 and the second photoelectric detector 4 start to work, the first photoelectric detector 3 detects the distance L1 between the mounting structure 2 and the ground a below the mounting structure, the second photoelectric detector 4 only detects the distance L2 between the lowest end of the electrostatic strip 1 and the ground a when the mounting structure is at the initial position, then the detection is not continued, and the first photoelectric detector 3 is always in a detection state, so that an L1 sequence value is obtained. When no obstacle b exists on the ground surface a during driving, all the values of L1 in the sequence value of L1 are equal, the movable section 101 of the electrostatic bar 1 is always in a vertical state, and the second photoelectric detector 4 is also always in a standby state. When an obstacle b with a certain height exists on the ground a, such as a turnover box, the value of L1 changes (for the convenience of distinguishing, indicated by L1 '), the controller calculates the difference between L1 and L1' to obtain the change quantity delta L1 of the distance between the mounting structure 2 and the ground a, and judges that delta L1 is greater than 0, and then the obstacle b exists. When there is an obstacle b, the distance L1' between the mounting structure 2 and the ground a detected by the first photodetector 3 is actually the distance between the mounting structure 2 and the obstacle b, that is, Δ L1 is the height of the obstacle b, and it should be noted that the second photodetector 4 wakes up when the first photodetector 3 detects the existence of the obstacle b. Due to the existence of the obstacle b, when the static strip 1 passes by, the obstacle b inevitably interferes with the static strip 1, the movement of the static strip 1 is influenced, even the static strip 1 is damaged, the controller sends a command to control the lifting mechanism to lift the movable section 101, meanwhile, the second photoelectric detector 4 on the movable section 101 continuously detects the distance between the movable section 101 and the ground a in the lifting process of the movable section 101, and in the initial state, when the obstacle b does not exist on the ground a, the distance L2 between the movable section 101 and the ground a is greater than 0, and L2 <. DELTA.L 1. When the movable section 101 is lifted, the distance between the electrostatic strip 1 and the ground a, which is detected by the second photodetector 4, is L2 ', so that the lifted height Δ L2 ═ L2' -L2 of the movable section 101 can be obtained. When Δ L2 >/Δ L1, the controller sends a command to control the lifting mechanism to stop the lifting operation, that is, the lifted height of the movable segment 101 is greater than the height of the obstacle b, which indicates that the movable segment 101 is lifted above the obstacle b, the static electricity bar 1 will not be interfered by the obstacle b, and the floating objects such as fluff floating in the air above the obstacle b can be smoothly passed through the obstacle b and removed by adsorption. When the electrostatic strip 1 passes over the obstacle b, the controller controls the lifting mechanism to release the movable section 101, that is, to lower the movable section 101 to return to the vertical state or the semi-bent state (when there is an obstacle b having a height smaller than that of the previous obstacle b). As an alternative embodiment, the number of first photo detectors 3 and second photo detectors 4 may also be other numbers, such as two, three, etc. As shown in fig. 5, the number of the second photodetectors 4 is 8. Preferably, the number of the first photodetectors 3 is one.

Preferably, the electrostatic bar 1 comprises an electrostatic bar body 10, the electrostatic bar body 10 comprising a movable section 101 and a vertical section 102. The movable section 101 and the vertical section 102 are connected in series through a connecting member 103, as shown in fig. 1 to 4, wherein the movable section 101 is a bendable section, the bendable section is formed by connecting a plurality of movable blocks 1010 at intervals in series through the connecting member 103, it should be noted that a connecting strip is arranged on one side of the movable section 101, which is away from the bending direction, and all the movable blocks 1010 are sequentially arranged on the connecting strip, and the connecting strip is made of a soft material, such as a rubber strip, a nylon tape, etc. The surface of any movable block 1010 opposite to the adjacent movable block 1010 is an inclined surface, so that an avoiding gap 1011 for performing bending movement is formed between the two adjacent movable blocks 1010, specifically, the cross section of each movable block 1010 is in a trapezoid shape or a triangular shape, preferably an isosceles trapezoid shape, and the intersection point of the extension lines of the two inclined surfaces of the same movable block 1010 is located in the arc formed by the bendable section. The second photo detector 4 is movably connected to the movable section 101 through the movable member 11, and the detection end of the second photo detector 4 is always vertically downward. Vertical section 102 sets up in activity section 101 top, and vertical section 102 is static for activity section 101, is connected with mounting structure 2, plays the effect of connecting activity section 101 and mounting structure 2, and in connecting piece 103 extended to vertical section 102, specifically, vertical section 102 is also connected with activity section 101 through the connecting strip in fact. The end of the bendable section remote from the lifting mechanism is provided with a stop 12, the movable section 101 can be switched between the vertical state and the bent state, and in the vertical state, the movable member 11 is at the lowest end of the movable section 101 due to gravity and presses against the stop 12. Because the monitoring end of the second photodetector 4 is always vertically downward, when the bendable section is bent and lifted, and the movable member 11 moves along the bent movable section 101, the distance between the movable section 101 and the ground a, which is detected by the second photodetector 4, is always a vertical distance. As an alternative embodiment, the electrostatic strip 1 body may comprise only the movable section 101, not the vertical section 102, when the lifting mechanism is mounted within the mounting structure 2.

The connecting member 103 is a conventional string, and the string may be made of soft material such as rubber band and nylon rope, or may be made of thin iron wire. Preferably, each movable block 1010 is provided with a through hole penetrating through the two inclined surfaces, and the connecting member 103 sequentially penetrates through the through holes of all the movable blocks 1010 to connect the movable blocks 1010 in series. As an alternative embodiment, the movable section 101 may also be only a section of column, the top end of which is connected with the connecting member 103, and the movable section 101 is connected with the lifting mechanism through the connecting member 103, and is driven by the lifting mechanism to lift and descend along the vertical direction to avoid the obstacle b.

The lifting mechanism may be provided directly in the vertical section 102 or in the mounting structure 2, and preferably the lifting mechanism is provided in the mounting structure 2 in this embodiment. For the lifting mechanism, it can be the existing conventional rotating motor or lifting motor, when the lifting mechanism is installed in the vertical section 102, because the size of the electrostatic strip 1 is small, the lifting mechanism adopts the existing common micro motor in the market, the controller is also the existing common micro controller in the market, and the specific model is not described and limited in detail. Preferably, a rotating motor is adopted in this embodiment, one end of the connecting member 103 is fixed on a rotating wheel on a horizontal rotating shaft of the rotating motor, and the connecting member 103 is wound on the rotating wheel through rotation so as to achieve the purpose of lifting the movable section 101. The connecting piece 103 can be released by rotating reversely, and the movable section 101 is lowered and reset.

As shown in fig. 1 to 4, the movable member 11 includes a movable sleeve 111 and a vertical member 112, wherein the movable sleeve 111 slidably fits over the movable section 101 and slides to the lowermost end of the movable section due to gravity and presses against the blocking member 12 in the vertical state, so as to be retained on the movable section 101 by the blocking member 12. Vertical 112 rotates to set up on movable sleeve 111 and vertical downwards all the time, and second photoelectric detector 4 installs on vertical 112, and in order to ensure that vertical 112 is vertical downwards all the time, optional, vertical 112 is the vertical piece that the focus is in the lower extreme, or is equipped with the balancing weight on vertical 112, makes vertical 112 downwards all the time through the effect of balancing weight, is preferably equipped with the balancing weight on vertical 112 in this embodiment. The movable member 11 slides along the movable segment 101 in the bending state to the lowest position of the movable segment 101 in the bending state (as shown in fig. 2), so that the distance between the movable segment 101 and the ground a detected by the second photo detector 4 is the distance between the lowest position of the movable segment 101 and the ground a. The vertical member 112 is a square column structure, the number of the second photodetectors 4 is two, and the two second photodetectors 4 are respectively disposed on the left and right side walls of one end of the vertical member 112 far away from the end connected with the movable sleeve 111, i.e. the lower end as shown in fig. 1. As an alternative embodiment, only one second photodetector 4 may be provided, and one second photodetector 4 may be provided on either of the side walls of the bottom end or the lower end of the upright member 112.

The first photodetector 3 and the second photodetector 4 are conventional laser ranging sensors on the existing market. As an alternative embodiment, the first photo detector 3 and the second photo detector 4 may also be other types of photo detectors, such as infrared distance measuring sensors, etc. As another alternative, the first photoelectric detector 3 is a laser ranging sensor, the second photoelectric detector 4 is a conventional visual sensor in the existing market, the second photoelectric detector 4 only needs to detect that it crosses the obstacle b and reaches the upper side of the obstacle b, and the controller receives an instruction to control the lifting mechanism to stop the lifting action.

The movable segment 101 of static strip 1 of this embodiment comprises the movable block 1010 of a plurality of intervals, because there is the clearance 1011 of dodging between the adjacent movable block 1010, and fine hair glues easily on the movable block 1010 surface after adsorbing, thereby will dodge clearance 1011 and fill, when the fine hair quantity of absorption is more, must influence the crooked promotion of movable segment 101, in order to solve this technical problem, static strip 1 in this embodiment adopts the mode of direct cover electrostatic film at movable segment 101 surface, the setting of electrostatic film can also avoid fine hair to enter into dodging in the clearance 1011 when guaranteeing that static strip 1 has the effect of electrostatic absorption, cause the crooked promotion that influences movable segment 101. When the usage time is long, the electrostatic film is damaged due to the movement of the movable member 11, and only a new electrostatic film needs to be improved. Simple structure, the practicality is strong.

The mounting structure 2 is a square vehicle body, and a lifting mechanism and a driving mechanism for driving the moving mechanism to work can be arranged inside the vehicle body. The moving mechanism is an existing conventional walking wheel or a sliding block, such as a roller, a wheel or a power-driven sliding block.

As shown in fig. 5, the plurality of electrostatic strips 1 may be provided, such as two, three, four, five, etc., and will not be described and limited in detail, and the plurality of electrostatic strips 1 are arranged at intervals, preferably in an array, along the bottom of the mounting structure 2. Preferably, a plurality of static strips 1 and hoist mechanism one-to-one, also that an static strip 1 promotes through a hoist mechanism control, and the lifting work between a plurality of static strips 1 is not influenced each other, and the adaptability is stronger. Correspondingly, one second photodetector 4 is provided on each electrostatic strip 1. As an alternative embodiment, a plurality of electrostatic strips 1 can also be lifted synchronously by means of a lifting mechanism control.

Example 2

Referring to fig. 1 and 2, a cleaning method of the present embodiment includes the steps of:

acquiring the variation quantity delta L1 of the distance between the mounting structure 2 and the ground a;

if the result that the Delta L1 is greater than 0 is judged, the obstacle b is judged to exist, and the lifting mechanism lifts the movable section 101 of the electrostatic strip 1;

acquiring the lifting height delta L2 of the movable section 101;

when Δ L2 >/Δ L1 is determined, the pull-up of the active segment 101 is stopped.

Specifically, when the electrostatic cleaning device starts to work, the moving mechanism drives the mounting structure 2 to move so as to drive the static and static electric strips 1 to move along a preset track, and the preset track can be an annular track, a linear track, a spiral track or the like. When the moving mechanism moves, the first photoelectric detector 3 and the second photoelectric detector 4 start to work, the first photoelectric detector 3 detects the distance L1 between the mounting structure 2 and the ground a below the mounting structure, the second photoelectric detector 4 only detects the distance L2 between the lowest end of the electrostatic strip 1 and the ground a when the mounting structure is at the initial position, then the detection is not continued, and the first photoelectric detector 3 is always in a detection state, so that an L1 sequence value is obtained. When no obstacle b exists on the ground surface a during driving, all the values of L1 in the sequence value of L1 are equal, the movable section 101 of the electrostatic bar 1 is always in a vertical state, and the second photoelectric detector 4 is also always in a standby state. When an obstacle b with a certain height exists on the ground a, such as a turnover box, the value of L1 changes (for the convenience of distinguishing, indicated by L1 '), the controller calculates the difference between L1 and L1' to obtain the change quantity delta L1 of the distance between the mounting structure 2 and the ground a, and judges that delta L1 is greater than 0, and then the obstacle b exists. When there is an obstacle b, the distance L1' between the mounting structure 2 and the ground a detected by the first photodetector 3 is actually the distance between the mounting structure 2 and the obstacle b, that is, Δ L1 is the height of the obstacle b, and it should be noted that the second photodetector 4 wakes up when the first photodetector 3 detects the existence of the obstacle b. Due to the existence of the obstacle b, when the static strip 1 passes by, the obstacle b inevitably interferes with the static strip 1, the movement of the static strip 1 is influenced, even the static strip 1 is damaged, the controller sends a command to control the lifting mechanism to lift the movable section 101, meanwhile, the second photoelectric detector 4 on the movable section 101 continuously detects the distance between the movable section 101 and the ground a in the lifting process of the movable section 101, and in the initial state, when the obstacle b does not exist on the ground a, the distance L2 between the movable section 101 and the ground a is greater than 0, and L2 <. DELTA.L 1. When the movable section 101 is lifted, the distance between the electrostatic strip 1 and the ground a, which is detected by the second photodetector 4, is L2 ', so that the lifted height Δ L2 ═ L2' -L2 of the movable section 101 can be obtained. When Δ L2 >/Δ L1, the controller sends a command to control the lifting mechanism to stop the lifting operation, that is, the lifted height of the movable segment 101 is greater than the height of the obstacle b, which indicates that the movable segment 101 is lifted above the obstacle b, the static electricity bar 1 will not be interfered by the obstacle b, and the floating objects such as fluff floating in the air above the obstacle b can be smoothly passed through the obstacle b and removed by adsorption.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A suspended fluff electrostatic cleaning apparatus comprising:

the suspension structure comprises a mounting structure (2) and a moving mechanism for driving the mounting structure (2) to move along a preset track;

at least one static strip (1) vertically hung below the mounting structure (2), wherein the static strip (1) comprises a movable section (101);

the detection device is arranged on the electrostatic strip (1) and/or the suspension structure and is used for detecting whether an obstacle exists below the electrostatic strip (1);

the lifting mechanism is connected with a connecting piece (103) connected to the movable section (101), and when the detection device detects an obstacle, the lifting mechanism lifts the connecting piece (103) so that the movable section (101) is lifted to avoid the obstacle.

2. The electrostatic fluff cleaning apparatus of claim 1, wherein said detecting means comprises:

at least one first photo detector (3) and at least one second photo detector (4), wherein the first photo detector (3) is arranged on the mounting structure (2) and the second photo detector (4) is arranged on the active segment (101);

the input end of the controller is respectively connected with the first photoelectric detector (3) and the second photoelectric detector (4), and the output end of the controller is connected with the lifting mechanism;

the first photoelectric detector (3) detects the height of the mounting structure (2) from the ground, and the second photoelectric detector (4) detects the height of the movable section (101) from the ground;

the controller obtains the variation quantity DeltaL 1 of the height of the mounting structure (2) from the ground through calculation and obtains the height DeltaL 2 of the movable section (101) which is lifted through calculation; when DeltaL 1 is greater than 0, the controller controls the lifting mechanism to lift the movable section (101) to avoid an obstacle; when Δ L2 >/Δ L1, the controller controls the lifting mechanism to stop pulling up the active segment (101).

3. The electrostatic cleaning device for the suspended fluff according to claim 2, characterized in that the movable segment (101) is a bendable segment, the bendable segment is formed by connecting a plurality of movable blocks (1010) which are spaced and movable in series through the connecting member (103), and the surface of any movable block (1010) opposite to the adjacent movable block (1010) is an inclined surface, so that an avoiding gap (1011) for bending movement is formed between the two adjacent movable blocks (1010);

the second photoelectric detector (4) is movably connected to the movable section (101) through a movable piece (11), and the detection end of the second photoelectric detector (4) is always vertically downward;

one end of the bendable section, which is far away from the lifting mechanism, is provided with a stop piece (12), the movable section (101) can be switched between a vertical state and a bending state, and the movable piece (11) is pressed against the stop piece (12) in the vertical state.

4. A suspended fluff electrostatic cleaning device according to claim 3, characterized in that said mobile element (11) comprises:

the movable sleeve (111) is sleeved on the bendable section in a sliding manner and is pressed against the blocking piece (12) in the vertical state;

the vertical piece (112) is rotatably arranged on the movable sleeve (111) and is vertically downward all the time, and the second photoelectric detector (4) is arranged on the vertical piece (112).

5. A suspended fluff electrostatic cleaning device according to claim 2, characterized in that said first photodetector (3) and said second photodetector (4) are both laser distance measuring sensors.

6. A suspended fluff electrostatic cleaning device according to any of claims 3-5, characterized in that the electrostatic strip (1) comprises an electrostatic strip body (10), the electrostatic strip body (10) comprising:

the lifting mechanism comprises a movable section (101) and a vertical section (102) connected with one end, connected with the movable section (101), of the lifting mechanism, the vertical section (102) is connected with the mounting structure (2), and a connecting piece (103) extends into the vertical section (102).

7. A suspended fluff electrostatic cleaning device according to claim 2, characterized in that the number of said electrostatic strips (1) is at least two, at least two electrostatic strips (1) being suspended at intervals under said mounting structure (2);

and any one of the electrostatic strips (1) is correspondingly provided with one second photoelectric detector (4).

8. A suspended fluff electrostatic cleaning device according to claims 1-5 or 7 characterized in that said lifting mechanism is a rotating motor and said connection (103) is a string.

9. An electrostatic cleaning device according to claim 1-5 or 7, wherein the moving mechanism is a walking wheel or a sliding block.

10. A method of cleaning, comprising the steps of:

acquiring the variation delta L1 of the distance between the mounting structure (2) and the ground;

if the result that the Delta L1 is larger than 0 is judged, the obstacle is judged to exist, and the lifting mechanism lifts the movable section (101) of the electrostatic strip (1);

acquiring the lifting height delta L2 of the movable section (101);

when DeltaL 2 > -DeltaL 1 is determined, the pulling-up of the active segment (101) is stopped.