CN113371199B - Be used for clear unmanned aerial vehicle of high-rise building - Google Patents
Be used for clear unmanned aerial vehicle of high-rise building Download PDFInfo
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- CN113371199B CN113371199B CN202110827459.9A CN202110827459A CN113371199B CN 113371199 B CN113371199 B CN 113371199B CN 202110827459 A CN202110827459 A CN 202110827459A CN 113371199 B CN113371199 B CN 113371199B
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- cleaning
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- cleaning device
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- rise building
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- 238000004140 cleaning Methods 0.000 claims abstract description 101
- 238000005507 spraying Methods 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 26
- 239000012459 cleaning agent Substances 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 230000009191 jumping Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000003599 detergent Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
Images
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electrochemistry (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Remote Sensing (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses an unmanned aerial vehicle for cleaning a high-rise building, which comprises a vehicle body, a vehicle arm, a first motor, a rotor, a power supply, a controller, an annular holder, a first cleaning device and a second cleaning device, wherein the first cleaning device is used for cleaning the outer vertical surface of the high-rise building for the first time through spraying, and the second cleaning device is used for cleaning the dirt still existing after the first cleaning for the second time through a cleaning brush. Through the cooperation use of annular cloud platform and cleaning device one and cleaning device two, can improve work efficiency to the outer facade degree of depth clean of high-rise building.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle for cleaning high-rise buildings.
Background
High-rise buildings are increasingly present in cities, and due to the fact that the high-rise buildings are exposed to sunlight, wind and rain all the year round, harmful gases, oil smoke and the like in the atmosphere pollute the high-rise buildings, and the high-rise buildings are corroded by chemical reactions, so that the high-rise buildings are polluted. However, the difficulty of cleaning and maintaining high-rise buildings is getting bigger and bigger, and manual cleaning not only consumes manpower, but also has certain danger.
Disclosure of Invention
In order to solve the problems, the invention provides an unmanned aerial vehicle for cleaning high-rise buildings, which uses a cleaning device on the unmanned aerial vehicle to clean the outer vertical surfaces of the high-rise buildings, reduces labor cost and improves working efficiency.
The invention is realized by the following technical scheme:
an unmanned aerial vehicle for cleaning high-rise buildings comprises a body, a horn, a motor I, a rotor wing, a power supply, a controller, an annular holder, a cleaning device I and a cleaning device II; the aircraft comprises an aircraft body, a controller, a power supply, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a controller and a power supply, wherein the number of the aircraft arms is four, one end of each aircraft arm is connected with the lower part of the aircraft body, the other end of each aircraft arm is provided with the first motor, the output shaft of the first motor is provided with the rotor wing, and the controller and the power supply are arranged in the aircraft body; the device is characterized in that the annular cradle head is arranged around the body; the cleaning device comprises a cleaning agent box, a water tank, a first transmission pipe, a second transmission pipe, a first electromagnetic valve, a second electromagnetic valve and a nozzle, wherein the cleaning agent box and the water tank are respectively connected to the nozzle through the first transmission pipe and the second transmission pipe; the second cleaning device comprises a sucker, a second motor and a cleaning brush, and is arranged on one side of the lower part of the machine body; the second cleaning device is arranged on the other side of the lower part of the machine body; the rotor, the annular holder, the first cleaning device and the second cleaning device are electrically connected with the controller.
Further, the annular holder comprises a motor III, a chain wheel, a transmission chain, an annular track, a camera and a mounting seat; the four chain wheels are respectively arranged at four corners of the machine body, and the transmission chain ring surrounds the four chain wheels; the annular track is encircled on the outer ring of the transmission chain; the mounting seat is fixedly connected with the transmission chain and is in sliding connection with the annular track, and a camera is arranged on the mounting seat.
Further, the motor comprises a driving wheel, an output shaft of the motor III is connected with the driving wheel, and the driving wheel is meshed with the chain wheel.
Further, the number of the nozzles is 3. The sucking disc is installed on the telescopic link, is convenient for stretching out and withdrawing of sucking disc.
Further, a method for cleaning high-rise buildings by using the unmanned aerial vehicle comprises the following steps:
1) starting a first motor, enabling an unmanned aerial vehicle to fly to an outer vertical face of a high-rise building to be cleaned, and enabling the first cleaning device and the camera to be opposite to the outer vertical face;
2) the controller controls the first electromagnetic valve to be opened and the second electromagnetic valve to be closed; conveying liquid containing a cleaning agent in the cleaning agent box to the nozzle through a first conveying pipe, and spraying the outer vertical surface of the high-rise building according to a cleaning path preset in the controller;
3) the controller controls the first electromagnetic valve to be closed and the second electromagnetic valve to be opened; conveying water in the water tank to the nozzle through a second conveying pipe, and spraying the outer vertical surface of the high-rise building according to a preset cleaning path in the controller;
4) the annular cradle head checks whether the outer vertical surface of the building is completely cleaned; if the dirt still exists, jumping to the step 5), and if the dirt does not exist, jumping to the step 6);
5) the controller controls the unmanned aerial vehicle to adjust the posture, so that the second cleaning device is opposite to the outer vertical surface, the third motor is started at the same time, the driving wheel is driven, the chain wheel is further driven to drive the transmission chain to rotate, the transmission chain drives the mounting seat to move, and the camera moves to the other side of the second cleaning device along the annular track along with the mounting seat; controlling a cleaning brush of a second cleaning device to face the dirt through a picture obtained by the camera, extending out the sucker to be fixed with the outer vertical surface, and starting a second motor to drive the cleaning brush to perform secondary cleaning on the dirt;
6) and cleaning is finished, and the unmanned aerial vehicle returns.
The cleaning path of the step 2) is an S-shaped cleaning path, and the cleaning path of the step 3) is opposite to the cleaning path of the step 2).
A period of time can be separated between the step 2) and the step 3) to ensure that the cleaning agent in the step 2) fully reacts with the dirt on the outer facade of the high-rise building to dissolve the dirt.
The invention has the beneficial effects that:
1) the unmanned aerial vehicle is adopted to clean the high-rise building, so that the labor cost is reduced, and the safety is improved; and the cleaning device is used for cleaning once, the annular cloud platform is used for checking the cleaned effect, secondary cleaning can be performed if dirt still exists, and the cleaning effect of the outer vertical surface of the high-rise building is improved.
2) The annular cradle head is arranged around the machine body and is positioned above the machine arm and the cleaning device, so that a better view field can be provided for a controller of the unmanned aerial vehicle; compared with the prior art in which the cradle head is arranged below the machine body, the space below the machine body can be used for placing the cleaning device, and the arrangement below the machine body with all loads crowded is avoided.
3) The cleaning device I cleans the outer vertical face of the high-rise building according to a preset cleaning path, the S-shaped cleaning path can ensure that the outer vertical face of the high-rise building to be cleaned is cleaned without dead angles, liquid containing a cleaning agent is sprayed firstly, dirt can be dissolved, water is sprayed for cleaning, cleaning efficiency is improved, and cleaning effect is guaranteed.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the unmanned aerial vehicle;
FIG. 2 is a schematic structural diagram of a first cleaning device;
FIG. 3 is a schematic structural view of a second cleaning device;
FIG. 4 is a schematic structural diagram of the annular pan/tilt head;
fig. 5 is a schematic flow chart of a method for cleaning a high-rise building by an unmanned aerial vehicle.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The preferred embodiments described herein are merely illustrative and explanatory of the invention and are not restrictive thereof.
Referring to the attached drawings 1-3, the unmanned aerial vehicle for cleaning the high-rise building comprises a machine body 1, a machine arm 2, a first motor 3, a rotor 4, a power supply, a controller, an annular holder 5, a first cleaning device 6 and a second cleaning device 7; the number of the horn 2 is four, one end of the horn 2 is connected with the lower part of the machine body 1, the other end of the horn is provided with the motor I3, the output shaft of the motor I3 is provided with the rotor 4, and the controller and the power supply are arranged in the machine body 1; the annular cradle head 5 is arranged around the machine body 1; the cleaning device I6 comprises a cleaning agent box 61, a water tank 62, a first delivery pipe 63, a second delivery pipe 64, a first electromagnetic valve 65, a second electromagnetic valve 66 and a nozzle 67, wherein the cleaning agent box 61 and the water tank 62 are respectively connected to the nozzle 67 through the first delivery pipe 63 and the second delivery pipe 62, the first delivery pipe 63 is used for realizing the connection between the cleaning agent box 61 and the nozzle 67, the second delivery pipe 64 is used for realizing the connection between the water tank 62 and the nozzle 67, the first electromagnetic valve 65 is arranged on the first delivery pipe 63, and the second electromagnetic valve 66 is arranged on the second delivery pipe 64; the second cleaning device 7 comprises a suction cup 71, a second motor 72 and a cleaning brush 73, wherein the first cleaning device 6 is arranged on one side of the lower part of the machine body 1; the second cleaning device 7 is arranged on the other side of the lower part of the machine body 1; the rotor, the annular holder, the first cleaning device and the second cleaning device are electrically connected with the controller.
Referring to fig. 4, the annular pan/tilt head 5 includes a motor three (not shown), a chain wheel 52, a transmission chain 53, an annular rail 54, a camera 55 and a mounting base 56; the number of the chain wheels 52 is four, the four chain wheels are respectively arranged at four corners of the machine body 1, and the transmission chains 53 surround the four chain wheels 52; the annular track 54 surrounds the outer ring of the transmission chain 53; the mounting seat 56 is fixedly connected with the transmission chain 53 and slidably connected with the annular track 54, and a camera 55 is arranged on the mounting seat 56.
Further, the device also comprises a driving wheel, an output shaft of the motor III is connected with the driving wheel 57, and the driving wheel 57 is meshed with the chain wheel 52.
Further, the number of the nozzles is 3. The sucking disc is installed on the telescopic link, is convenient for stretching out and withdrawing of sucking disc.
Referring to fig. 5, the method for cleaning high-rise buildings by using the unmanned aerial vehicle comprises the following steps:
1) starting a first motor 3, enabling the unmanned aerial vehicle to fly to the outer vertical face of the high-rise building to be cleaned, and enabling the first cleaning device 6 and the camera 55 to be opposite to the outer vertical face;
2) the controller controls the first electromagnetic valve 65 to be opened and the second electromagnetic valve 66 to be closed; liquid containing detergent in the detergent box 61 is conveyed to the nozzle 67 through a first conveying pipe 63, and the outer facade of the high-rise building is sprayed according to a preset cleaning path in the controller;
3) the controller controls the first electromagnetic valve 65 to be closed, and the second electromagnetic valve 66 to be opened; conveying water in the water tank 62 to the nozzle 67 through a second conveying pipe 64, and spraying the outer vertical surface of the high-rise building according to a preset cleaning path in the controller;
4) the annular cradle head 5 checks whether the outer vertical surface of the building is completely cleaned; if the dirt still exists, jumping to the step 5), and if the dirt does not exist, jumping to the step 6);
5) the controller controls the unmanned aerial vehicle to adjust the posture, so that the second cleaning device 7 is opposite to the outer vertical surface, the third motor is started at the same time, the driving wheel 57 is driven, the chain wheel 52 is driven to drive the transmission chain 53 to rotate, the transmission chain 53 drives the mounting seat 56 to move, and the camera 55 moves to the other side of the second cleaning device 7 along the annular track 54 along with the mounting seat 56; controlling a cleaning brush 73 of the second cleaning device 7 to face the dirt through the picture obtained by the camera 55, enabling the sucker 71 to extend out to be fixed with the outer vertical surface, starting a second motor 72, and driving the cleaning brush 73 to perform secondary cleaning on the dirt;
6) and cleaning is finished, and the unmanned aerial vehicle returns.
The cleaning path of the step 2) is an S-shaped cleaning path, and the cleaning path of the step 3) is opposite to the cleaning path of the step 2).
A period of time can be separated between the step 2) and the step 3) to ensure that the cleaning agent in the step 2) fully reacts with the dirt on the outer facade of the high-rise building to dissolve the dirt.
Finally, it should be understood that the preferred examples of the application disclosed herein are illustrative of the principles of the embodiments of the present invention and are not intended to limit the invention. Under the inventive concept of the present invention, the equivalent structural changes made by the contents of the present specification and the attached drawings, or the direct/indirect application to other related technical fields, are all included in the scope of the present invention.
Claims (3)
1. An unmanned aerial vehicle for cleaning high-rise buildings comprises a body, a horn, a motor I, a rotor wing, a power supply, a controller, an annular holder, a cleaning device I and a cleaning device II; the aircraft comprises an aircraft body, a controller, a power supply, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a controller and a power supply, wherein the number of the aircraft arms is four, one end of each aircraft arm is connected with the lower part of the aircraft body, the other end of each aircraft arm is provided with the first motor, the output shaft of the first motor is provided with the rotor wing, and the controller and the power supply are arranged in the aircraft body; the device is characterized in that the annular cradle head is arranged around the body; the cleaning device comprises a cleaning agent box, a water tank, a first transmission pipe, a second transmission pipe, a first electromagnetic valve, a second electromagnetic valve and a nozzle, wherein the cleaning agent box and the water tank are respectively connected to the nozzle through the first transmission pipe and the second transmission pipe; the second cleaning device comprises a sucker, a second motor and a cleaning brush, and is arranged on one side of the lower part of the machine body; the second cleaning device is arranged on the other side of the lower part of the machine body; the rotor, the annular holder, the first cleaning device and the second cleaning device are electrically connected with the controller; the annular holder comprises a motor III, a chain wheel, a transmission chain, an annular track, a camera and a mounting seat; the four chain wheels are respectively arranged at four corners of the machine body, and the transmission chain ring surrounds the four chain wheels; the annular track is encircled on the outer ring of the transmission chain; the mounting seat is fixedly connected with the transmission chain and is in sliding connection with the annular track, and a camera is arranged on the mounting seat; the output shaft of the motor III is connected with the driving wheel, and the driving wheel is meshed with the chain wheel.
2. The high-rise building cleaning drone of claim 1, wherein the number of nozzles is 3.
3. A method of cleaning a high-rise building using a drone according to claim 2, the method comprising the steps of: 1) starting a first motor, enabling an unmanned aerial vehicle to fly to an outer vertical face of a high-rise building to be cleaned, and enabling the first cleaning device and the camera to be opposite to the outer vertical face; 2) the controller controls the first electromagnetic valve to be opened and the second electromagnetic valve to be closed; conveying liquid containing a cleaning agent in the cleaning agent box to the nozzle through a first conveying pipe, and spraying the outer vertical surface of the high-rise building according to a cleaning path preset in the controller; 3) the controller controls the first electromagnetic valve to be closed and the second electromagnetic valve to be opened; conveying water in the water tank to the nozzle through a second conveying pipe, and spraying the outer vertical surface of the high-rise building according to a preset cleaning path in the controller; 4) the annular cradle head checks whether the outer vertical surface of the building is completely cleaned; if the dirt still exists, jumping to the step 5), and if the dirt does not exist, jumping to the step 6); 5) the controller controls the unmanned aerial vehicle to adjust the posture, so that the second cleaning device is opposite to the outer vertical surface, the third motor is started at the same time, the driving wheel is driven, the chain wheel is further driven to drive the transmission chain to rotate, the transmission chain drives the mounting seat to move, and the camera moves to the other side of the second cleaning device along the annular track along with the mounting seat; controlling a cleaning brush of a second cleaning device to face the dirt through a picture obtained by the camera, extending out the sucker to be fixed with the outer vertical surface, and starting a second motor to drive the cleaning brush to perform secondary cleaning on the dirt; 6) and cleaning is finished, and the unmanned aerial vehicle returns.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110827459.9A CN113371199B (en) | 2021-07-21 | 2021-07-21 | Be used for clear unmanned aerial vehicle of high-rise building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110827459.9A CN113371199B (en) | 2021-07-21 | 2021-07-21 | Be used for clear unmanned aerial vehicle of high-rise building |
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| Publication Number | Publication Date |
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| CN113371199A CN113371199A (en) | 2021-09-10 |
| CN113371199B true CN113371199B (en) | 2022-05-20 |
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|---|---|---|---|---|
| CN104787342A (en) * | 2015-05-11 | 2015-07-22 | 厦门大学 | Curtain washing method based on unmanned aerial vehicle |
| CN107198498A (en) * | 2017-06-17 | 2017-09-26 | 广东容祺智能科技有限公司 | A kind of equipment for washing external wall based on unmanned plane |
| CN107813935A (en) * | 2017-10-21 | 2018-03-20 | 宋云飞 | A kind of street lamp solar panels cleaning device of unmanned plane formula |
| KR101872664B1 (en) * | 2018-03-09 | 2018-06-28 | 이해곤 | High-rise building glass-waving comprising the drone |
| CN108888167A (en) * | 2018-09-04 | 2018-11-27 | 蔡鹏翔 | A kind of high-altitude cleaning unmanned plane and the method using high-altitude cleaning unmanned plane progress building high-altitude cleaning |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201740870A (en) * | 2016-05-27 | 2017-12-01 | 鴻海精密工業股份有限公司 | Multiaxial aircraft |
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2021
- 2021-07-21 CN CN202110827459.9A patent/CN113371199B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787342A (en) * | 2015-05-11 | 2015-07-22 | 厦门大学 | Curtain washing method based on unmanned aerial vehicle |
| CN107198498A (en) * | 2017-06-17 | 2017-09-26 | 广东容祺智能科技有限公司 | A kind of equipment for washing external wall based on unmanned plane |
| CN107813935A (en) * | 2017-10-21 | 2018-03-20 | 宋云飞 | A kind of street lamp solar panels cleaning device of unmanned plane formula |
| KR101872664B1 (en) * | 2018-03-09 | 2018-06-28 | 이해곤 | High-rise building glass-waving comprising the drone |
| CN108888167A (en) * | 2018-09-04 | 2018-11-27 | 蔡鹏翔 | A kind of high-altitude cleaning unmanned plane and the method using high-altitude cleaning unmanned plane progress building high-altitude cleaning |
Non-Patent Citations (1)
| Title |
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| 小高层建筑外墙及玻璃清洁无人机设计与验证;邓琳翔等;《设计》;20200131(第2期);第137-139页 * |
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| CN113371199A (en) | 2021-09-10 |
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