CN113069053A - Unmanned aerial vehicle high building cleaning device - Google Patents

Unmanned aerial vehicle high building cleaning device Download PDF

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Publication number
CN113069053A
CN113069053A CN202110448934.1A CN202110448934A CN113069053A CN 113069053 A CN113069053 A CN 113069053A CN 202110448934 A CN202110448934 A CN 202110448934A CN 113069053 A CN113069053 A CN 113069053A
Authority
CN
China
Prior art keywords
base
aerial vehicle
unmanned aerial
cleaning device
vehicle high
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110448934.1A
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Chinese (zh)
Inventor
姜映红
朱国庆
崔晨阳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Jian Qiao University
Original Assignee
Shanghai Jian Qiao University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Jian Qiao University filed Critical Shanghai Jian Qiao University
Priority to CN202110448934.1A priority Critical patent/CN113069053A/en
Publication of CN113069053A publication Critical patent/CN113069053A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • 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
    • 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
    • A47L11/40—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
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
    • 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
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Abstract

The invention relates to an unmanned aerial vehicle high-rise cleaning device which comprises a base, a sucker mechanism, a liquid spraying mechanism, at least one cleaning disc, a supporting bracket and a plurality of groups of rotating blades, wherein the sucker mechanism and the liquid spraying mechanism are arranged on the base, the cleaning disc is arranged below the base and is used for cleaning a wall surface, the supporting bracket is arranged above the base, the rotating blades are adjustably arranged on the supporting bracket, and lifting holes are formed in the base. Compared with the prior art, the invention can utilize the inclination of the rotating plane of the rotating blade to realize lateral movement, pressure application to the wall surface and auxiliary lifting, improve the efficiency and stability of high-altitude operation and reduce the danger of high-altitude operation.

Description

Unmanned aerial vehicle high building cleaning device
Technical Field
The invention relates to a high-rise cleaning device, in particular to an unmanned aerial vehicle high-rise cleaning device.
Background
With the continuous improvement of the technological level and the continuous development of artificial intelligence, the cleaning robot is gradually entering the visual field of people. However, the existing cleaning robot is only limited to the cleaning work of the ground, and the cleaning field cannot be expanded to the air. However, the existing well-known cleaning work of high buildings needs to hang manpower in the air to enter the industry, which not only increases the operation cost, but also does not necessarily ensure the efficiency, and most importantly, the problem of personal safety can be caused. Therefore, it is necessary to design a high-altitude building cleaning device for high-altitude cleaning of buildings to help people to realize full-automatic and all-around cleaning services and thoroughly solve the cleaning problem of people.
The existing intelligent equipment for cleaning walls or glass at high altitude of buildings is characterized in that a rotor wing is suspended in the air, and then the surface is cleaned by water spraying and air spraying, so that the intelligent equipment has the defects that the intelligent equipment is expensive to consume electricity after being suspended in the air for a long time, the battery capacity needs to be increased in order to achieve better endurance time, and the dead weight of an unmanned aerial vehicle is increased while the battery capacity is increased, so that energy loss is caused; the other type is that the device is adsorbed on the wall surface through a crawler type, and the cleaning degree and the speed of the device cannot be guaranteed.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle high-rise cleaning device for overcoming the defects in the prior art. The inclination of the rotating plane of the rotating blade can be utilized to realize lateral movement, pressure application to the wall surface and auxiliary lifting, the efficiency and stability of high-altitude operation are improved, and the danger of the high-altitude operation is reduced.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides an unmanned aerial vehicle high building cleaning device, includes the base, sets up sucking disc mechanism, hydrojet mechanism on the base, sets up in the base below and is used for wasing at least one of wall wash the dish, set up in the support bracket of base top and adjustably set up the multiunit rotating vane on the support bracket, the base on be equipped with the lewis hole.
Preferably, the base is a plate-shaped structure.
Preferably, the sucking disc mechanism is composed of a plurality of sucking discs which are arranged on the outer side of the base and connected with the base through supporting legs.
Preferably, the supporting legs are hinged with the base and can swing in the direction vertical to the base under the control of the steering engine.
Preferably, the liquid spraying mechanism comprises a liquid storage barrel fixed on the base and a liquid spraying head extending out of the edge of the base and facing to the lower part of the base.
Preferably, the cleaning disc is a rotary cleaning disc brush, and the number of the cleaning discs is two, and the two cleaning discs are arranged below the base in parallel.
Preferably, the support frame comprises an inverted U-shaped main frame, an X-direction support beam movably erected at the top of the main frame and perpendicular to the plane of the main frame, and two Y-direction support beams movably arranged at two ends of the X-direction support beam, and four groups of rotating blades are arranged at the ends of the two Y-direction support beams respectively.
Preferably, the X-direction supporting beam and the Y-direction supporting beam are controlled to rotate by the steering engine; each set of rotating blades has two rotating paddles.
Preferably, two lifting holes are provided for connecting the rope and the cable with the device.
Preferably, the device also comprises a controller, and the controller adopts a single chip microcomputer.
The working principle of the invention is as follows:
when the invention is used, the rope and the cable are connected through the lifting hole, and the other end of the rope is fixed on the roof. When the device descends to the bottom of the building from the top of the building, in the process, the rotating blades rotate to provide the acting force resisting the gravity for descending, so that the buffering effect is achieved, and the liquid spraying head sprays cleaning liquid under the action of the water pump in the liquid storage barrel (or the cleaning disc rotates to clean the sprayed wall surface). In the return process from the bottom to the top, the cleaning disc rotates to clean the sprayed wall (or the liquid spraying head sprays cleaning liquid under the action of a water pump in the liquid storage barrel). When the device is close to the roof at last, the direction and the size of the total thrust generated by the rotating blades in the horizontal direction can be adjusted by adjusting the relative sizes of the rotating speeds of the rotating blades on the left side and the right side (or controlling the rotating angles of the two supporting beams by the steering engine), so that the device can move laterally, the cleaning process from top to bottom is repeated, and the whole process is controlled by controlling the single chip microcomputer driving motor.
Compared with the prior art, the invention has the following beneficial effects:
1. four groups of rotating blades (eight rotating paddles in total) are arranged, the rotating plane of the spiral fan blade is inclined by using a lead to receive a corresponding speed regulating command signal so as to realize accurate lateral movement (the relative size of the rotating speed of the rotating blades on the left side and the right side can be adjusted or the rotating angle of the supporting beam can be controlled by a steering engine), the work of human beings is replaced, and the danger of the work at high altitude is reduced.
2. The base is provided with the support of sucking disc all around, and the high wind can be resisted to the stationarity of hoisting device during operation to improve the work efficiency of device.
3. The singlechip can be controlled through the remote controller, so that the working path of the device is changed, and the device is more convenient and flexible.
4. And multiple safety guarantees are adopted to ensure the safety of the system.
Drawings
Fig. 1 is a schematic structural diagram of the unmanned aerial vehicle high-rise cleaning device of the invention.
Fig. 2 is a schematic top view of the unmanned aerial vehicle high-rise cleaning device of the present invention.
In the figure, 1 is a base, 2 is a suction cup mechanism, 21 is a support leg, 22 is a suction cup, 3 is a liquid spraying mechanism, 31 is a liquid storage barrel, 32 is a liquid spraying head, 4 is a cleaning disc, 5 is a support bracket, 51 is a main frame, 52 is an X-direction support beam, 53 is a Y-direction support beam, 6 is a rotating blade, 7 is a hanging hole, and 8 is a controller.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Example 1
The utility model provides an unmanned aerial vehicle high building cleaning device, as shown in fig. 1 ~ 2, includes base 1, sets up sucking disc mechanism 2, hydrojet mechanism 3 on base 1, sets up in base 1 below and at least one washing dish 4 that is used for wasing the wall, sets up in the support holder 5 of base 1 top and sets up the multiunit rotating vane 6 on support holder 5 adjustably, is equipped with lewis hole 7 on the base 1.
In this embodiment, as shown in fig. 1 and 2, two lifting holes 7 are provided, both for connection of ropes and cables to the apparatus. The device also comprises a controller 8, wherein the controller 8 adopts a single chip microcomputer, such as an STM32 series single chip microcomputer and the like, and is typically connected with other components.
More specifically:
in this embodiment, the base 1 is preferably a plate-shaped structure, and more preferably a plate-shaped structure having a rectangular overall length. In this embodiment, the suction cup mechanism 2 is preferably composed of a plurality of suction cups 22 disposed outside the base 1 and connected to the base 1 through the legs 21, and as shown in fig. 1 and 2, the number of the suction cup mechanisms 2 in this embodiment is four, and the suction cup mechanisms 2 are disposed on both sides of the base 1 and located at positions near four corners of the base 1. In this example, the supporting leg 21 is fixedly connected with the base 1, and in practice, the supporting leg 21 can be hinged with the base 1 and can swing in the direction perpendicular to the base 1 under the control of a steering engine. This allows the suction cup 22 to be stowed away when it is not necessary to use the suction cup 22 (for example to spray cleaning liquid or to work on non-smooth walls), avoiding interference of the suction cup 22 with the cleaning disc 4. In this embodiment, the liquid spraying mechanism 3 preferably comprises a liquid storage tank 31 fixed on the base 1 and a liquid spraying head 32 extending out of the edge of the base 1 and facing the lower side of the base 1. A water pump is disposed in the liquid storage barrel 31 for driving the cleaning liquid to flow to the liquid spraying head 32 and spray. In practice, the weight of the device can be reduced by connecting the water pipe with the external liquid storage barrel 31, and the endurance is improved. In this embodiment, it is preferable that the cleaning disc 4 is a rotary cleaning disc brush (similar to a disc brush of a sweeper), and two cleaning discs are arranged below the base 1 in parallel.
In this embodiment, the support frame 5 comprises an inverted "U" -shaped main frame 51, an X-direction support beam 52 movably mounted on the top of the main frame 51 and perpendicular to the plane of the main frame 51, and two Y-direction support beams 53 movably mounted on both ends of the X-direction support beam 52, and four sets of rotary blades 6 are provided and respectively mounted on the ends of the two Y-direction support beams 53. The relative rotation speed of the rotating blades on the left side and the right side can be adjusted, or the rotation of the X-direction supporting beam 52 and the Y-direction supporting beam 53 is controlled by the steering engine, and the rotation angle of the two supporting beams is controlled by the steering engine. In use, lateral movement of the device may be achieved using the rotating blades 6. And in the descending process, the air can be blown downwards by adjusting a proper angle to play a role in buffering. The device can also be used for cleaning the wall surface with a non-smooth plane, the air is blown outwards, the device is reversely pushed towards the wall surface, the cleaning disc 4 is prevented from being separated from the wall surface, and the cleaning effect is reduced. In the present embodiment, each set of rotating blades 6 preferably has two rotating paddles (as shown in fig. 1-2, a total of eight rotating paddles).
When the invention is used, the rope and the cable are connected through the lifting hole, and the other end of the rope is fixed on the roof. When the device descends to the bottom of the building from the top of the building, in the process, the rotating blades rotate to provide the acting force resisting the gravity for descending, so that the buffering effect is achieved, and the liquid spraying head sprays cleaning liquid under the action of the water pump in the liquid storage barrel (or the cleaning disc rotates to clean the sprayed wall surface). In the return process from the bottom to the top, the cleaning disc rotates to clean the sprayed wall (or the liquid spraying head sprays cleaning liquid under the action of a water pump in the liquid storage barrel). When the device is close to the roof at last, the direction and the size of the total thrust generated by the rotating blades in the horizontal direction can be adjusted by adjusting the relative sizes of the rotating speeds of the rotating blades on the left side and the right side (or controlling the rotating angles of the two supporting beams by the steering engine), so that the device can move laterally, the cleaning process from top to bottom is repeated, and the whole process is controlled by controlling the single chip microcomputer driving motor.
The embodiments described above are intended to facilitate the understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims (10)

1. The utility model provides an unmanned aerial vehicle high building cleaning device, its characterized in that includes base (1), sets up sucking disc mechanism (2), hydrojet mechanism (3) on base (1), sets up in base (1) below and is used for wasing at least one washing dish (4) of wall, sets up in support holder (5) of base (1) top and adjustably sets up multiunit rotating vane (6) on support holder (5), base (1) on be equipped with lewis hole (7).
2. An unmanned aerial vehicle high building cleaning device according to claim 1, wherein the base (1) is a plate-like structure.
3. An unmanned aerial vehicle high building cleaning device according to claim 1, wherein the suction cup mechanism (2) is composed of a plurality of suction cups (22) which are arranged outside the base (1) and connected with the base (1) through supporting legs (21).
4. An unmanned aerial vehicle high building cleaning device according to claim 3, wherein the support legs (21) are hinged with the base (1) and can swing in a direction perpendicular to the base (1) through steering engine control.
5. An unmanned aerial vehicle high building cleaning device according to claim 1, wherein the liquid spraying mechanism (3) comprises a liquid storage barrel (31) fixed on the base (1) and a liquid spraying head (32) extending out of the edge of the base (1) and facing to the lower part of the base (1).
6. An unmanned aerial vehicle high building cleaning device according to claim 1, wherein the cleaning disc (4) is a rotary cleaning disc brush, and two cleaning discs are arranged below the base (1) in parallel.
7. The unmanned aerial vehicle high-rise cleaning device according to claim 1, wherein the support bracket (5) comprises an inverted U-shaped main frame (51), an X-direction support beam (52) movably erected at the top of the main frame (51) and perpendicular to the plane of the main frame (51), and two Y-direction support beams (53) movably arranged at two ends of the X-direction support beam (52), and four sets of rotating blades (6) are arranged at the ends of the two Y-direction support beams (53).
8. An unmanned aerial vehicle high-rise cleaning device as claimed in claim 1 or 7, wherein the X-direction support beam (52) and the Y-direction support beam (53) are controlled to rotate by a steering engine; each set of rotating blades (6) has two rotating paddles.
9. An unmanned aerial vehicle high building cleaning device according to claim 1, wherein there are two lifting holes (7) for connection of rope and cable to the device.
10. An unmanned aerial vehicle high building cleaning device according to claim 1, characterized in that, the device further comprises a controller (8), and the controller (8) adopts a single chip microcomputer.
CN202110448934.1A 2021-04-25 2021-04-25 Unmanned aerial vehicle high building cleaning device Pending CN113069053A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110448934.1A CN113069053A (en) 2021-04-25 2021-04-25 Unmanned aerial vehicle high building cleaning device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110448934.1A CN113069053A (en) 2021-04-25 2021-04-25 Unmanned aerial vehicle high building cleaning device

Publications (1)

Publication Number Publication Date
CN113069053A true CN113069053A (en) 2021-07-06

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023047412A1 (en) * 2021-09-22 2023-03-30 Wcb Robotics Inc. Specialized scrubbing brush for cleaning high rise windows and other hard surfaces

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Publication number Priority date Publication date Assignee Title
CN106419772A (en) * 2016-11-02 2017-02-22 深圳职业技术学院 Unmanned aerial vehicle device for cleaning high-altitude glass
CN107021216A (en) * 2017-03-17 2017-08-08 西安旋飞电子科技有限公司 Clean the unmanned plane of high-altitude glass
CN206782061U (en) * 2017-03-17 2017-12-22 西安旋飞电子科技有限公司 Clean the unmanned plane of high-altitude glass
CN107811586A (en) * 2016-09-10 2018-03-20 王欢 It is a kind of to climb wall machine for curtain cleaning operation
KR101855949B1 (en) * 2017-01-13 2018-05-09 유현재 drone apparatus
CN109381132A (en) * 2017-08-03 2019-02-26 浙江工业职业技术学院 A kind of high-altitude cleaning robot
CN110279337A (en) * 2019-02-03 2019-09-27 江苏师范大学 A kind of unmanned plane formula high-altitude glass-cleaning machine device people
CN211187025U (en) * 2019-10-22 2020-08-07 菏泽学院 Automatic wall cleaning machine
CN211961944U (en) * 2019-12-31 2020-11-20 郭忠林 Wall surface cleaning machine
WO2021004241A1 (en) * 2019-07-09 2021-01-14 应小平 Automatic cleaning machine for high-rise external wall glass

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107811586A (en) * 2016-09-10 2018-03-20 王欢 It is a kind of to climb wall machine for curtain cleaning operation
CN106419772A (en) * 2016-11-02 2017-02-22 深圳职业技术学院 Unmanned aerial vehicle device for cleaning high-altitude glass
KR101855949B1 (en) * 2017-01-13 2018-05-09 유현재 drone apparatus
CN107021216A (en) * 2017-03-17 2017-08-08 西安旋飞电子科技有限公司 Clean the unmanned plane of high-altitude glass
CN206782061U (en) * 2017-03-17 2017-12-22 西安旋飞电子科技有限公司 Clean the unmanned plane of high-altitude glass
CN109381132A (en) * 2017-08-03 2019-02-26 浙江工业职业技术学院 A kind of high-altitude cleaning robot
CN110279337A (en) * 2019-02-03 2019-09-27 江苏师范大学 A kind of unmanned plane formula high-altitude glass-cleaning machine device people
WO2021004241A1 (en) * 2019-07-09 2021-01-14 应小平 Automatic cleaning machine for high-rise external wall glass
CN211187025U (en) * 2019-10-22 2020-08-07 菏泽学院 Automatic wall cleaning machine
CN211961944U (en) * 2019-12-31 2020-11-20 郭忠林 Wall surface cleaning machine

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023047412A1 (en) * 2021-09-22 2023-03-30 Wcb Robotics Inc. Specialized scrubbing brush for cleaning high rise windows and other hard surfaces

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