CN115381351A - Intelligent high-altitude cleaning method and system - Google Patents

Intelligent high-altitude cleaning method and system Download PDF

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Publication number
CN115381351A
CN115381351A CN202211046268.XA CN202211046268A CN115381351A CN 115381351 A CN115381351 A CN 115381351A CN 202211046268 A CN202211046268 A CN 202211046268A CN 115381351 A CN115381351 A CN 115381351A
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cleaning
altitude
coefficient
brush head
mode
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高心悦
唐仕喜
吴文勇
黄哲
王仕廉
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Nanjing Tech University
Yancheng Teachers University
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Nanjing Tech University
Yancheng Teachers University
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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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

The invention provides an intelligent high-altitude cleaning method and system, wherein the cleaning method comprises the following steps: s1: acquiring a high-altitude cleaning influence factor; s2: constructing a basic feature library of a high-altitude cleaning area: storing the applied cleaning working condition, the material of the cleaning object and the corresponding cleaning parameter characteristic into a database, and constructing a high-altitude cleaning basic characteristic knowledge base to train to obtain a cleaning machine-cleaning self-adjusting model; s3: automatically matching cleaning parameters according to the model constructed in the S2, the cleaning scene acquired in real time and the material of the cleaning object to finish cleaning; the cleaning system comprises a data acquisition device and a high-altitude cleaning device. The intelligent cleaning system and the intelligent cleaning method can realize efficient and quick cleaning, and the whole intelligent system is simple in structure and convenient to maintain.

Description

Intelligent high-altitude cleaning method and system
Technical Field
The invention relates to a high-altitude cleaning method and system, in particular to an intelligent high-altitude cleaning method and system.
Background
The high-altitude cleaning mainly comprises a cleaning tool with an extension rod, a handle is required to be lifted up during cleaning, the high-altitude cleaning tool is moved back and forth to clean, and the lifting process is usually accompanied with muscle soreness; meanwhile, the high-altitude cleaning is accompanied with the dispersion of dust and the dropping of liquid, which brings the burden of dropping the liquid to eyes and repeating cleaning for users.
At present, the improvement on the high-altitude cleaning method is mainly concentrated on a high-altitude cleaning system, and a patent document 201810071208.0 discloses an ultrasonic dust removal cleaning machine system suitable for high altitude, which ensures that the dust removal work is more environment-friendly and time-saving through ultrasonic dust removal and does not cause harm to high-altitude cleaning operators; patent document 202010140990.4 discloses a cleaning device for automatically cleaning high-altitude windows, which can keep the surface outside a high-rise building clean to the maximum extent and reduce the risk of high-altitude cleaning; patent document 202010972112.9 discloses a hydraulic self-climbing device, which promotes the portability of high-altitude cleaning and building construction safety of a self-climbing mechanism.
However, the above high-altitude cleaning method and system are too complicated, and the problem of liquid dripping during high-altitude cleaning is not solved, so that the high-altitude cleaning system is not suitable for daily life use, has high requirements on users, is inconvenient to maintain, and is limited by high-altitude cleaning conditions and environments.
Disclosure of Invention
The intelligent high-altitude cleaning method and the intelligent high-altitude cleaning system are provided for solving the problems that in the prior art, a high-altitude cleaning mode and a high-altitude cleaning system are too complicated, liquid drops easily drop during high-altitude cleaning, the requirement on a user is high, maintenance is inconvenient, and the high-altitude cleaning method and the high-altitude cleaning system cannot adapt to different cleaning working conditions.
The specific scheme is as follows:
an intelligent high-altitude cleaning method comprises the following steps:
s1: acquiring a high-altitude cleaning influence factor;
s2: constructing a basic feature library of a high-altitude cleaning area: storing the applied cleaning working condition, the material of the cleaning object and the corresponding cleaning parameter characteristics into a database, and constructing a high-altitude cleaning basic characteristic knowledge base to train and obtain a cleaning machine-cleaning self-adjusting model;
s3: and automatically matching cleaning parameters according to the model constructed in the S2, the cleaning scene acquired in real time and the material of the cleaning object, and finishing cleaning.
The materials of the high-altitude cleaning objects commonly comprise gypsum boards, light steel keels, plywood, anisotropic long aluminum pinch plates, colored drawing glass, PVC suspended ceilings and novel plastic steel plate suspended ceilings, and the characteristics of cleaning parameters obtained by aiming at different cleaning object materials comprise corresponding brush head types, brush head rotating speeds, brush head cleaning modes, spraying modes, cleaner ratios, cleaning positions and angles;
in S2, the rotating speed of the brush head is determined according to the rotating speed coefficient, the cleaning mode of the brush head is determined according to the cleaning coefficient, and the rotating speed coefficient is as follows:
Figure BDA0003822500910000021
wherein F (omega) is a rotating speed index, omega is a real-time rotating speed, ai is a weighting coefficient of the ith high-altitude material, mu i is a friction coefficient of the ith high-altitude material, and omega 0 Base speed, i = a, b, c; a represents a gypsum ceiling, b represents a glass material, and c represents a wood ceiling.
The cleaning coefficient is:
Figure BDA0003822500910000022
wherein F (ω, i) is the cleaning coefficient, F 0 Is an exponential threshold; making a corresponding cleaning strategy by the brush head according to the cleaning coefficient comprises:
when the cleaning coefficient is 0, the brush head is matched with a default working state;
when the cleaning coefficient is 1, the brush head is matched with a dry cleaning mode and is injected with a cleaning agent in an atomizing mode;
when the cleaning factor is 2, the brush head matches the pattern of the wet and dry cleaning combination.
The cleaning mode in S2 is a combination of dry cleaning mode, wet cleaning mode and dry and wet cleaning mode.
An intelligent high-altitude cleaning system is characterized by comprising a data acquisition device and a high-altitude cleaning device; the high-altitude cleaning device comprises a brush body, a waste liquid collecting device, a cleaning water treatment device and a connecting rod; the brush body comprises a brush head and a spray head; the waste liquid collecting device is a telescopic waste liquid collecting barrel; the clean water treatment device comprises a sewage tank and a clean water tank; the brush body, the waste liquid collecting device and the clean water treatment device are connected through a connecting rod, and the connecting rod is connected with the braces through a sleeve.
In order to solve the problem of liquid dripping during high-altitude cleaning, a waste liquid collecting barrel is additionally arranged in the high-altitude cleaning device.
Fatigue reduction design is carried out on the high-altitude cleaning device through fatigue energy and an octave spectrum, and the fatigue energy spectrum of the surface electromyogram signal after pretreatment and Fourier transform is calculated by using a 1/3 octave method to obtain the octave spectrum of the fatigue energy. And selecting the center frequency and the upper and lower limit frequencies of the processing method according to the related requirements of the international electrotechnical commission (IEC 61620), and calculating the energy according to the following formula:
Figure BDA0003822500910000031
in the formula: i is the frequency band number, f i Is the center frequency of 1/3 octave analysis, hz; f is the frequency, hz, of the surface electromyographic signals after Fourier transform; f (F) is a fatigue energy value of the surface electromyogram signal after Fourier transform, J; a is the upper frequency limit of 1/3 octave analysis, hz; b is the lower frequency limit of 1/3 octave analysis, hz.
And after 1/3 octave analysis is carried out on the electromyographic signals, an energy octave spectrum is obtained. Taking the maximum value of the octave spectrum before fatigue as reference, and dividing the octave spectrum in the fatigue process by the maximum value of the octave spectrum before fatigue to obtain a relative 1/3 octave spectrum F' (F) by normalization processing i ). According to relative octaves in fatigueThe spectrum, the fatigue energy p (J) corresponding to the electromyographic signal is calculated by:
p＝∑g(f i )F'(f i )
in the formula: f' (F) i ) Relative 1/3 octave spectrum, J; g (f) i ) For the spectral band coefficients, since the frequency domain range of the sEMG signal of the local neuromuscular is between 0 and 400Hz, the following formula can be calculated according to the blackman window:
Figure BDA0003822500910000041
thus, the fatigue energy can be calculated by the following equation:
Figure BDA0003822500910000042
fatigue energy and corresponding Borg subjective values, and these experimental data will be used for the establishment of an upper limb biceps fatigue evaluation model based on surface electromyogram signals. Through the design of the wearable braces, the fatigue degree of the user can be greatly reduced.
A first liquid guide pipe and a second liquid guide pipe are arranged in the connecting rod, one end of the first liquid guide pipe extends into the waste liquid collecting barrel, and the other end of the first liquid guide pipe extends into the sewage tank; one end of the second liquid guide pipe is connected with the spray head, and the other end of the second liquid guide pipe extends into the clear water tank. Wherein the sewage case is arranged in collecting the sewage in the waste liquid collecting vessel, and the clear water case is used for carrying out wet clean, and is different based on two box effects, therefore design sewage case and clear water case mutually independent and can dismantle.
The wall thicknesses of the sewage tank and the clean water tank are optimized in consideration of the load pressure of a user, and are determined by the following formula:
Figure BDA0003822500910000043
in the formula:
delta-calculating wall thickness, mm;
p is design pressure, MPa;
d, the outer diameter of the cylinder is mm;
[σ] t allowable stress, MPa, of the cylinder material at the design temperature.
Has the advantages that:
(1) The invention provides an intelligent high-altitude cleaning method, which comprises the steps of obtaining high-altitude cleaning influence factors; constructing a basic feature library of a high-altitude cleaning area: storing the applied cleaning working condition, the material of the cleaning object, the brush head type, the brush head rotating speed, the brush head cleaning mode, the injection mode, the cleaner proportion, the cleaning position and the angle characteristic into a database, and constructing a high-altitude cleaning basic characteristic knowledge base to train to obtain a cleaning machine-cleaning self-adjusting model; cleaning is completed by automatically matching cleaning parameters according to the model obtained by training and the cleaning scene and the material of the cleaning object acquired in real time.
(2) The invention provides an intelligent high-altitude cleaning system which comprises a high-altitude cleaning device, wherein a foldable waste liquid collecting barrel is additionally arranged in the cleaning device to collect liquid drops, so that the liquid drops are prevented from splashing to pollute the ground, and the use safety of a user is guaranteed; designing a sewage tank body and a clean water tank body, wherein the sewage tank body is used for collecting sewage in the waste liquid collecting barrel, the clean water tank body is used for wet cleaning, the two tank bodies are mutually independent and detachable, and the load of the whole cleaning device is reduced by optimizing the wall thickness on the premise of ensuring the load bearing of the working state; on the connecting rod, there is the braces through muffjoint, and the user's accessible alleviates heavy burden in the telescopic position of removal on the connecting rod, whole intelligent system simple structure, the maintenance of being convenient for.
Drawings
Fig. 1 is an embodiment of an intelligent high altitude cleaning system.
FIG. 2 is a flow chart of an intelligent high altitude cleaning method according to one embodiment.
FIG. 3 is a flow chart of an intelligent high altitude cleaning method according to the second embodiment.
Description of the symbols:
1. a brush body; 2. brushing a disc; 3. a data acquisition device; 4. a rotating device; 5. a bung; 6. a data storage device; 7. supporting the fold; 8. a second catheter; 9. a waste liquid collection barrel; 10. a main rod body; 11. a bottom tray; 12. a first drain; 13. a bolt; 14. a sub-rod body; 15. a harness; 16. buckling; 17. a sleeve; 18. connecting by screw thread; 19. a motor; 20. a sewage tank; 21. a drainage tube; 22. a clear water tank; 23. a button; 24. a handle.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.
An intelligent high-altitude cleaning method mainly comprises the following steps:
s1: obtaining a high altitude cleaning influence factor;
s2, constructing a basic feature library of the high-altitude cleaning area: storing the applied cleaning working condition, the material of the cleaning object, the brush head type, the brush head rotating speed, the brush head cleaning mode, the spraying mode, the cleaner proportion, the cleaning position and the angle characteristic into a database, and constructing a high-altitude cleaning basic characteristic knowledge base so as to train and obtain a cleaning machine-cleaning self-adjusting model;
and S3, automatically matching cleaning parameters according to the model obtained by training and the cleaning scene and the material of the cleaning object obtained in real time to finish cleaning.
Fig. 1 is an intelligent high-altitude cleaning system, which determines parameters of a cleaning device according to actual working conditions:
(1) determining the volume of a water tank:
the clean water tank 22 is used to store a detergent required for operation, and although it is desirable that the clean water tank 22 stores more detergent as much as possible in an ideal state, the volume of the clean water tank 22 is finally determined to be 1 to 3L in consideration of the back pressure of a user.
(2) Determining a cylinder pressure threshold value:
under the condition of no influence of other external forces and in two-phase flow without phase change, the generation of water drops is a pure crushing. Under the combined action of various forces such as inertia force, the fluid flows at a very high speedThe motion produces a ripple type disturbance. This change continues to produce and develop, eventually creating an elongated fluid line that breaks up into droplets. These broken water droplets are unstable and as the throw distance increases, they break up again into smaller droplets. At this stage, whether the water drop is stable or not is influenced by aerodynamic forces and surface tension of the water drop, i.e. Webernumber, denoted by the symbol W e Expressed by the formula:
Figure BDA0003822500910000061
d 1 -water droplet diameter;
u 1 -velocity of aqueous medium;
u 2 -air velocity;
u-the relative velocity between water and air;
σ 1 -the surface tension of the water;
ρ 2 -air density.
The critical Weber number is a value at which water is broken into water droplets, and (W) e ) c And (4) showing. According to (W) e ) c We can roughly calculate the diameter of the water drop, namely:
Figure BDA0003822500910000071
since the environment of this jet is the atmosphere, (We) c =10 to 20. As can be seen from the above equation 2, if the water is directly injected with pressure, a great pressure is required to atomize the water. According to (W) e ) c The stable value of the water drop diameter is less than or equal to 27.4 mu m. Such water droplets may also break into smaller droplets if the water droplet diameter of the aqueous medium after breaking is still larger than the stable value size
The density of fine fog drops sprayed by the plastic fine atomizing nozzle is about 20-40 microns, the water yield is about 1.6-3.5 liters per hour, the pressure is 3-14 kilograms, and the range of the fog sprayed by each nozzle reaches three to four square meters. The plastic fine atomizing nozzle has the characteristics that: the plastic fine atomizing nozzle has the filter screen and the drip-proof function, so that the plastic fine atomizing nozzle cannot be blocked and cannot drip water, and the service life of the plastic fine atomizing nozzle is greatly prolonged;
(2) determining the wall thickness of the water tank:
the wall thickness of the tank is calculated by the following formula:
Figure BDA0003822500910000072
in the formula:
delta-calculating wall thickness, mm;
p is design pressure, MPa;
d, the outer diameter of the cylinder is mm;
[σ] t allowable stress, MPa, of the cylinder material at the design temperature.
According to the human body size, the outer diameter D of the clean water tank 22 is 57mm, the rated pressure in the water barrel is 0.40MPa, polyethylene plastics are taken as materials, the allowable stress is 50MPa by table lookup, and the wall thickness of the water barrel is 0.22mm. The inner diameter d of the water barrel is 56mm, and the water storage height of the obtained water barrel is about 96mm due to the volume of the water barrel being 3L.
(3) The liquid guide pipe and the pipe connector meet the nominal diameter of each part and the assembly size of the connection of the threaded pipeline, the pressure born by the liquid guide pipe installed in the system is 3Mpa at the maximum working pressure, the pressure time is ensured to be 5min, the liquid guide pipe and the pipe connector are made of materials with good toughness, ageing resistance and small bending radius according to the working conditions of the water mist cleaning system, the pipe connector and other parts are connected in a quick insertion mode, and the liquid guide pipe and the connector cannot leak and deform after connection. And selecting a fiber reinforced nylon material according to the pressure required to be born by the cleaning system and the connection mode of the pipeline.
(4) Determining the diameter of a spray head
Two points are found inside and outside the continuous jet nozzle, the height difference of the two points can be ignored, and the height difference can be obtained by a Bernoulli equation:
Figure BDA0003822500910000081
in the formula:
p1, p 2-internal and external static pressure of the spray head; v1 and v2 are average flow velocity of fluid inside and outside the spray head.
Applying the equation of continuity between two points yields:
ρ 1 ·v 1 ·A 1 ＝ρ 2 ·v 2 ·A 2
if the flow path of the nozzle is circular, i.e.
Figure BDA0003822500910000082
Consider p at the same time 1 ＝ρ 2 The following two formulas can be obtained:
Figure BDA0003822500910000091
in practical application, because
Figure BDA0003822500910000092
ρ =998kg/m3 is substituted into the above equation 5, whereby:
Figure BDA0003822500910000093
in the formula: v. of t -jet flow velocity, m/s; p-jet pressure, MPa.
Further, q = v · a gives:
Figure BDA0003822500910000094
in the formula: q. q.s t -jet flow rate, L/min; d-diameter of the nozzle outlet, mm.
Through the upper partThe theoretical flow velocity v is calculated by the above calculation formulas 6 and 7 t And flow rate q t In practice, both values are smaller than theoretically. According to the formula:
q＝μ·q t
in the formula: μ -flow coefficient; q is the actual flow; q. q.s t -theoretical flow rate.
μ is an empirical constant, which can be written as:
Figure BDA0003822500910000095
Figure BDA0003822500910000096
Figure BDA0003822500910000097
in the formula: a-the cross-sectional area of the outlet of the jet; a. The t -the cross-sectional area of the outlet of the nozzle head; epsilon-section shrinkage coefficient of the spray head; v-jet exit velocity; v. of t -jet outlet theoretical flow rate;
Figure BDA0003822500910000098
-the velocity factor of the spray head. The jet flow has certain shrinkage after being jetted out of the nozzle, the shrinkage coefficient epsilon represents the shrinkage degree of the jet flow, and the flow rate coefficient is used for the local resistance and the flow rate distribution condition of the nozzle outlet
Figure BDA0003822500910000099
The effective delivery efficiency of the spray head is shown by the flow coefficient of the spray head. The shape of the spray head and the state of its flow affect the energy transfer efficiency of the spray head.
The expression for jet power is:
p＝16.67pq
in the formula:
p is jet power, W;
p-jet pressure, MPa;
q-jet flow, L/min.
If will formula
Figure BDA0003822500910000101
Substitution into the formula p =16.67pq gives:
p＝35.1d 2 p 3/2
in the formula:
p is jet power, W;
d, the diameter of the nozzle outlet is mm;
p-jet pressure, MPa.
The equation shows that the change in the diameter of the spray head has a much greater effect on the power than the change in pressure. If the diameter of the spray head becomes one time before, the power of the spray head becomes three times before; if the pressure is doubled before, the power will be doubled to 1.8 times before. Finally, the diameter of the nozzle opening is determined to be 2.8mm 30mm.
The specific parameters are as follows:
Figure BDA0003822500910000102
Figure BDA0003822500910000111
the first embodiment is as follows:
the system and the method are applied to the cleaning of the gypsum ceiling, and the specific scheme is as follows:
(1) Obtaining the environment and material of the high-altitude cleaning area S35: the high-altitude parts of the gypsum materials are mostly cleaned by dry cleaning, and the gypsum materials can be cleaned by trace atomization under special conditions, so that the corrosion of excessive wet cleaning to the gypsum materials is reduced.
(2) Constructing a high-altitude cleaning area basic feature library S36: storing the applied cleaning scene, environment, material and spray mode characteristics into a database, and constructing a high-altitude glass material wet cleaning basic characteristic knowledge base for training to obtain a cleaning machine-cleaning self-adjusting model;
(3) Angular area measurement of high altitude cleaning region S37: acquiring the angle area numerical value of the current cleaning area in real time; the features in this embodiment are measured by texture analysis and tool measurement instruments.
(4) Brush head feature initialization S38: in this embodiment, the brush head is rotated with the shaft body as the origin, the minimum cleaning angle is 45 °, the maximum cleaning angle is 270 °, and adaptive control is performed according to the cleaning machine-cleaning model after initial deployment.
(5) Determining the scene cleaning mode S39: the cleaning mode determined by the height, scene, environment and material characteristic data of the high-altitude cleaning area is mainly dry cleaning, brushes need to be soft to reduce scratch and rub on gypsum materials, the speed mode of the motor 19 is not too fast, and the rotation of a brush head is not needed, so that the self-adjusting control of wet cleaning injection of the high-altitude area is realized.
(6) Cleaning angular position angular adjustment S40: cleaning angles are set according to different area positions, and the cleaning efficiency is adjusted to be maximum by combining the ergonomic principle, the cleaning fatigue of a user can be reduced, and the cleaning efficiency is improved.
(7) Pressing motor 19 for specific angle cleaning S41: the cleaning brush is pressed down to clean, the work is cleaned according to the characteristic cleaning angle, and the angle of the cleaning brush can be finely adjusted according to the cleaning machine-cleaning model when necessary, so that the high-altitude cleaning work is smoothly carried out.
(8) The specific angle cleaning parameter is arranged and included in the database S42; when cleaning, data collection and data arrangement of a common cleaning brush mode, a cleaning angle, a use area position, a cleaning height and the like are carried out and are brought into a database, and then self-adaptive adjustment control is carried out through a cleaning machine-cleaning model, so that the problem of quick allocation and applicability of common scenes is solved.
The second embodiment:
the system and the method are applied to the cleaning of the wood ceiling, and the specific scheme is as follows:
(1) Obtaining the environment and material of the high-altitude cleaning area S45: the high altitude position of timber material is clean mostly adopt the atomizing clean with do clean as the main, and timber matter covers the dust easily, and the dust drifts off can cause harm to cleaner during the cleanness, consequently can combine appropriate liquid atomizing to let the dust caking when clean, and the processing of being convenient for realizes better clean effect.
(2) Constructing a high-altitude cleaning area basic feature library S46: storing the applied cleaning scene, environment, material and spray mode characteristics into a database, and constructing a high-altitude glass material wet cleaning basic characteristic knowledge base for training to obtain a cleaning machine-cleaning self-adjusting model;
(3) Angular area measurement of high altitude cleaning region S47: acquiring the angle area numerical value of the current cleaning area in real time; the characteristics in this embodiment are measured by a material analysis and tool measurement instrument.
(4) Brush head feature initialization S48: in this embodiment, the brush head is rotated with the shaft body as the origin, the minimum cleaning angle is 45 °, the maximum cleaning angle is 270 °, and after initial deployment, adaptive control is performed according to a cleaning machine-cleaning self-adjustment model.
(5) Determining a combined scene dry cleaning and misting cleaning mode S49: the cleaning mode is determined by the height of the high-altitude cleaning area, the scene, the environment and the material characteristic data and is the combination of atomization cleaning and dry cleaning. The wood quality is good to be cleaned, the wood is easy to scratch and leave traces, and the wood quality is corroded due to over-wet cleaning. Therefore, the brush needs to be made of soft materials and can be cleaned by cleaning cloth when necessary, and the speed mode of the motor 19 and the rotation of the brush head are not suitable to be too fast, so that the self-adjustment control of the wet cleaning spray in the high-altitude area is realized.
(6) High-altitude area wet cleaning solvent preparation S50: according to the material of the current cleaning area and the area numerical value of the area; the features in this embodiment are measured by texture analysis and tool measurement instruments. The concentration of the cleaning solvent for the wood is not too high, and the wood is corroded due to the fact that the wood is cleaned by a large amount of clean water when the concentration of the cleaning solvent is too high.
(7) Selecting a wet cleaning mode according to the environmental material S51: in this embodiment, the minimum volume of the clean water tank 22 is 1L and the maximum volume is 3L, which are convenient for the user to operate and bear, and after the initial deployment, the self-adaptive control is performed according to the cleaning machine-cleaning self-adjusting model, so as to determine whether the cleaning area is dry cleaning or atomized cleaning, and adjust and select the rotating speed of the cleaning brush.
(8) Cleaning angular position angular adjustment S52: cleaning angles are set according to different area positions, and the cleaning efficiency is adjusted to be maximum by combining the ergonomic principle, the cleaning fatigue of a user can be reduced, and the cleaning efficiency is improved.
(9) Pressing motor 19 for specific angle cleaning S53: the motor 19 is pressed down for cleaning, the work is cleaned according to the characteristic cleaning angle, and the angle of the cleaning brush can be finely adjusted according to the cleaning machine-cleaning model when necessary, so that the high-altitude cleaning work is smoothly carried out.
(10) The specific angle cleaning parameter is arranged and included in the database S54; when cleaning, data collection and data arrangement of a common cleaning brush mode, a cleaning angle, a use area position, a cleaning height and the like are carried out and are brought into a database, and then self-adaptive adjustment control is carried out through a cleaning machine-cleaning self-adjustment model, so that the problem of quick allocation and applicability of common scenes is solved.
As a further improvement, the above-mentioned is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An intelligent high-altitude cleaning method is characterized by comprising the following steps:
s1: acquiring a high-altitude cleaning influence factor;
s2: constructing a basic feature library of a high-altitude cleaning area: storing the applied cleaning working condition, the material of the cleaning object and the corresponding cleaning parameter characteristic into a database, and constructing a high-altitude cleaning basic characteristic knowledge base to train to obtain a cleaning machine-cleaning self-adjusting model;
s3: and automatically matching cleaning parameters according to the model constructed in the S2, the cleaning scene acquired in real time and the material of the cleaning object, and finishing cleaning.
2. An intelligent high-altitude cleaning method as claimed in claim 1, wherein the cleaning parameter characteristics in S2 include brush head type, brush head rotation speed, brush head cleaning mode, spray mode, detergent ratio, cleaning position and angle.
3. An intelligent high-altitude cleaning method as claimed in claim 2, wherein in S2, the rotation speed of the brush head is determined by a rotation speed coefficient, the cleaning mode of the brush head is determined by a cleaning coefficient, and the rotation speed coefficient is as follows:
Figure FDA0003822500900000011
wherein F (omega) is a rotating speed index, omega is a real-time rotating speed, ai is a weighting coefficient of the ith high-altitude material, mu i is a friction coefficient of the ith high-altitude material, and omega 0 Base speed, i = a, b, c; a represents a gypsum ceiling, b represents a glass material, and c represents a wood ceiling.
4. An intelligent high altitude cleaning method as claimed in claim 3, wherein the cleaning factor is:
Figure FDA0003822500900000012
wherein F (ω, i) is the cleaning coefficient, F 0 Is an exponential threshold; making a corresponding cleaning strategy according to the cleaning coefficient comprises the following steps:
when the cleaning coefficient is 0, the brush head is matched with a default working state;
when the cleaning coefficient is 1, the brush head is matched with a dry cleaning mode and is injected with a cleaning agent in an atomizing mode;
when the cleaning factor is 2, the brush head matches the pattern of the wet and dry cleaning combination.
5. The intelligent high-altitude cleaning method as claimed in claim 1, wherein the cleaning mode in S2 is a combination of dry cleaning mode, wet cleaning mode and dry and wet cleaning mode.
6. An intelligent high-altitude cleaning system is characterized by comprising a data acquisition device and a high-altitude cleaning device; the high-altitude cleaning device comprises a brush body, a waste liquid collecting device, a cleaning water treatment device and a connecting rod; the brush body comprises a brush head and a spray head; the waste liquid collecting device is a telescopic waste liquid collecting barrel; the clean water treatment device comprises a sewage tank and a clean water tank; the brush body, the waste liquid collecting device and the cleaning water treatment device are connected through a connecting rod, and the connecting rod is connected with the braces through a sleeve.
7. An intelligent high-altitude cleaning system as claimed in claim 6, wherein a first liquid guide pipe and a second liquid guide pipe are arranged in the connecting rod, one end of the first liquid guide pipe extends into the waste liquid collecting barrel, and the other end of the first liquid guide pipe extends into the sewage tank; one end of the second liquid guide pipe is connected with the spray head, and the other end of the second liquid guide pipe extends into the clear water tank.
8. The intelligent high-altitude cleaning system as claimed in claim 6, wherein the wall thickness of the sewage tank and the clean water tank is determined by the following formula:
Figure FDA0003822500900000021
in the formula:
delta-calculating wall thickness, mm;
p is design pressure, MPa;
d, the outer diameter of the cylinder is mm;
[σ] t allowable stress, MPa, of the cylinder material at the design temperature.
9. The intelligent high-altitude cleaning system as claimed in claim 6, wherein the sewage tank and the clean water tank are independent and detachable.
10. The intelligent high altitude cleaning system of claim 6, wherein the sleeve is movably connected with the connecting rod.
CN202211046268.XA 2022-08-30 2022-08-30 Intelligent high-altitude cleaning method and system Pending CN115381351A (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4473279A (en) * 1981-03-26 1984-09-25 Satake Engineering Co., Ltd. Device for cleaning transparent plates of detecting sections of color sorting apparatus
CN103033010A (en) * 2011-10-05 2013-04-10 陈大兵 System and method for accumulating ice by using natural cold source
CN106618362A (en) * 2017-01-12 2017-05-10 深圳智达机械技术有限公司 Intelligent window-wiping system
CN108309135A (en) * 2018-03-02 2018-07-24 钱凯 A kind of external wall intelligent cleaning method
CN108742350A (en) * 2018-06-28 2018-11-06 芜湖泰领信息科技有限公司 The automatic replacing options of cleaning brush and intelligent sweeping
CN111000503A (en) * 2019-12-05 2020-04-14 刘旭 Dust remover for cleaning building curtain wall
CN114170463A (en) * 2021-12-06 2022-03-11 上海坤扫环境科技股份有限公司 Non-contact type wide outer wall cleaning method and system
CN114794958A (en) * 2022-06-27 2022-07-29 山西嘉世达机器人技术有限公司 Cleaning device, spraying apparatus, spraying control method, spraying control apparatus, and storage medium

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4473279A (en) * 1981-03-26 1984-09-25 Satake Engineering Co., Ltd. Device for cleaning transparent plates of detecting sections of color sorting apparatus
CN103033010A (en) * 2011-10-05 2013-04-10 陈大兵 System and method for accumulating ice by using natural cold source
CN106618362A (en) * 2017-01-12 2017-05-10 深圳智达机械技术有限公司 Intelligent window-wiping system
CN108309135A (en) * 2018-03-02 2018-07-24 钱凯 A kind of external wall intelligent cleaning method
CN108742350A (en) * 2018-06-28 2018-11-06 芜湖泰领信息科技有限公司 The automatic replacing options of cleaning brush and intelligent sweeping
CN111000503A (en) * 2019-12-05 2020-04-14 刘旭 Dust remover for cleaning building curtain wall
CN114170463A (en) * 2021-12-06 2022-03-11 上海坤扫环境科技股份有限公司 Non-contact type wide outer wall cleaning method and system
CN114794958A (en) * 2022-06-27 2022-07-29 山西嘉世达机器人技术有限公司 Cleaning device, spraying apparatus, spraying control method, spraying control apparatus, and storage medium

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Application publication date: 20221125