CN120001746A - Cleaning components and cleaning methods - Google Patents

Abstract

The application provides a cleaning assembly and a cleaning method, comprising a waterway system, a cleaning robot, a hanging basket mechanism and a hanging basket mechanism, wherein the cleaning robot is connected with the waterway system and can be matched with the waterway system to clean a wall surface to be cleaned, the hanging basket mechanism comprises a frame and a hanging basket, the frame is used for being arranged on a supporting structure of the wall surface to be cleaned, the hanging basket is arranged on the frame and can move relative to the wall surface of the wall surface to be cleaned, and the cleaning robot can cross an obstacle on the wall surface to be cleaned through the hanging basket. The cleaning assembly can conveniently span the obstacle on the wall surface to be cleaned, so that the cleaning efficiency is improved.

Description

Cleaning assembly and cleaning method

Technical Field

The application relates to the technical field of robots, in particular to a cleaning assembly and a cleaning method.

Background

With the rapid development of the petroleum industry in China, the number of petroleum bases is continuously increased, and the number of large storage tanks for storing petroleum is also increased. In the long-term use process of the storage tanks, the tank walls are in contact with air, phenomena such as corrosion and oxidation are inevitably generated, pollution is caused to petroleum in the tanks, the service lives of the storage tanks are shortened, the use cost of petroleum-based equipment is increased, resource waste is caused, and the resource conservation principle is not met. Therefore, it is particularly important to perform periodic rust removal cleaning on the storage tank. However, the existing cleaning apparatus cannot perform a continuous operation across an obstacle such as a wind-resistant ring during the cleaning process, resulting in a low cleaning efficiency of the storage tank.

Disclosure of Invention

The embodiment of the application provides a cleaning assembly and a cleaning method, which can conveniently span an obstacle on a wall surface to be cleaned so as to improve cleaning efficiency.

In a first aspect, embodiments of the present application provide a cleaning assembly comprising:

a waterway system;

The cleaning robot is connected with the waterway system and can be matched with the waterway system to clean the wall surface to be cleaned;

The hanging basket mechanism comprises a rack and a hanging basket, wherein the rack is used for being arranged on a supporting structure of the wall surface to be cleaned, and the hanging basket is arranged on the rack and can move relative to the wall surface of the wall surface to be cleaned;

Wherein the cleaning robot can cross over an obstacle on the wall surface to be cleaned through the hanging basket.

Optionally, the frame is installed at the top of the supporting structure, and can move along the circumferential direction of the wall surface to be cleaned, and drive the cleaning robot to move.

Optionally, the hanging basket mechanism further includes a first connection mechanism, the first connection mechanism is fixedly connected with the hanging basket, and the first connection mechanism can be detachably connected with the wall surface to be cleaned, so that the hanging basket is fixed on the wall surface to be cleaned.

Optionally, the first connection mechanism includes one or more air cylinder magnetic attraction mechanisms, each air cylinder magnetic attraction mechanism one end with hanging basket fixed connection, each air cylinder magnetic attraction mechanism other end can with wait to wash wall magnetism absorption or separation.

Optionally, the waterway system comprises a high-pressure water inlet module and a wastewater recovery module, wherein the high-pressure water inlet module can output high-pressure water flow, and the wastewater recovery module can recover the cleaned wastewater.

Optionally, the cleaning robot comprises a nozzle and a wastewater recovery port, wherein the nozzle is communicated with the high-pressure water inlet module to output high-pressure water flow, and the wastewater recovery port is communicated with the wastewater recovery module to output collected wastewater to the wastewater recovery module.

Optionally, the cleaning robot further includes one or more negative pressure absorbing members, each of which is connected to the waste water recovery module, and the waste water recovery module can make the negative pressure absorbing member generate negative pressure so as to absorb the waste water on the wall surface to be cleaned.

Optionally, the basket assembly further comprises a controller, the controller can control the basket to move, and the controller is installed on the basket or is arranged at intervals with the basket.

In a second aspect, an embodiment of the present application provides a cleaning method applied to a cleaning assembly, where the cleaning assembly is as described in any one of the previous embodiments, and the cleaning method includes:

Controlling the cleaning robot to be adsorbed on the wall surface to be cleaned, and cleaning the wall surface to be cleaned;

When the cleaning robot moves to an obstacle on the wall surface to be cleaned, controlling the cleaning robot to be separated from the wall surface to be cleaned and installed on the hanging basket;

controlling the hanging basket to move and cross over the obstacle on the wall surface to be cleaned;

And separating the cleaning robot from the hanging basket, controlling the cleaning robot to be adsorbed on the wall surface to be cleaned again, and continuing to clean the wall surface to be cleaned.

Optionally, the cleaning the wall surface to be cleaned comprises the steps of obtaining a mark position where the cleaning robot is cleaned but the cleaning effect does not reach a preset standard, obtaining a current working position of the cleaning robot, controlling the cleaning robot to return to the mark position for cleaning again after the cleaning of the working position is completed if the distance between the working position of the cleaning robot and the mark position is detected to be smaller than a preset value, and controlling the cleaning robot to move to the next target position in a preset path after the working position for cleaning continuously after the cleaning of the mark position is completed.

According to the embodiment of the application, the cleaning assembly realizes efficient cleaning of the complex wall surface through the cooperative operation of the waterway system, the cleaning robot and the hanging basket mechanism. The water path system is connected with the cleaning robot through a high-pressure pipeline and is responsible for providing high-pressure water flow for the cleaning robot as a cleaning medium. The cleaning robot has the capability of moving on the wall surface to be cleaned, and performs cleaning operation to remove rust, dirt and other impurities on the wall surface to be cleaned. The frame of hanging flower basket mechanism is fixed in the bearing structure of waiting to wash the wall, and the hanging flower basket links to each other with the frame, and the frame provides fixedly and support for the hanging flower basket, makes the hanging flower basket can remove for waiting to wash the wall. When the cleaning robot moves to the vicinity of the obstacle, the hanging basket is in butt joint with the cleaning robot through position adjustment, the carrying cleaning robot is temporarily separated from the wall surface to be cleaned, and then the cleaning robot is transferred to the other side of the obstacle through actions such as lifting or translation, so that the cleaning robot can be adsorbed on the wall surface to be cleaned again and the cleaning operation can be continued. The obstacle means a structure or an object such as a wind-resistant ring, a reinforcing rib, a pipe, etc., which may prevent the cleaning robot from moving normally on the wall surface to be cleaned. By the aid of the hanging basket, the cleaning robot can conveniently cross the obstacle, continuous cleaning of the wall surface to be cleaned is guaranteed, cleaning interruption caused by the fact that the cleaning robot cannot cross the obstacle is avoided, and accordingly cleaning efficiency of the wall surface to be cleaned is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the application and that other drawings may be obtained from these drawings without inventive effort for a person skilled in the art.

For a more complete understanding of the present application and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which like reference numerals represent like parts throughout the following description.

FIG. 1 is a schematic view of a cleaning assembly according to an embodiment of the present application;

FIG. 2 is an enlarged view of a portion A of the cleaning assembly of FIG. 1;

FIG. 3 is an enlarged view of a portion B of the cleaning assembly of FIG. 1;

FIG. 4 is a schematic view of a portion of the basket mechanism of the cleaning assembly of FIG. 1;

FIG. 5 is a schematic view of a cleaning robot in the cleaning assembly of FIG. 1;

FIG. 6 is a schematic flow chart of a cleaning method according to an embodiment of the present application;

Fig. 7 is another schematic flow chart of a cleaning method according to an embodiment of the application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present application based on the embodiments of the present application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of a cleaning assembly according to an embodiment of the present application, fig. 2 is a partially enlarged view of a portion a of the cleaning assembly shown in fig. 1, and fig. 3 is a partially enlarged view of a portion B of the cleaning assembly shown in fig. 1. The washing assembly 10 includes a waterway system 100, a washing robot 200, and a basket mechanism 300. The basket mechanism 300 comprises a rack 310 and a basket 320, wherein the rack 310 is used for being mounted on a supporting structure of the wall 400 to be cleaned, the basket 320 is mounted on the rack 310 and can move relative to the wall 400 to be cleaned, and the cleaning robot 200 can cross an obstacle on the wall 400 to be cleaned through the basket 320.

The cleaning assembly 10 of the application realizes the efficient cleaning of the complex wall surface through the cooperative operation of the waterway system 100, the cleaning robot 200 and the hanging basket mechanism 300. The waterway system 100 is connected with the cleaning robot 200 through a high-pressure pipeline and is responsible for providing high-pressure water flow for the cleaning robot 200 as a cleaning medium. The cleaning robot 200 has a capability of moving on the wall 400 to be cleaned, and performs a cleaning operation to remove rust, dirt, and the like impurities on the wall to be cleaned.

The frame 310 of the basket mechanism 300 is fixed to a supporting structure of the wall 400 to be cleaned, the basket 320 is connected to the frame 310, the frame 310 provides fixing and supporting for the basket 320, and the basket 320 can move relative to the wall 400 to be cleaned. The basket 320 may assist the cleaning robot 200 to cross an obstacle, i.e., a structure or object such as a wind-resistant ring, a reinforcing bar, a pipe, etc., which may prevent the cleaning robot 200 from moving normally on the wall 400 to be cleaned, transferring the cleaning robot 200 from one side of the obstacle to the other side. When the cleaning robot 200 moves near the obstacle, the hanging basket 320 is in butt joint with the cleaning robot 200 through position adjustment, the carrying cleaning robot 200 is temporarily separated from the wall 400 to be cleaned, and then moves to the other side of the obstacle through actions such as lifting or translation, so that the cleaning robot 200 can be adsorbed on the wall 400 to be cleaned again and continue cleaning operation, continuous cleaning of the wall 400 to be cleaned is ensured, interruption of cleaning due to incapability of the cleaning robot 200 crossing the obstacle is avoided, and cleaning efficiency of the wall 400 to be cleaned is improved. In addition, the hanging basket 320 can also be provided with operators to carry out manual auxiliary cleaning on dead angles which are difficult to be covered by the robot by matching with the handheld spray gun, so that the omnibearing coverage is realized.

Illustratively, the wall 400 to be cleaned is, for example, an outer wall of a tank, and the cleaning robot 200 is adsorbed to the outer wall of the tank and moves along a preset path in an initial stage, and efficiently removes rust by high-pressure water injection. When the cleaning robot 200 travels to reach an obstacle such as a wind-resistant ring, the basket 320 is controlled to move to a position where the cleaning robot 200 is located, the cleaning robot 200 is temporarily separated from the outer wall of the storage tank, the cleaning robot 200 is mounted by the basket 320, the obstacle such as the wind-resistant ring is bypassed to the other side, and the cleaning robot 200 re-adsorbs the outer wall of the storage tank and continues the cleaning operation. Through the flexible movement and carrying function of the basket 320, the cleaning robot 200 can quickly and safely cross over the wind-resistant ring and other obstacles, ensure the continuity of cleaning operation, and avoid the problems of operation interruption or low efficiency caused by the obstacles.

In some embodiments, the rack 310 is mounted on top of the supporting structure, and is capable of moving along the circumference of the wall 400 to be cleaned, and driving the cleaning robot 200 to move.

Illustratively, the wall 400 to be cleaned is exemplified by an outer wall of a tank, and the rack 310 may be installed at the top of the tank and connected to the top of the tank by a fixing device such as a wire rope, etc., to ensure the stability of the rack 310 during operation. The design of rack 310 at the top makes it possible to utilize the structure of the tank fully, provide one stable operation platform for basket 320 and cleaning robot 200, and facilitate the movement of rack 310 in the circumferential direction of the tank to realize the comprehensive cleaning operation of the tank. The rack 310 may include a moving device, such as a track or a pulley system, and the rack 310 can move along the circumferential direction of the outer wall of the storage tank by using the moving device, so that the rack 310 has the capability of moving 360 ° around the outer wall of the storage tank, and drives the basket 320 and the cleaning robot 200 to move synchronously, so that the cleaning robot 200 can easily cross over an obstacle (such as a wind-resistant ring, a reinforcing rib, etc.) through the basket 320, and can continuously work on the wall surface of the storage tank. In the cleaning process, the 360-degree circumferential movement capability of the hanging basket 320 is combined with the autonomous cleaning capability of the cleaning robot 200, so that the upper and lower areas of the wind-resistant ring can be thoroughly cleaned, and the problem of operation interruption of the cleaning robot 200 caused by obstacles is avoided.

Referring to fig. 4 in combination, fig. 4 is a schematic view of a part of a basket mechanism in the cleaning assembly shown in fig. 1. In some embodiments, the basket mechanism 300 further includes a first connection mechanism 330, the first connection mechanism 330 being fixedly connected to the basket 320, the first connection mechanism 330 being capable of being detachably connected to the wall 400 to be cleaned to fix the basket 320 to the wall 400 to be cleaned.

In this embodiment, the basket mechanism 300 further includes a first connection mechanism 330, which functions to detachably connect the basket 320 to the wall 400 to be cleaned. In the cleaning operation, the basket 320 needs to carry the cleaning robot 200 or an operator, and thus must be firmly fixed to the sidewall of the tank through the first connection mechanism 330 to prevent sloshing or falling off, thereby securing the stability and safety of the cleaning operation. The first connection means 330 may for example be rigidly connected to the basket 320 by mechanical means (e.g. bolts, welding, etc.). The other end of the first connection mechanism 330 is designed to be detachably connected, and can be quickly connected and separated with the wall 400 to be cleaned, so that the hanging basket 320 can be quickly detached and moved to the next operation area after stably completing the operation in a certain area, and the operation efficiency is improved. For example, when crossing an obstacle (such as an anti-wind ring), the hanging basket 320 is separated from the wall 400 to be cleaned by the first connection mechanism 330, so that the hanging basket 320 can flexibly bypass the obstacle, and after bypassing the obstacle, the hanging basket 320 can be connected with the wall 400 to be cleaned by the first connection mechanism 330, so that the hanging basket 320 can flexibly move between different operation areas, adapt to the complex structure of the wall 400 to be cleaned, and ensure the continuity of cleaning operation.

In some embodiments, the first connection mechanism 330 includes one or more cylinder magnetic attraction mechanisms 331, one end of each cylinder magnetic attraction mechanism 331 is fixedly connected with the hanging basket 320, and the other end of each cylinder magnetic attraction mechanism 331 can be magnetically attracted to or separated from the wall 400 to be cleaned.

By way of example, the cylinder magnet 331 may include a cylinder and an electromagnet. The cylinder is used for pushing the electromagnet to be contacted with the wall 400 to be cleaned, and the electromagnet is adsorbed on the side wall through magnetic force. When the basket 320 moves to the target working area, the cylinder of the cylinder magnetic attraction mechanism 331 starts to act, pushing the electromagnet to be in close contact with the wall 400 to be cleaned and achieving attraction, so that a rigid connection is formed. When the cleaning robot 200 moves to meet an obstacle, the cylinder is retracted, the electromagnet is separated from the sidewall, and the basket 320 is free to move to the next working area. The design of the cylinder magnetic attraction mechanism 331 can enable the hanging basket 320 to be quickly connected with or separated from the wall 400 to be cleaned.

The first connection mechanism 330 may include one or more cylinder magnet mechanisms 331 to achieve single point or multiple point adsorption. The design of multi-point adsorption can effectively disperse stress, and the connection instability or falling risk caused by single-point adsorption is avoided. For example, the first connecting mechanism 330 may be provided with four air cylinder magnetic attraction mechanisms 331 to form four-point adsorption, so that the connection between the hanging basket 320 and the wall 400 to be cleaned can be ensured to be firm and reliable, and the condition of shaking or falling off in the high-altitude operation process can be effectively avoided.

Illustratively, when the cleaning robot 200 is cleaning the outer wall of the storage tank and moves to one side reaching the wind-resistant ring, the basket 320 is connected with the outer wall of the storage tank through the air cylinder magnetic mechanism 331 to form a stable working platform. The cleaning robot 200 is temporarily mounted on the basket 320, and then the basket 320 moves to the other side of the wind-resistant ring, and the cleaning robot 200 is again attracted to the side wall of the storage tank by the electromagnet, and the cleaning operation is continued. For dead angle areas (such as wind-resistant ring surfaces) which are difficult to be covered by the cleaning robot 200, the hanging basket 320 can be fixed on the side wall of the storage tank through the air cylinder magnetic attraction mechanism 331, and operators can use the handheld spray gun to clean finely in the hanging basket 320. The design of the cylinder magnetic attraction mechanism 331 enables the hanging basket 320 to rapidly move between different operation areas, meanwhile, stability of an operation platform is ensured, and flexibility and safety of cleaning operation are remarkably improved.

In some embodiments, waterway system 100 includes high-pressure water intake module 110 and wastewater recovery module 120, high-pressure water intake module 110 being capable of outputting a high-pressure water stream, and wastewater recovery module 120 being capable of recovering the cleaned wastewater.

The high-pressure water inlet module 110 in this embodiment is configured to output a high-pressure water flow and deliver the high-pressure water flow to the cleaning robot 200. The high pressure water flow is sprayed to the wall 400 to be cleaned through the nozzle 210 of the cleaning robot 200, and the impact force of the high pressure water flow is used to remove the impurities such as rust, dirt, etc. The high pressure water inlet module 110 may include a high pressure water pump, a high pressure water pipe, and a control valve, and the high pressure water pump may raise the normal water pressure to a high pressure state and deliver the high pressure water to the cleaning robot 200 through the high pressure water pipe. The function of the wastewater recovery module 120 is to recover wastewater generated during the cleaning process, and to prevent environmental pollution caused by direct discharge of wastewater. Illustratively, the wastewater recovery module 120 may also filter, precipitate, etc. the recovered wastewater to remove impurities and pollutants therein, so that the wastewater meets the standard of recycling, and accords with the concept of green environmental protection. For example, when the cleaning robot 200 needs to cross an obstacle such as a wind-resistant ring, the high-pressure water inlet module 110 and the wastewater recovery module 120 of the waterway system 100 may be suspended or may be continuously operated, so that the continuity of the cleaning operation is ensured.

Referring to fig. 5 in combination, fig. 5 is a schematic structural view of a cleaning robot in the cleaning assembly shown in fig. 1. In some embodiments, the cleaning robot 200 includes a nozzle 210 and a wastewater recovery port, the nozzle 210 communicating with the high pressure water intake module 110 to output a high pressure water flow, and the wastewater recovery port communicating with the wastewater recovery module 120 to output collected wastewater to the wastewater recovery module 120.

In this embodiment, the nozzle 210 is connected to the high-pressure water inlet module 110 through a high-pressure water pipeline, and high-pressure water is sprayed from the nozzle 210 to form a high-pressure water column, so as to directly impact the rust and dirt on the wall 400 to be cleaned, thereby more effectively removing the rust and dirt. For example, the spray angle and pressure of the water flow can be adjusted according to the cleaning requirements to adapt to the cleaning tasks of different areas. The waste water recovery port can be communicated with the waste water recovery module 120 through the recovery pipeline, and waste water generated in the cleaning process can be timely sucked into the recovery pipeline through the waste water recovery port and is conveyed to the waste water recovery module 120, so that the environment pollution caused by waste water is avoided, and dust pollution is also reduced.

In some embodiments, the cleaning robot 200 further includes one or more negative pressure suction members, each of which is connected to the waste water recovery module 120, and the waste water recovery module 120 is capable of causing the negative pressure suction members to generate negative pressure to be sucked to the sidewall of the tank.

Illustratively, the negative pressure suction member may include a suction cup and a negative pressure generating device (e.g., a vacuum pump). The negative pressure absorbing member can be connected with the waste water recovery module 120 through a recovery pipeline, and the negative pressure absorbing member generates negative pressure through a negative pressure generating device (such as a vacuum pump), so that on one hand, the generated negative pressure can absorb waste water generated in the cleaning process back from the wall 400 to be cleaned, and the waste water is conveyed to the waste water recovery module 120 through the recovery pipeline, so that the cleaning and environmental protection of the working environment are ensured. On the other hand, the generated negative pressure can enable the suction cup to be firmly adsorbed on the wall 400 to be cleaned, so that the stability of the cleaning robot 200 in the operation process is ensured.

In some embodiments, the cleaning robot 200 includes one or more second connection structures, each of which has one end detachably connected to the sidewall of the tank to fixedly connect or disconnect the cleaning robot 200 to or from the sidewall of the tank.

In this embodiment, the cleaning robot 200 can be firmly fixed to the wall 400 to be cleaned during cleaning operation by the second connection structure, so as to ensure the stability of the robot in high-altitude operation, and meanwhile, the connection mode is detachable, so that the robot can flexibly move between different operation areas. The second connection structure generally includes an adsorption device and a connection mechanism. The suction means may for example comprise a magnetic suction or vacuum chuck, and the connection means may for example comprise a cylinder or a mechanical arm.

The cleaning robot 200 may be equipped with one or more second connection structures to form single-point or multi-point adsorption, and the design of multi-point adsorption can effectively disperse stress, so as to avoid the risk of unstable connection or falling off caused by single-point adsorption, and ensure the stability of the robot on the wall 400 to be cleaned.

In the cleaning process, the cleaning robot 200 can be firmly fixed on the side wall of the storage tank through the second connection structure, so that the stability of the robot in high-pressure water injection is ensured, and shaking or falling caused by water flow impact is avoided. The adsorption device (such as a magnetic attraction or a vacuum chuck) of the second connection structure is in contact with the wall 400 to be cleaned and is adsorbed on the wall by magnetic force or negative pressure to form a rigid connection. When the cleaning robot 200 needs to cross an obstacle such as an anti-wind ring, the second connection structure can be quickly detached, so that the cleaning robot 200 is temporarily separated from the wall 400 to be cleaned, and then moves to the other side of the obstacle through the hanging basket mechanism 300, and the cleaning robot 200 can be adsorbed to the wall 400 to be cleaned again through the second connection structure to continue operation. The detachable design of the second connection structure enables the cleaning robot 200 to flexibly move between different operation areas, adapting to the complex structure of the wall 400 to be cleaned.

In some embodiments, the basket 320 assembly further includes a controller capable of controlling movement of the basket 320, the controller being mounted to the basket 320, or the controller being spaced from the basket 320.

In this embodiment, the controller precisely controls the lifting and horizontal movement of the basket 320 and the circumferential movement of the wall 400 to be cleaned, thereby covering the entire area of the wall 400 to be cleaned. For example, the controller may implement vertical lifting of the basket 320 by controlling a lifting device (e.g., a motor and a wire rope) so that the basket 320 can reach different height areas of the wall 400 to be cleaned. The controller may also control the movement means (e.g., a rail or pulley system) of the rack 310 to horizontally move the basket 320 in the circumferential direction of the wall 400 to be cleaned, so that the basket 320 can cover the entire area of the wall 400 to be cleaned. Illustratively, during cleaning of the tank outer wall, an operator may raise the basket 320 from the ground to the working area of the tank outer wall via the controller. When the cleaning robot 200 needs to cross the wind-resistant ring, an operator moves the basket 320 to a position corresponding to the cleaning robot 200 through the controller, and temporarily mounts the cleaning robot 200 on the basket 320. The controller controls the basket 320 to move around the wind resistant ring and then the cleaning robot 200 is replaced on the outer wall of the tank to continue the operation. The controller ensures that the cleaning operation can safely and efficiently complete the cleaning task by precisely controlling the position and movement of the basket 320.

Illustratively, the controller may be directly mounted on the basket 320, and an operator may adjust the position and movement state of the basket 320 in real time within the basket 320 through the controller, so that the operation is more intuitive and convenient. In another example, the controller may be separate from the basket 320, and the controller may receive remote commands via a wireless communication module (e.g., bluetooth, wi-Fi, or radio frequency) and the operator may control the movement of the basket 320 outside of a safe distance.

Referring to fig. 6, fig. 6 is a flow chart of a cleaning method according to an embodiment of the application. The cleaning method of the present embodiment is applied to the cleaning assembly, and the cleaning assembly is any one of the cleaning assemblies described in the foregoing embodiments, and will not be described herein. The cleaning method of the embodiment comprises the following steps:

In 501, a cleaning robot is controlled to adsorb on a wall surface to be cleaned and clean the wall surface to be cleaned.

Before the cleaning operation starts, the nozzle of the cleaning robot can be connected with the high-pressure water inlet module through the high-pressure water pipeline, and the waste water recovery port of the cleaning robot is communicated with the waste water recovery module through the recovery pipeline. The cleaning assembly further comprises a control system, and the control system can preset parameters such as a preset path, motion parameters, water flow injection angle and pressure, negative pressure intensity, cleaning time, recovery flow, filtering mode and the like of the cleaning robot. By way of example, the cleaning robot can be remotely monitored and controlled through the control system, so that the cleaning operation efficiency is improved.

The cleaning robot is adsorbed on the wall surface to be cleaned, and the cleaning robot can be adsorbed on the wall surface to be cleaned through one or more negative pressure adsorption parts, for example, four negative pressure adsorption parts can be adopted to be adsorbed on the outer wall of the storage tank, so that the stability of the cleaning robot in high-altitude operation is ensured. In another example, the cleaning robot may be further detachably attached to the wall surface to be cleaned through one or more second connection structures (such as a magnetic attraction structure or a suction disc structure) to ensure stability of the cleaning robot in high-altitude operation.

In addition, the basket assembly needs to be installed, commissioned and started. The machine frame is fixed on the top of a wall surface to be cleaned through a steel wire rope, the steel wire rope extends to the ground from the top, a hanging basket on the ground is connected with the machine frame through the steel wire rope and is connected with a control cable, then, the hanging basket is started to perform no-load operation test, whether the lifting function of the hanging basket and the magnetic suction mechanism of the air cylinder work normally or not is checked through remote control, and if abnormality (such as unsmooth lifting or incapability of being adsorbed normally by the magnetic suction mechanism of the air cylinder) is found, the hanging basket is placed on the ground to be checked and maintained until all problems are solved, normal operation of the hanging basket is ensured, and reliable support is provided for subsequent cleaning operation.

In the cleaning process, the cleaning robot cleans along a preset path, high-pressure water flow is sprayed through a high-pressure water nozzle, and rust and dirt on the outer wall of the storage tank are removed by utilizing the impact force of the high-pressure water flow. The high-pressure water is provided by a high-pressure water inlet module and is conveyed to the cleaning robot through a high-pressure pipeline. The wastewater recovery module 120 synchronously recovers wastewater generated in the cleaning process, and ensures the cleaning and environmental protection of the operation environment.

In 502, when the cleaning robot moves to an obstacle on the wall surface to be cleaned, the cleaning robot is controlled to be separated from the wall surface to be cleaned and mounted on the basket.

The control system comprises an image feedback processing module, the image feedback processing module can monitor the position of the robot in real time, when the cleaning robot is detected to move to the vicinity of an obstacle (such as an anti-wind ring and a reinforcing rib), the hanging basket is controlled to move to the position of the cleaning robot, the cleaning robot is controlled to be separated from the wall surface to be cleaned, for example, a negative pressure generating device of a negative pressure absorbing part can be closed, the sucker is separated from the wall surface to be cleaned, and then the cleaning robot is temporarily carried on the hanging basket. The action of the cylinder magnetic attraction mechanism of the hanging basket can enable the hanging basket to be stably connected with the wall surface to be cleaned, and the stability of the cleaning robot in the transferring process is ensured.

In 503 the basket is controlled to move and cross over the obstacle on the wall to be cleaned.

Lifting devices (such as motors and steel wire ropes) of the hanging basket assemblies and moving devices (such as rails or pulley systems) control lifting and horizontal movement of the hanging basket and circumferential movement of the hanging basket along the wall surface to be cleaned, so that the cleaning robots are driven to synchronously move, and the cleaning robots are ensured to be capable of crossing over convenient obstacles.

The cleaning robot can be controlled to move to a position close to the wind-resistant ring when the cleaning robot is used for cleaning the outer wall of the storage tank and completing the cleaning task of the lower-layer operation area of the wind-resistant ring and the upper-layer cleaning operation needs to be carried out across the wind-resistant ring. At this time, the hanging basket moves to the position of the cleaning robot, and the magnetic cylinder adsorption mechanism of the hanging basket acts and is adsorbed on the outer wall of the storage tank to ensure stability. After the connection between the hanging basket and the outer wall of the storage tank is confirmed to be firm, the cleaning robot is controlled to be separated from the outer wall of the storage tank, and the cleaning robot is temporarily loaded on the hanging basket. Subsequently, the basket is controlled to rise over the wind-resistant ring. When the hanging basket passes over the wind-resistant ring and reaches a proper position, the cleaning robot is adsorbed on the wall surface of the storage tank again, and cleaning operation is continued. In contrast, when the cleaning robot needs to descend from the upper working area to the lower working area across the wind-resistant ring, the hanging basket is controlled to move to the position where the cleaning robot is located, the cleaning robot is controlled to be separated from the outer wall of the storage tank, the cleaning robot is temporarily mounted on the hanging basket, then the hanging basket is controlled to descend, the cleaning robot is controlled to be adsorbed to the working area of the lower layer of the wind-resistant ring again after passing through the wind-resistant ring, and cleaning work of the lower working area is continued.

At 504, the cleaning robot is separated from the hanging basket, and the cleaning robot is controlled to be adsorbed on the wall surface to be cleaned again, and the wall surface to be cleaned is continuously cleaned.

After the hanging basket drives the cleaning robot to cross the obstacle, the cleaning robot can be separated from the hanging basket, for example, the cleaning robot is detached from the hanging basket, the negative pressure adsorption piece is restarted to be adsorbed on the wall surface to be cleaned, and the stability of the cleaning robot in the operation process is ensured. The cleaning robot continues to clean the wall surface to be cleaned along a preset path, the high-pressure water nozzle sprays high-pressure water flow, and the wastewater recovery module synchronously recovers wastewater.

In this embodiment, the hanging basket can also carry an operator, and is matched with the handheld spray gun to manually assist in cleaning the dead angle area which is difficult to be covered by the robot. In the process of cleaning the outer wall of the storage tank, the operation of the cleaning robot and the manual operation of the hanging basket are efficiently cooperated and mutually noninterfered, the cleaning robot performs automatic cleaning along a preset path, rust and dirt on the outer wall of the storage tank are efficiently removed by utilizing high-pressure water injection, meanwhile, the hanging basket carries operators, the manual auxiliary cleaning is performed on dead angle areas (such as the upper part of the wind-resistant ring) which are difficult to be covered by the robot by matching with the handheld spray gun, the two operators can perform relative operation around synchronous clockwise or anticlockwise movement, or the cleaning robot operates below the wind-resistant ring, the manual hanging basket operates above the wind-resistant ring, an operation mode cooperated up and down is formed, the cleaning robot and the manual operation are mutually cooperated, the advantages are complemented, the whole coverage of the cleaning operation is ensured, the operation interruption caused by obstacles or dead angles is avoided, the cleaning efficiency is further improved, and the cleaning robot is suitable for complex cleaning tasks of the outer wall of the large storage tank.

Referring to fig. 7, fig. 7 is a schematic flow chart of a cleaning method according to an embodiment of the application. In some embodiments, the cleaning robot further comprises during cleaning:

in 601, a marking position where the cleaning robot has cleaned but the cleaning effect does not reach a preset standard is obtained;

In the cleaning operation process, the image feedback processing module can acquire cleaning effect data of the wall surface to be cleaned in real time and compare the cleaning effect data with a preset standard. If the cleaning effect of a location does not meet a predetermined criteria, such as rust or dirt, the location may be marked on a predetermined path and set as a marked location. The location information of the marker locations, such as coordinates or path nodes, may be stored in a database of the control system.

In 602, acquiring a current working position of the cleaning robot;

in 603, if it is detected that the distance between the working position of the cleaning robot and the marking position is smaller than the preset value, the cleaning robot is controlled to return to the marking position for cleaning again after cleaning of the working position is completed.

For example, the current working position of the cleaning robot can be obtained in real time through an image feedback processing module and/or a positioning sensor (such as a GPS or a laser sensor). And calculating the distance between the operation position of the cleaning robot and the marking position, and triggering the cleaning operation again if the distance is smaller than a preset value. For example, the control module may generate a return path directing the cleaning robot to accurately return to the marking location along the shortest path or the most appropriate path after cleaning of the work location is completed. After the cleaning robot reaches the marking position, the high-pressure water flow is sprayed through the high-pressure water nozzle to clean the marking area again, and the image feedback processing module can monitor the secondary cleaning effect in real time to ensure that the cleaning effect reaches the preset standard. After the secondary cleaning of the marked position is completed, the image feedback processing module verifies the cleaning effect, and if the cleaning effect reaches the preset standard, the marking of the position is canceled. The preset value can be adjusted according to specific requirements of the cleaning task, so that timeliness and effectiveness of secondary cleaning are guaranteed.

At 604, after the re-cleaning of the marked area is completed, the cleaning robot is controlled to move to the next target position after the working position in the preset path for further cleaning.

The control module generates a running path from the marking position to the next target position, and after the cleaning robot is guided to finish cleaning the marking position, cleaning operation is continued according to the preset path.

In this embodiment, the cleaning effect of the cleaning robot can be continuously monitored, and if a new position which does not reach the standard is found, steps 601 to 604 are repeated to ensure that each position of the wall surface to be cleaned can be thoroughly cleaned. In the embodiment, through real-time detection and marking of the unqualified position and secondary cleaning, each area of the outer wall of the storage tank can be thoroughly cleaned, and the control module can automatically plan a return path and continue to clean the path, so that manual intervention is reduced, the automation degree and efficiency of cleaning operation are improved, and the intelligent level of the cleaning operation is improved.

In some embodiments, the current position and the actual running path of the cleaning robot can be acquired in real time through a camera or a laser sensor, the deviation between the actual running path and the preset path of the cleaning robot is calculated, if the deviation exceeds a deviation threshold value, the path deviation correcting operation is triggered, and the path deviation correcting operation can comprise the adjustment of parameters such as the running direction, the speed or the steering angle of the cleaning robot, so that the cleaning robot can return to the preset path, and the cleaning order is ensured.

Illustratively, before the cleaning operation begins, an operator sets a preset path for the cleaning robot via the control system. The preset path is planned based on the structure of the wall to be cleaned and the cleaning requirement, for example, the preset path is used for cleaning upwards along the vertical path from the bottom of the wall to be cleaned. In the cleaning operation process, the image feedback processing module acquires the current operation position and the actual running path of the robot in real time, can display the current operation position and the actual running path on a display screen to facilitate real-time monitoring, and if the deviation of the robot from the preset path is detected to exceed a deviation threshold value, if the running deviation is caused by uneven wall surface to be cleaned, a deviation correcting instruction is generated, and the control module adjusts the motion parameters of the cleaning robot to enable the cleaning robot to return to the correct preset path. When the cleaning robot encounters an obstacle (such as an anti-wind ring), the cleaning robot is controlled to bypass the obstacle through the hanging basket and continuously clean according to a preset path, and the control system supports path planning, real-time monitoring and automatic correction of cleaning operation, so that the intelligent level of the cleaning operation is remarkably improved.

In addition, the cleaning assembly and the cleaning method can be further expanded to other operation fields by carrying different operation equipment (such as paint spraying equipment or welding equipment), such as paint spraying and corrosion prevention treatment on the cleaned wall surface or welding and repairing the damaged wall surface, thereby realizing multifunctional integrated operations such as rust removal, corrosion prevention, repair and the like, remarkably improving the applicability and the operation efficiency, and being also suitable for maintenance and maintenance tasks of a large steel structure.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments. The embodiments, the implementation modes and the related technical features of the application can be mutually combined and replaced under the condition of no conflict.

While the cleaning assembly 10 and the cleaning method provided in the embodiments of the present application have been described in detail, specific examples are provided herein to illustrate the principles and embodiments of the present application, and the description of the examples is only for aiding in the understanding of the method and its core concept, and the present application should not be construed as being limited thereto, since modifications may be made to the embodiments and application scope of the present application by those skilled in the art in light of the present teachings.

Claims (10)

1. A cleaning assembly, comprising:

a waterway system;

The cleaning robot is connected with the waterway system and can be matched with the waterway system to clean the wall surface to be cleaned;

The hanging basket mechanism comprises a rack and a hanging basket, wherein the rack is used for being arranged on a supporting structure of the wall surface to be cleaned, and the hanging basket is arranged on the rack and can move relative to the wall surface of the wall surface to be cleaned;

Wherein the cleaning robot can cross over an obstacle on the wall surface to be cleaned through the hanging basket.

2. The cleaning assembly of claim 1, wherein the frame is mounted on top of the support structure and is movable along the circumference of the wall to be cleaned and moves the cleaning robot.

3. The cleaning assembly of claim 1, wherein the basket mechanism further comprises a first connection mechanism fixedly connected to the basket, the first connection mechanism being detachably connectable to the wall to be cleaned to secure the basket to the wall to be cleaned.

4. A cleaning assembly according to claim 3 wherein the first connection means comprises one or more cylinder magnetic attraction means, one end of each cylinder magnetic attraction means being fixedly connected to the basket and the other end of each cylinder magnetic attraction means being magnetically attracted to or separated from the wall to be cleaned.

5. The cleaning assembly of claim 1, wherein the waterway system includes a high pressure water inlet module capable of outputting a high pressure water stream and a wastewater recovery module capable of recovering cleaned wastewater.

6. The cleaning assembly of claim 5, wherein the cleaning robot includes a nozzle in communication with the high pressure water intake module to output a high pressure water flow and a wastewater recovery port in communication with the wastewater recovery module to output collected wastewater to the wastewater recovery module.

7. The cleaning assembly of claim 6, wherein the cleaning robot further comprises one or more negative pressure suction members, each of the negative pressure suction members being connected to the waste water recovery module, the waste water recovery module being capable of causing the negative pressure suction members to generate a negative pressure for suction against the wall surface to be cleaned.

8. The washing assembly of claim 1, further comprising a controller capable of controlling movement of the basket, the controller being mounted to the basket or the controller being spaced from the basket.

9. A cleaning method applied to a cleaning assembly, wherein the cleaning assembly is as claimed in any one of claims 1 to 8, the cleaning method comprising:

Controlling the cleaning robot to be adsorbed on the wall surface to be cleaned, and cleaning the wall surface to be cleaned;

When the cleaning robot moves to an obstacle on the wall surface to be cleaned, controlling the cleaning robot to be separated from the wall surface to be cleaned and installed on the hanging basket;

controlling the hanging basket to move and cross over the obstacle on the wall surface to be cleaned;

And separating the cleaning robot from the hanging basket, controlling the cleaning robot to be adsorbed on the wall surface to be cleaned again, and continuing to clean the wall surface to be cleaned.

10. The cleaning method according to claim 9, wherein the cleaning the wall surface to be cleaned includes:

acquiring a marked position which is cleaned by the cleaning robot but has a cleaning effect which does not reach a preset standard;

Acquiring the current working position of the cleaning robot;

If the distance between the working position and the marking position of the cleaning robot is detected to be smaller than a preset value, controlling the cleaning robot to return to the marking position for cleaning again after cleaning of the working position is completed;

and after the cleaning of the marked position is finished again, controlling the cleaning robot to move to the next target position after the working position in the preset path to continue cleaning.