CN116172435B - Automatic cleaning method for miniature intelligent glass curtain wall - Google Patents
Automatic cleaning method for miniature intelligent glass curtain wall Download PDFInfo
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- CN116172435B CN116172435B CN202211702871.9A CN202211702871A CN116172435B CN 116172435 B CN116172435 B CN 116172435B CN 202211702871 A CN202211702871 A CN 202211702871A CN 116172435 B CN116172435 B CN 116172435B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 385
- 239000011521 glass Substances 0.000 title claims abstract description 204
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000001179 sorption measurement Methods 0.000 claims abstract description 66
- 239000007788 liquid Substances 0.000 claims description 51
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 43
- 230000008569 process Effects 0.000 claims description 22
- 238000007664 blowing Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
Classifications
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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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
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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
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- 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)
- Load-Bearing And Curtain Walls (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses an automatic cleaning method of a miniature intelligent glass curtain wall, which adopts an automatic cleaning device of the miniature intelligent glass curtain wall, and the device comprises a vertically arranged disc frame body, universal rollers, a universal roller driving motor, a plurality of adsorption supports, a cleaning structure, four image recognition cameras, a rotating gear, a gear driving motor, a circular arc rack rail and a central controller, wherein the four image recognition cameras are respectively arranged at the upper, lower, left and right positions of the disc frame body, the universal rollers are arranged at the central part of the disc frame body, the circular arc rack rail is arranged at the side surface of the lower part of the disc frame body, one end of the cleaning structure is provided with the rotating gear which is meshed with the circular arc rack rail, and the rotating gear moves along the circular arc rack rail under the driving of the gear driving motor, so that the cleaning structure can rotate around the circle center of the circular arc rack rail to realize the cleaning of the glass curtain wall, and the safe, efficient and accurate cleaning of the glass curtain wall is realized.
Description
Technical Field
The invention belongs to the technical field of building construction, and particularly relates to an automatic cleaning method of a miniature intelligent glass curtain wall.
Background
There are increasing numbers of tall buildings in cities, and the surfaces of these tall buildings are mostly decorated with glass curtain walls. The glass curtain wall is a beautiful modern building wall decoration method, is a remarkable characteristic of modernization of high-rise buildings, and generally refers to a building exterior enclosure structure or a decoration structure which has certain displacement capacity relative to a main structure by a supporting structure system and does not share the action of the main structure.
Because of the pollution and chemical reaction erosion of sun-drying, wind blowing and rain-blowing, harmful gas and oil smoke in the atmosphere, the glass curtain wall is easy to produce dirt and weathering, and the light transmission performance of the glass curtain wall is obviously reduced. Glass curtain walls, while aesthetically pleasing, are a difficult task to clean. Generally, the mode that adopts is manual cleaning, and cleaning personnel need be connected with building installation through the rope, glues on the hanger plate or sit and carry out cleaning work in the hanging flower basket, and this kind of cleaning mode should catch up when outdoor environment is relatively poor, then washs the degree of difficulty greatly increased, wastes time and energy, and is extremely inconvenient, and whole process cleaning efficiency is not high, and the danger is big, and the cost is higher. At present, although few developed automatic curtain wall cleaning devices are applied to practical engineering at home and abroad, from the application effect, the dead weight of a curtain wall cleaning machine is large, the assembly and disassembly are inconvenient, the intelligent degree is low, part of work still needs to be matched manually, and the cleaning efficiency is reduced. Therefore, the requirements for glass curtain wall cleaning equipment are urgent, along with the development of scientific technology, curtain wall surface cleaning equipment is more and more, but most of existing building curtain wall surface cleaning equipment cannot effectively clean, dirt and other impurities remain to cause pollution, and meanwhile, the glass curtain wall surface cleaning equipment cannot be fixed on a building curtain wall, so that the cleaning equipment is easy to fall off, and cleaning work cannot be completed. And the dead weight of the curtain wall cleaning machine applied at the present stage is large, the assembly and the disassembly are inconvenient, the intelligent degree is low, and part of work still needs to be matched manually, so that the cleaning efficiency is reduced.
Disclosure of Invention
Aiming at the technical defects of the existing high-rise building glass curtain wall construction operation, the invention provides a miniature intelligent glass curtain wall automatic cleaning method, which solves the problems of high labor intensity, high risk, low cleaning efficiency and the like of workers in the curtain wall high-altitude glass curtain wall cleaning construction.
In order to solve the technical problems, the invention provides the following technical scheme:
An automatic cleaning method of a miniature intelligent glass curtain wall comprises the following steps:
Scheme 1: the lifting device arranged on a high-rise building roof lifts a miniature intelligent glass curtain wall automatic cleaning device to an area where cleaning is needed on the upper portion of the glass curtain wall through a lifting rope, the miniature intelligent glass curtain wall automatic cleaning device comprises a vertically arranged disc frame body, universal rollers, a universal roller driving motor, a plurality of adsorption brackets, a cleaning structure, four image recognition cameras, a rotating gear, a gear driving motor, a circular arc rack rail and a central controller, the four image recognition cameras are respectively arranged on the upper, lower, left and right sides of the disc frame body, a plurality of adsorption brackets are arranged on the periphery of the disc frame body, the central portion of the disc frame body is provided with universal rollers, the universal rollers are driven by the universal roller driving motor, the adsorption brackets can be adsorbed on the glass curtain wall or loosen the glass curtain wall, the side surface of the lower portion of the disc frame body is provided with a circular arc rack rail, one end of the cleaning structure is provided with a rotating gear, the rotating gear is meshed with the circular arc rack rail, the cleaning structure comprises a cleaning support rod, a cleaning telescopic jack and a cleaning part, one end of the cleaning support rod is respectively arranged on the cleaning support rod is respectively, the cleaning rod is connected with the cleaning rod, the cleaning rod is respectively, one end of the cleaning rod is connected with the cleaning rod is far away from the cleaning rod, the cleaning rod is respectively, the cleaning rod is connected with the cleaning rod is respectively, and the cleaning rod is connected with the cleaning rod through the cleaning rod, and the cleaning rod is respectively, and the cleaning rod is connected with the cleaning rod through the cleaning rod and the cleaning rod. The side walls of the cleaning water cavity and the cleaning liquid cavity, which are far away from the side of the cleaning telescopic jack, are respectively full of leakage holes, the cleaning water cavity is provided with a cleaning water conduit hole externally connected with a cleaning water conduit, the cleaning liquid cavity is provided with a cleaning liquid conduit hole externally connected with a cleaning liquid conduit, the cleaning water conduit and the cleaning liquid conduit are respectively provided with a cleaning water valve and a cleaning liquid valve, and the adsorption support, the cleaning structure, the four image recognition cameras, the cleaning telescopic jack, the cleaning water valve and the cleaning liquid valve are respectively connected with and controlled by a central controller;
scheme 2: the adsorption support is controlled by the central controller, so that the adsorption support is firmly adsorbed on the glass curtain wall;
scheme 3: the central controller is used for controlling the cleaning telescopic jack to enable the cleaning structure and the glass curtain wall to have required pressure;
Scheme 4: the cleaning liquid valve is controlled by the central controller, so that cleaning liquid is injected into the cleaning liquid cavity through the cleaning liquid guide pipe, and the gear driving motor drives the rotating gear to rotate, so that the cleaning structure can move 180 degrees around the circle center of the circular arc-shaped rack track, and the glass curtain wall can be cleaned for the first time;
Scheme 5: after cleaning, the cleaning water valve is controlled by the central controller, so that cleaning water is injected into the cleaning water cavity through the cleaning water guide pipe, and the gear is driven by the gear driving motor to rotate the gear, so that the cleaning structure can move 180 degrees around the circle center of the circular arc-shaped rack track, and the glass curtain wall can be cleaned for the second time;
flow 6: after cleaning, observing whether the glass curtain wall to be cleaned below the cleaning device has an obstacle or not and the distance between the cleaning device and the ground by using an image recognition camera positioned at the lower side of the disc frame body, and transmitting information to a central controller, wherein if the cleaning device has no obstacle and the distance between the cleaning device and the ground is greater than or equal to the set distance, the central controller controls an adsorption support to enable the adsorption support to loosen the glass curtain wall, and a universal roller driving motor drives a universal roller to enable the cleaning device to move to the glass curtain wall to be cleaned below; if an obstacle exists and the distance between the cleaning device and the ground is greater than or equal to the set distance, the universal roller is driven by the universal roller driving motor, so that the cleaning device bypasses the obstacle and reaches the glass curtain wall to be cleaned below the obstacle;
Scheme 7: repeating the processes 2-6, and cleaning the glass curtain wall from top to bottom until the distance between the cleaning device and the ground is smaller than the set distance;
step 8: judging whether the glass curtain wall on the side face has an obstacle or not through an image recognition camera positioned on the side face of the disc frame body, if the glass curtain wall on the side face has no obstacle, moving the cleaning device to the glass curtain wall to be cleaned on the side face adjacent to the side face through a universal roller, and repeating the processes 2-5 to clean the glass curtain wall to be cleaned on the side face adjacent to the side face; if an obstacle exists, bypassing the obstacle and reaching the glass curtain wall to be cleaned above the obstacle, and repeating the processes 2 to 5 to clean the glass curtain wall to be cleaned above the obstacle;
flow 9: judging whether the upper glass curtain wall to be cleaned has an obstacle or not and the distance between the cleaning device and the top of the building through an image recognition camera positioned on the upper side of the disc frame body, and transmitting information to a central controller, if the upper glass curtain wall to be cleaned has no obstacle and the distance between the cleaning device and the top of the building is greater than or equal to a set distance, controlling an adsorption support through the central controller, enabling the adsorption support to loosen the glass curtain wall, and driving a universal roller through a universal roller driving motor to enable the cleaning device to move to the upper glass curtain wall to be cleaned; if an obstacle exists, and the distance between the cleaning device and the top of the building is greater than or equal to the set distance, the universal roller is driven by the universal roller driving motor, so that the cleaning device bypasses the obstacle and reaches the upper part of the obstacle to clean the glass curtain wall;
Flow 10: repeatedly referring to the processes 2-6, cleaning the glass curtain wall from bottom to top until the distance between the cleaning device and the top of the building is smaller than the set distance;
Step 11: judging whether the glass curtain wall on the side face has an obstacle or not through an image recognition camera positioned on the side face of the disc frame body, if the glass curtain wall on the side face has no obstacle, moving the cleaning device to the glass curtain wall to be cleaned on the side face adjacent to the side face through a universal roller, and repeating the processes 2-5 to clean the glass curtain wall to be cleaned on the side face adjacent to the side face; if an obstacle exists, bypassing the obstacle and reaching the glass curtain wall to be cleaned below the obstacle, and repeating the processes 2-5 to clean the glass curtain wall to be cleaned below the obstacle;
Flow 12: judging whether the glass curtain wall to be cleaned below has an obstacle or not and the distance between the cleaning device and the ground through an image recognition camera positioned at the lower side of the disc frame body, and transmitting information to a central controller, if the glass curtain wall to be cleaned below has no obstacle and the distance between the cleaning device and the ground is greater than or equal to the set distance, controlling an adsorption support through the central controller, enabling the adsorption support to loosen the glass curtain wall, driving a universal roller through a universal roller driving motor, and enabling the cleaning device to move to the glass curtain wall to be cleaned below; if an obstacle exists and the distance between the cleaning device and the ground is greater than or equal to the set distance, the universal roller is driven by the universal roller driving motor, so that the cleaning device bypasses the obstacle and reaches the glass curtain wall to be cleaned below the obstacle;
flow 13: and repeating the processes 8-12 until the cleaning of the whole glass curtain wall surface is completed.
Preferably, in the above-mentioned automatic cleaning method of miniature intelligent glass curtain wall, the adsorption support comprises a connection support, an adsorption telescopic jack and an electric glass sucker, the adsorption support is horizontally arranged, one end of the connection support is fixedly connected with the disc frame body, the other end of the connection support is connected with one end of the telescopic jack, the other end of the adsorption telescopic jack is provided with the electric glass sucker, the electric glass sucker and the adsorption telescopic jack are respectively connected with and controlled by a central controller, and the electric glass sucker can be adsorbed on or loosened from the glass curtain wall.
Preferably, in the above automatic cleaning method for a miniature intelligent glass curtain wall, the image camera located on the upper side of the disc frame body is responsible for judging whether the glass curtain wall above the cleaning device has an obstacle or not and determining the distance between the cleaning device and the top of the building.
Preferably, in the above automatic cleaning method for a miniature intelligent glass curtain wall, the image camera located at the lower side of the disc frame body is responsible for judging whether the glass curtain wall below the cleaning device has an obstacle or not and judging the distance between the cleaning device and the ground.
Preferably, in the above automatic cleaning method for a miniature intelligent glass curtain wall, an image recognition camera located on a side surface of the disc frame body is responsible for judging whether an obstacle exists on the left side and/or the right side of the cleaning device.
Preferably, in the above-mentioned automatic cleaning method for miniature intelligent glass curtain wall, a pressure sensor is provided between the cleaning telescopic jack and the strip cleaning component, the pressure sensor is connected with the central controller, and in step 3, the pressure sensor is controlled to reach the pressure required between the cleaning structure and the glass curtain wall by controlling the cleaning telescopic jack.
Compared with the prior art, the technical scheme disclosed by the invention has the following beneficial effects:
The invention provides a miniature intelligent automatic cleaning device for a glass curtain wall, which comprises the following components: the glass curtain wall cleaning device comprises a vertically arranged disc frame body, universal idler wheels, a universal idler wheel driving motor, a plurality of adsorption supporting seats, a cleaning structure, four image recognition cameras, a rotary gear, a gear driving motor, a circular arc rack rail and a central controller, wherein the four image recognition cameras are respectively arranged on the upper, lower, left and right sides of the disc frame body, the adsorption supporting seats are arranged on the periphery of the disc frame body, the adsorption supporting seats, the cleaning structure and the four image recognition cameras are respectively connected with the central controller and controlled by the central controller, the universal idler wheels are arranged at the central part of the disc frame body, the universal idler wheels are driven by the universal idler wheel driving motor, the adsorption supporting seats can be adsorbed on the glass curtain wall or loosen the glass curtain wall, the side face of the lower part of the disc frame body is provided with the circular arc rack rail, one end of the cleaning structure is provided with the rotary gear, the rotary gear is meshed with the circular arc rack rail, and the rotary gear is driven by the gear driving motor to move along the circular arc rack rail, so that the cleaning structure can rotate around the center of the circular arc rack rail to clean the glass curtain wall, and accordingly the glass curtain wall can clean the glass curtain wall, the glass curtain wall accurately, high-efficient, high-level high-efficiency, high-altitude cleaning efficiency, high-level and high-level worker-risk and the like can be solved.
The invention provides a miniature intelligent glass curtain wall automatic cleaning method, which adopts a miniature intelligent glass curtain wall automatic cleaning device, the device comprises a vertically arranged disc frame body, a universal roller driving motor, a plurality of adsorption supports, a cleaning structure, four image recognition cameras, a rotating gear, a gear driving motor, a circular arc rack rail and a central controller, wherein the four image recognition cameras are respectively arranged at the upper, lower, left and right sides of the disc frame body, the plurality of adsorption supports are arranged at the periphery of the disc frame body, the adsorption supports, the cleaning structure and the four image recognition cameras are respectively connected with and controlled by the central controller, the central part of the disc frame body is provided with a universal roller, the universal roller is driven by the universal roller driving motor, the adsorption supports can be adsorbed on the glass curtain wall or loosen the glass curtain wall, the side surface of the lower part of the disc frame body is provided with a circular arc rack rail, one end of the cleaning structure is provided with the rotating gear which is meshed with the circular arc rack rail, and the rotating gear is driven by the gear driving motor to move along the circular arc rack rail, so that the circular arc rack rail can clean glass curtain wall with high efficiency, high-level and high-precision and high-level glass cleaning efficiency can be realized.
Drawings
FIG. 1 is a front elevation view of a miniature intelligent glass curtain wall automatic cleaning device;
FIG. 2 is a side view of a miniature intelligent glass curtain wall automatic cleaning device;
FIG. 3 is a detailed view of the cleaning mechanism;
Fig. 4 is a schematic diagram of an adsorption support.
The specific meanings of the reference numerals in the drawings are:
the cleaning device comprises a disc frame body 1, a universal roller 2, a universal roller driving motor 3, an adsorption support 4, a connecting support 4-1, a telescopic jack 4-2, an electric glass sucker 4-3, a cleaning structure 5, a cleaning support rod 5-1, a cleaning telescopic jack 5-2, a cleaning water guide pipe hole 5-3, a cleaning liquid guide pipe hole 5-4, a cleaning water cavity 5-5, a cleaning liquid cavity 5-6, a cleaning sponge 5-7, a cleaning sponge 5-8, a cleaning sponge 5-9, a pressure sensor 5-10, an upper image recognition camera 6, a left image recognition camera 7, a right image recognition camera 8, a lower image recognition camera 9, a rotating gear 10, a gear driving motor 11, a circular arc-shaped rack rail 12, a cleaning water guide pipe 13, a cleaning liquid guide pipe 14, a lifting rope 15 and a lifting lug 16.
Detailed Description
The invention is described in further detail below with reference to the drawings and the specific examples. The technical contents and features of the present invention will be described in detail below with reference to the attached drawings by way of the illustrated embodiments. It should be further noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention. For convenience of description, the "upper" and "lower" described below are consistent with the upper and lower directions of the drawings, but this should not be construed as a limitation of the technical scheme of the present invention.
Referring to fig. 1 to 4, the embodiment discloses an automatic cleaning method for a miniature intelligent glass curtain wall, which comprises the following steps:
scheme 1: the lifting device arranged on the roof of a high-rise building lifts a miniature intelligent glass curtain wall automatic cleaning device to an upper part area of the glass curtain wall to be cleaned through a lifting rope 15, the miniature intelligent glass curtain wall automatic cleaning device comprises a vertically arranged disc frame body 1, a universal roller 2, a universal roller driving motor 3, a plurality of adsorption supports 4, a cleaning structure 5, four image recognition cameras, a rotating gear 10, a gear driving motor 11, a circular arc rack rail 12 and a central controller, the four image recognition cameras are respectively arranged on the upper part, the lower part, the left part and the right part of the disc frame body 1, the four image recognition cameras are respectively an upper image recognition camera 6, a left image recognition camera 7, a right image recognition camera 8 and a lower image recognition camera 9, the plurality of adsorption supports 4 are arranged around the disc frame body 1, the central part of the disc frame body 1 is provided with universal idler wheels 2, the universal idler wheels 2 are driven by a universal idler wheel driving motor 3, the adsorption supports 4 can be adsorbed on or loosened from a glass curtain wall, the side surface of the lower part of the disc frame body 1 is provided with a circular arc rack rail 12, one end of the cleaning structure 5 is provided with a rotating gear 10, the rotating gear 10 is meshed with the circular arc rack rail 12, the cleaning structure 5 comprises a cleaning support rod 5-1, a cleaning telescopic jack 5-2 and a strip cleaning part, one end of the cleaning support rod 5-1 is connected with the rotating gear 10, one end of the cleaning telescopic jack 5-2 is vertically connected with the cleaning support rod 5-1, the other end of the cleaning telescopic jack 5-2 is vertically connected with the strip cleaning part, the strip-shaped cleaning component comprises a strip-shaped liquid storage tank, a cleaning sponge 5-8 and a cleaning sponge 5-9, wherein the strip-shaped liquid storage tank is divided into a cleaning water cavity 5-5 and a cleaning liquid cavity 5-6, one sides of the cleaning water cavity 5-5 and the cleaning liquid cavity 5-6, which are far away from a cleaning telescopic jack 5-2, are respectively provided with the cleaning sponge 5-8 and the cleaning sponge 5-9, the cleaning sponge 5-8 and the cleaning sponge 5-9 are all arranged along the axial through length of the strip-shaped liquid storage tank, the side walls of the cleaning water cavity 5-5 and the cleaning liquid cavity 5-6, which are far away from the cleaning telescopic jack 5-2, are respectively distributed with a leak hole 5-7, the cleaning water cavity 5-5 is provided with a cleaning water guide pipe hole 5-3, which is externally connected with a cleaning water guide pipe 14, the cleaning liquid guide pipe 5-4, the cleaning water guide pipe 13 and the cleaning liquid guide pipe 14 are respectively provided with a cleaning water valve and a cleaning liquid valve, and the adsorption support 4, the cleaning structure 5, four image recognition heads, the cleaning jack 5-2, the cleaning liquid guide valve and a central control jack are respectively connected with the cleaning liquid guide valve and the central control valve;
scheme 2: the adsorption support 4 is controlled by the central controller, so that the adsorption support 4 is firmly adsorbed on the glass curtain wall;
Scheme 3: the central controller controls the cleaning telescopic jack 5-2 to enable the cleaning structure 5 to have required pressure with the glass curtain wall;
Scheme 4: the cleaning liquid valve is controlled by the central controller, so that cleaning liquid is injected into the cleaning liquid cavity 5-6 through the cleaning liquid guide pipe 14, and the gear driving motor 11 drives the rotary gear 10 to rotate, so that the cleaning structure 5 can move 180 degrees around the circle center of the circular arc-shaped rack track 12 for cleaning the glass curtain wall for the first time;
Scheme 5: after cleaning, the cleaning water valve is controlled by the central controller, so that cleaning water is injected into the cleaning water cavity 5-5 through the cleaning water guide pipe, and the gear driving motor 11 drives the rotating gear 10, so that the cleaning structure 5 can move 180 degrees around the circle center of the circular arc-shaped rack track 12 for cleaning the glass curtain wall for the second time;
flow 6: after cleaning, observing whether the glass curtain wall to be cleaned below the cleaning device has an obstacle or not and the distance between the cleaning device and the ground by using an image recognition camera positioned at the lower side of the disc frame body 1, and transmitting information to a central controller, wherein if the cleaning device has no obstacle and the distance between the cleaning device and the ground is greater than or equal to the set distance, the central controller controls the adsorption support 4 to enable the adsorption support 4 to loosen the glass curtain wall, and a universal roller driving motor 3 drives a universal roller 2 to enable the cleaning device to move to the glass curtain wall to be cleaned below; if an obstacle exists and the distance between the cleaning device and the ground is greater than or equal to the set distance, the universal roller 2 is driven by the universal roller driving motor 3, so that the cleaning device bypasses the obstacle and reaches the glass curtain wall to be cleaned below the obstacle;
Scheme 7: repeating the processes 2-6, and cleaning the glass curtain wall from top to bottom until the distance between the cleaning device and the ground is smaller than the set distance;
Step 8: judging whether the glass curtain wall on the side face has an obstacle or not through an image recognition camera positioned on the side face of the disc frame body 1, if the glass curtain wall on the side face has no obstacle, moving the cleaning device to the glass curtain wall to be cleaned on the side face adjacent to the side face through the universal roller 2, and repeating the processes 2-5 to clean the glass curtain wall to be cleaned on the side face adjacent to the side face; if an obstacle exists, bypassing the obstacle and reaching the glass curtain wall to be cleaned above the obstacle, and repeating the processes 2 to 5 to clean the glass curtain wall to be cleaned above the obstacle;
Flow 9: judging whether the upper glass curtain wall to be cleaned has an obstacle or not and the distance between the cleaning device and the top of a building through an image recognition camera positioned on the upper side of the disc frame body 1, and transmitting information to a central controller, if the upper glass curtain wall to be cleaned has no obstacle and the distance between the cleaning device and the top of the building is greater than or equal to a set distance, controlling an adsorption support 4 through the central controller, enabling the adsorption support 4 to loosen the glass curtain wall, and driving a universal roller 2 through a universal roller driving motor 3, so that the cleaning device moves to the upper glass curtain wall to be cleaned; if an obstacle exists, and the distance between the cleaning device and the top of the building is greater than or equal to the set distance, the universal roller 2 is driven by the universal roller driving motor 3, so that the cleaning device bypasses the obstacle and reaches the upper part of the obstacle to clean the glass curtain wall;
Flow 10: repeatedly referring to the processes 2-6, cleaning the glass curtain wall from bottom to top until the distance between the cleaning device and the top of the building is smaller than the set distance;
Step 11: judging whether the glass curtain wall on the side face has an obstacle or not through an image recognition camera positioned on the side face of the disc frame body 1, if the glass curtain wall on the side face has no obstacle, moving the cleaning device to the glass curtain wall to be cleaned on the side face adjacent to the side face through the universal roller 2, and repeating the processes 2-5 to clean the glass curtain wall to be cleaned on the side face adjacent to the side face; if an obstacle exists, bypassing the obstacle and reaching the glass curtain wall to be cleaned below the obstacle, and repeating the processes 2-5 to clean the glass curtain wall to be cleaned below the obstacle;
Flow 12: judging whether the glass curtain wall to be cleaned below has an obstacle or not and the distance between the cleaning device and the ground through an image recognition camera positioned at the lower side of the disc frame body 1, and transmitting information to a central controller, if the glass curtain wall to be cleaned below has no obstacle and the distance between the cleaning device and the ground is greater than or equal to a set distance, controlling an adsorption support 4 through the central controller, enabling the adsorption support 4 to loosen the glass curtain wall, and driving a universal roller 2 through a universal roller driving motor 3, so that the cleaning device moves to the glass curtain wall to be cleaned below; if an obstacle exists and the distance between the cleaning device and the ground is greater than or equal to the set distance, the universal roller 2 is driven by the universal roller driving motor 3, so that the cleaning device bypasses the obstacle and reaches the glass curtain wall to be cleaned below the obstacle;
flow 13: and repeating the processes 8-12 until the cleaning of the whole glass curtain wall surface is completed.
The invention provides a miniature intelligent glass curtain wall automatic cleaning method, which adopts a miniature intelligent glass curtain wall automatic cleaning device, the device comprises a vertically arranged disc frame body 1, a universal roller 2, a universal roller driving motor 3, a plurality of adsorption supports 4, a cleaning structure 5, four image recognition cameras, a rotating gear 10, a gear driving motor 11, a circular arc rack rail 12 and a central controller, wherein the four image recognition cameras are respectively arranged at the upper, lower, left and right sides of the disc frame body 1, the plurality of adsorption supports 4 are arranged at the periphery of the disc frame body 1, the adsorption supports 4, the cleaning structure 5 and the four image recognition cameras are respectively connected with the central controller and controlled by the central controller, the universal roller 2 is arranged at the central part of the disc frame body 1, the universal roller 2 is driven by the universal roller driving motor 3, the adsorption supports 4 can be adsorbed on the glass curtain wall or loosen the glass curtain wall, the circular arc rack rail 12 is arranged at the side surface of the lower part of the disc frame body 1, one end of the cleaning structure 5 is provided with the rotating gear 10, the rotating gear 10 is meshed with the circular arc rack rail 12, and the high-shaped glass curtain wall 12 can be driven by the central controller to realize high-efficient cleaning, and the high-level cleaning of the glass curtain wall is realized.
Preferably, in the above-mentioned automatic cleaning method of miniature intelligent glass curtain wall, the adsorption support 4 includes a connection support 4-1, an adsorption telescopic jack 4-2 and an electric glass sucker 4-3, the adsorption support 4 is horizontally arranged, one end of the connection support 4-1 is fixedly connected with the disc frame 1, the other end of the connection support 4-1 is connected with one end of the telescopic jack 4-2, the other end of the adsorption telescopic jack 4-2 is provided with the electric glass sucker 4-3, the electric glass sucker 4-3 and the adsorption telescopic jack 4-2 are respectively connected with and controlled by a central controller, and the electric glass sucker 4-3 can be adsorbed on or released from the glass curtain wall. The electric glass sucker 4-3 can be close to or far away from the glass curtain wall by absorbing the expansion jack 4-2, and the electric glass sucker 4-3 is enabled to be absorbed on the glass curtain wall or loosened by powering on or powering off the electric glass sucker 4-3.
In this embodiment, the disc frame 1 is provided with a hanging ring for arranging a hanging rope, so that stable connection of the lifting device of the disc frame 1 can be realized.
In this embodiment, the strip-shaped cleaning component comprises a strip-shaped liquid storage tank, a cleaning sponge 5-8 and a cleaning sponge 5-9, the strip-shaped liquid storage tank is divided into a cleaning water cavity 5-5 and a cleaning liquid cavity 5-6, the cleaning sponge 5-8 and the cleaning sponge 5-9 are respectively arranged on one sides of the cleaning water cavity 5-5 and the cleaning liquid cavity 5-6, which are far away from the cleaning telescopic jack 5-2, the cleaning sponge 5-8 and the cleaning sponge 5-9 are respectively arranged along the axial through length of the strip-shaped liquid storage tank, the side walls of the cleaning water cavity 5-5 and the cleaning liquid cavity 5-6, which are far away from the cleaning telescopic jack 5-2, are respectively full of leakage holes 5-7, the cleaning water cavity 5-5 is provided with a cleaning water guide pipe hole 5-3 externally connected with a cleaning liquid guide pipe 13, and the cleaning liquid cavity 5-6 is provided with a cleaning liquid guide pipe hole 5-4 externally connected with a cleaning liquid guide pipe 14. The strip-shaped cleaning component with the structure can not only enable the structure to be more compact, but also can realize independent step-by-step cleaning of the glass curtain wall by cleaning water and cleaning liquid, and improve the cleaning efficiency of the glass curtain wall.
Preferably, in the above-mentioned automatic cleaning method for a mini-intelligent glass curtain wall, the image camera located at the upper side of the disc frame body 1, that is, the upper image recognition camera 6 is responsible for judging whether the glass curtain wall above the cleaning device has an obstacle or not and the distance between the cleaning device and the top of the building.
Preferably, in the above-mentioned automatic cleaning method for a mini-intelligent glass curtain wall, the image camera located at the lower side of the disc frame body 1, that is, the lower image recognition camera 9 is responsible for judging whether there is an obstacle in the glass curtain wall below the cleaning device and the distance between the cleaning device and the ground.
Preferably, in the above-mentioned automatic cleaning method for a mini-intelligent glass curtain wall, the image recognition cameras located on the side surfaces of the disc frame body 1, that is, the left image recognition camera 7 and the right image recognition camera 8 are respectively responsible for determining whether an obstacle exists on the left side and/or the right side of the cleaning device.
Preferably, in the above-mentioned automatic cleaning method for miniature intelligent glass curtain wall, a pressure sensor 5-10 is provided between the cleaning telescopic jack 5-2 and the strip cleaning component, the pressure sensor 5-10 is connected with the central controller, and in step 3, the pressure sensor 5-10 is controlled by controlling the cleaning telescopic jack 5-2 to achieve the pressure required between the cleaning structure 5 and the glass curtain wall. By arranging the pressure sensor 5-10, the pressure between the strip-shaped cleaning component and the cleaning telescopic jack 5-2 can be timely obtained, so that the glass curtain wall loss caused by overlarge pressure can be avoided, and the incomplete cleaning of the glass curtain wall caused by overlarge pressure can also be avoided.
The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the appended claims.
Claims (6)
1. The automatic cleaning method of the miniature intelligent glass curtain wall is characterized by comprising the following steps of:
Scheme 1: the lifting device arranged on a high-rise building roof lifts a miniature intelligent glass curtain wall automatic cleaning device to an area where cleaning is needed on the upper portion of the glass curtain wall through a lifting rope, the miniature intelligent glass curtain wall automatic cleaning device comprises a vertically arranged disc frame body, universal rollers, a universal roller driving motor, a plurality of adsorption brackets, a cleaning structure, four image recognition cameras, a rotating gear, a gear driving motor, a circular arc rack rail and a central controller, the four image recognition cameras are respectively arranged on the upper, lower, left and right sides of the disc frame body, a plurality of adsorption brackets are arranged on the periphery of the disc frame body, the central portion of the disc frame body is provided with universal rollers, the universal rollers are driven by the universal roller driving motor, the adsorption brackets can be adsorbed on the glass curtain wall or loosen the glass curtain wall, the side surface of the lower portion of the disc frame body is provided with a circular arc rack rail, one end of the cleaning structure is provided with a rotating gear, the rotating gear is meshed with the circular arc rack rail, the cleaning structure comprises a cleaning support rod, a cleaning telescopic jack and a cleaning part, one end of the cleaning support rod is respectively arranged on the cleaning support rod is respectively, the cleaning rod is connected with the cleaning rod, the cleaning rod is respectively, one end of the cleaning rod is connected with the cleaning rod is far away from the cleaning rod, the cleaning rod is respectively, the cleaning rod is connected with the cleaning rod is respectively, and the cleaning rod is connected with the cleaning rod through the cleaning rod, and the cleaning rod is respectively, and the cleaning rod is connected with the cleaning rod through the cleaning rod and the cleaning rod. The side walls of the cleaning water cavity and the cleaning liquid cavity, which are far away from the side of the cleaning telescopic jack, are respectively full of leakage holes, the cleaning water cavity is provided with a cleaning water conduit hole externally connected with a cleaning water conduit, the cleaning liquid cavity is provided with a cleaning liquid conduit hole externally connected with a cleaning liquid conduit, the cleaning water conduit and the cleaning liquid conduit are respectively provided with a cleaning water valve and a cleaning liquid valve, and the adsorption support, the cleaning structure, the four image recognition cameras, the cleaning telescopic jack, the cleaning water valve and the cleaning liquid valve are respectively connected with and controlled by a central controller;
scheme 2: the adsorption support is controlled by the central controller, so that the adsorption support is firmly adsorbed on the glass curtain wall;
scheme 3: the central controller is used for controlling the cleaning telescopic jack to enable the cleaning structure and the glass curtain wall to have required pressure;
Scheme 4: the cleaning liquid valve is controlled by the central controller, so that cleaning liquid is injected into the cleaning liquid cavity through the cleaning liquid guide pipe, and the gear driving motor drives the rotating gear to rotate, so that the cleaning structure can move 180 degrees around the circle center of the circular arc-shaped rack track, and the glass curtain wall can be cleaned for the first time;
Scheme 5: after cleaning, the cleaning water valve is controlled by the central controller, so that cleaning water is injected into the cleaning water cavity through the cleaning water guide pipe, and the gear is driven by the gear driving motor to rotate the gear, so that the cleaning structure can move 180 degrees around the circle center of the circular arc-shaped rack track, and the glass curtain wall can be cleaned for the second time;
flow 6: after cleaning, observing whether the glass curtain wall to be cleaned below the cleaning device has an obstacle or not and the distance between the cleaning device and the ground by using an image recognition camera positioned at the lower side of the disc frame body, and transmitting information to a central controller, wherein if the cleaning device has no obstacle and the distance between the cleaning device and the ground is greater than or equal to the set distance, the central controller controls an adsorption support to enable the adsorption support to loosen the glass curtain wall, and a universal roller driving motor drives a universal roller to enable the cleaning device to move to the glass curtain wall to be cleaned below; if an obstacle exists and the distance between the cleaning device and the ground is greater than or equal to the set distance, the universal roller is driven by the universal roller driving motor, so that the cleaning device bypasses the obstacle and reaches the glass curtain wall to be cleaned below the obstacle;
Scheme 7: repeating the processes 2-6, and cleaning the glass curtain wall from top to bottom until the distance between the cleaning device and the ground is smaller than the set distance;
step 8: judging whether the glass curtain wall on the side face has an obstacle or not through an image recognition camera positioned on the side face of the disc frame body, if the glass curtain wall on the side face has no obstacle, moving the cleaning device to the glass curtain wall to be cleaned on the side face adjacent to the side face through a universal roller, and repeating the processes 2-5 to clean the glass curtain wall to be cleaned on the side face adjacent to the side face; if an obstacle exists, bypassing the obstacle and reaching the glass curtain wall to be cleaned above the obstacle, and repeating the processes 2 to 5 to clean the glass curtain wall to be cleaned above the obstacle;
flow 9: judging whether the upper glass curtain wall to be cleaned has an obstacle or not and the distance between the cleaning device and the top of the building through an image recognition camera positioned on the upper side of the disc frame body, and transmitting information to a central controller, if the upper glass curtain wall to be cleaned has no obstacle and the distance between the cleaning device and the top of the building is greater than or equal to a set distance, controlling an adsorption support through the central controller, enabling the adsorption support to loosen the glass curtain wall, and driving a universal roller through a universal roller driving motor to enable the cleaning device to move to the upper glass curtain wall to be cleaned; if an obstacle exists, and the distance between the cleaning device and the top of the building is greater than or equal to the set distance, the universal roller is driven by the universal roller driving motor, so that the cleaning device bypasses the obstacle and reaches the upper part of the obstacle to clean the glass curtain wall;
Flow 10: repeatedly referring to the processes 2-6, cleaning the glass curtain wall from bottom to top until the distance between the cleaning device and the top of the building is smaller than the set distance;
Step 11: judging whether the glass curtain wall on the side face has an obstacle or not through an image recognition camera positioned on the side face of the disc frame body, if the glass curtain wall on the side face has no obstacle, moving the cleaning device to the glass curtain wall to be cleaned on the side face adjacent to the side face through a universal roller, and repeating the processes 2-5 to clean the glass curtain wall to be cleaned on the side face adjacent to the side face; if an obstacle exists, bypassing the obstacle and reaching the glass curtain wall to be cleaned below the obstacle, and repeating the processes 2-5 to clean the glass curtain wall to be cleaned below the obstacle;
Flow 12: judging whether the glass curtain wall to be cleaned below has an obstacle or not and the distance between the cleaning device and the ground through an image recognition camera positioned at the lower side of the disc frame body, and transmitting information to a central controller, if the glass curtain wall to be cleaned below has no obstacle and the distance between the cleaning device and the ground is greater than or equal to the set distance, controlling an adsorption support through the central controller, enabling the adsorption support to loosen the glass curtain wall, driving a universal roller through a universal roller driving motor, and enabling the cleaning device to move to the glass curtain wall to be cleaned below; if an obstacle exists and the distance between the cleaning device and the ground is greater than or equal to the set distance, the universal roller is driven by the universal roller driving motor, so that the cleaning device bypasses the obstacle and reaches the glass curtain wall to be cleaned below the obstacle;
flow 13: and repeating the processes 8-12 until the cleaning of the whole glass curtain wall surface is completed.
2. The automatic cleaning method of the miniature intelligent glass curtain wall according to claim 1, wherein the adsorption support comprises a connection support, an adsorption telescopic jack and an electric glass sucker, the adsorption support is horizontally arranged, one end of the connection support is fixedly connected with the disc frame body, the other end of the connection support is connected with one end of the telescopic jack, the electric glass sucker is arranged at the other end of the adsorption telescopic jack, the electric glass sucker and the adsorption telescopic jack are respectively connected with and controlled by a central controller, and the electric glass sucker can be adsorbed on or loosened from the glass curtain wall.
3. The automatic cleaning method of miniature intelligent glass curtain wall according to claim 1, wherein the image camera on the upper side of the disc frame body is responsible for judging whether the glass curtain wall above the cleaning device has an obstacle or not and the distance between the cleaning device and the top of the building.
4. The automatic cleaning method of miniature intelligent glass curtain wall according to claim 1, wherein the image camera at the lower side of the disc frame body is responsible for judging whether the glass curtain wall below the cleaning device has an obstacle or not and the distance between the cleaning device and the ground.
5. The automatic cleaning method of the miniature intelligent glass curtain wall according to claim 1, wherein an image recognition camera positioned on the side surface of the disc frame body is responsible for judging whether an obstacle exists on the left side and/or the right side of the cleaning device or not.
6. The automatic cleaning method of miniature intelligent glass curtain wall according to claim 1, wherein a pressure sensor is arranged between the cleaning telescopic jack and the strip-shaped cleaning component, the pressure sensor is connected with a central controller, and in step 3, the pressure sensor is controlled to reach the pressure required between the cleaning structure and the glass curtain wall by controlling the cleaning telescopic jack.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211702871.9A CN116172435B (en) | 2022-12-28 | 2022-12-28 | Automatic cleaning method for miniature intelligent glass curtain wall |
| PCT/CN2023/138638 WO2024140232A1 (en) | 2022-12-28 | 2023-12-14 | Miniature intelligent glass curtain wall automatic cleaning method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211702871.9A CN116172435B (en) | 2022-12-28 | 2022-12-28 | Automatic cleaning method for miniature intelligent glass curtain wall |
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| CN116172435A CN116172435A (en) | 2023-05-30 |
| CN116172435B true CN116172435B (en) | 2024-08-06 |
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| CN116172435B (en) * | 2022-12-28 | 2024-08-06 | 上海建工集团股份有限公司 | Automatic cleaning method for miniature intelligent glass curtain wall |
| CN119235208B (en) * | 2024-10-08 | 2025-04-29 | 中信和业投资有限公司 | Intelligent cleaning device for energy-saving building glass curtain wall |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106618367A (en) * | 2017-02-24 | 2017-05-10 | 榆林学院 | Auto-control wall cleaning apparatus |
| CN109124455A (en) * | 2018-10-30 | 2019-01-04 | 吉林大学 | Glass-cleaning robot and its control method outside building with self-identifying and obstacle avoidance ability |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100588818B1 (en) * | 2004-05-19 | 2006-06-19 | 홍정호 | A device that remotely wipes the exterior glass surfaces of high-rise buildings and building exterior walls |
| CN204274344U (en) * | 2014-12-18 | 2015-04-22 | 王素艳 | A kind of curtain wall of glass for high building automatic rinser |
| CN106214083B (en) * | 2016-09-08 | 2019-03-12 | 肇庆市小凡人科技有限公司 | One kind hanging pull-type glass curtain wall clean robot |
| CN210810766U (en) * | 2019-08-13 | 2020-06-23 | 重庆工业职业技术学院 | A glass curtain wall automatic cleaning device |
| CN110876578B (en) * | 2019-12-20 | 2021-08-13 | 西南石油大学 | A glass cleaning robot that automatically turns over and crosses obstacles and its working method |
| KR102397636B1 (en) * | 2020-11-13 | 2022-05-13 | 신완이 | Automatic cleaning device and system |
| CN114766960A (en) * | 2022-05-10 | 2022-07-22 | 上海建工集团股份有限公司 | Portable intelligent high-altitude glass curtain wall cleaning method |
| CN116172435B (en) * | 2022-12-28 | 2024-08-06 | 上海建工集团股份有限公司 | Automatic cleaning method for miniature intelligent glass curtain wall |
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- 2022-12-28 CN CN202211702871.9A patent/CN116172435B/en active Active
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106618367A (en) * | 2017-02-24 | 2017-05-10 | 榆林学院 | Auto-control wall cleaning apparatus |
| CN109124455A (en) * | 2018-10-30 | 2019-01-04 | 吉林大学 | Glass-cleaning robot and its control method outside building with self-identifying and obstacle avoidance ability |
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| WO2024140232A1 (en) | 2024-07-04 |
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