CN210354583U - Wall top cleaning unmanned aerial vehicle - Google Patents
Wall top cleaning unmanned aerial vehicle Download PDFInfo
- Publication number
- CN210354583U CN210354583U CN201920711960.7U CN201920711960U CN210354583U CN 210354583 U CN210354583 U CN 210354583U CN 201920711960 U CN201920711960 U CN 201920711960U CN 210354583 U CN210354583 U CN 210354583U
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- wall
- cleaning
- controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 37
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 24
- 230000003749 cleanliness Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 238000001179 sorption measurement Methods 0.000 abstract description 3
- 238000010521 absorption reaction Methods 0.000 abstract 1
- 238000013461 design Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a wall top cleaning unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, a remote control system for controlling the unmanned aerial vehicle to fly, a power supply, a support frame connected with the unmanned aerial vehicle body, a roller arranged above the support frame, a steering engine for controlling the left and right rotation of the roller and a direct current motor for controlling the front and back movement; the supporting frame is also provided with a cleaning component for cleaning the top of the wall; the device utilizes the screw on the unmanned aerial vehicle body to produce lift and hugs closely the wall crown. After waiting that unmanned aerial vehicle adsorbs the wall crown, make the device freely remove at the wall crown through cell-phone APP control roller again. The utility model discloses use the rotatory lift that produces of screw of unmanned aerial vehicle itself as the adsorption affinity, four wheels of unmanned aerial vehicle top provide the control of the power of advancing and the direction after the absorption, and whole device removes in a flexible way and can very easily keep steady state, has avoided controlling for keeping the complicacy that unmanned aerial vehicle stabilized flight state goes on, accomplishes cleanly under stable moving state.
Description
Technical Field
The utility model relates to a be used for abluent cleaning device of building wall, especially relate to an improved generation unmanned aerial vehicle cleaning device for cleaning building wall crown.
Background
With the rapid development of society, more and more buildings are used as floors, wherein a large number of large buildings with dome designs, particularly commercial buildings, high-speed railway stations, bus station airports and the like are not lacked, the floor-to-floor designs of the buildings are very high, and although the designs are very atmospheric and beautiful, the buildings are difficult to clean. The existing wall top cleaning mainly depends on traditional manual cleaning, adopts a cleaning wiper with an extensible handle or an elevator and the like, is time-consuming and labor-consuming, has low efficiency and has great danger in high-altitude operation.
With the rapid development of the unmanned aerial vehicle industry. The research of multi-rotor unmanned aerial vehicles is also gradually becoming the focus of unmanned aerial vehicle research. The method also has wide application prospect in military and civil fields, such as low-altitude reconnaissance, meteorological survey, aerial photography, traffic patrol, river detection and the like. Along with unmanned aerial vehicle uses more and more extensively, design a clean unmanned aerial vehicle of wall crown of a section high efficiency, convenient, safety is imperative. Chinese patent application No. 201710293244.7 discloses an unmanned aerial vehicle for cleaning buildings, which is designed to clean only the side of the wall and not the top of the wall. Some documents mention that the special arm that has cleaning device of installation on unmanned aerial vehicle, implement the cleanness to building wall or wall crown through the flight of remote control unmanned aerial vehicle, but in fact unmanned aerial vehicle flight needs certain manipulation skill, let alone accomplish the cleaning action in flight control, the effect of water spray or application of force to the wall all can lead to unmanned aerial vehicle's flight state extremely unstable, and then influences the cleaning action for real clean effect and efficiency are all not ideal.
Disclosure of Invention
The purpose of the invention is as follows: to above problem, the utility model provides a clean unmanned aerial vehicle in top of wall, can be fast and stable carry out effective cleanness to the building top of wall.
The technical scheme is as follows: the utility model adopts the technical scheme that the wall top cleaning unmanned aerial vehicle comprises an unmanned aerial vehicle body, a remote control system and a power supply, wherein the remote control system is used for controlling the unmanned aerial vehicle to fly, the unmanned aerial vehicle body is provided with a propeller, the device also comprises a support frame connected with the unmanned aerial vehicle body, a roller arranged above the support frame, a driving motor used for controlling the rotation of the roller and a roller control module; the device also comprises a mobile device for remotely controlling the roller; the device utilizes the propeller to generate lift force to cling to the top of the wall, and the device is moved on the top surface of the wall through the moving equipment; and the supporting frame is provided with a cleaning assembly for cleaning the top of the wall. The gyro wheel includes direction wheel and drive wheel, the motor is including the steering wheel that is used for controlling direction wheel rotation direction and the direct current motor that is used for controlling the drive wheel rotation. The device also comprises a lifting frame which is arranged below the supporting frame and used for lifting the stabilizing device.
In one embodiment, the cleaning assembly is a high-pressure water gun, and a water source is guided into the high-pressure water gun through a high-pressure water pipe and a high-pressure water pump and is sprayed out.
In one embodiment, the apparatus further comprises a camera for observing the cleanliness of the wall top. The mobile device adopts a smart phone, and images transmitted by the camera can be seen in real time through a display screen of the smart phone.
In one embodiment, the power supply of device sets up on the unmanned aerial vehicle body for supply power for unmanned aerial vehicle body and gyro wheel. But in order to prolong the operating time of device, can select to set up the power on ground, the motor of unmanned aerial vehicle body, gyro wheel and control module with the power passes through the circuit electricity and is connected.
Has the advantages that: compared with the prior art, the utility model, have following advantage: 1. the utility model uses the lifting force generated by the rotation of the propeller of the unmanned aerial vehicle as the adsorption force, four wheels above the unmanned aerial vehicle provide the control of the advancing power and the direction after the adsorption, the whole device is flexible to move and can easily keep the stable state, the complex control for keeping the stable flying state of the unmanned aerial vehicle is avoided, the cleaning is completed in the stable moving state, when the cleaning is finished, the unmanned aerial vehicle can be controlled to directly fly to the next place needing to be cleaned, and the cleaning process is very convenient and efficient; 2. the utility model discloses be equipped with the camera, the clean condition that can real time monitoring wall crown to can adjust the clean dynamics of high-pressure squirt according to the cleanliness factor.
Drawings
FIG. 1 is a general block diagram of the present invention;
fig. 2 is a top view of the structure of the present invention;
fig. 3 is a front view of the present invention;
fig. 4 is a right side view of the present invention.
Detailed Description
The technical solution of the present invention will be further explained with reference to the accompanying drawings and examples.
Clean unmanned aerial vehicle in wall crown, as shown in fig. 1, fig. 2-4 are its three views, its overall structure includes unmanned aerial vehicle body 1 and remote control system thereof, the support frame 18 that links to each other with unmanned aerial vehicle body structure, establish at the gyro wheel of support frame 18 top, steering wheel and the direct current motor that the gyro wheel is connected respectively around with to and be used for receiving and send signal's gyro wheel control module 15. The device is still including controlling unmanned aerial vehicle at the smart mobile phone 19 of wall crown removal, installs the APP operation software that is used for control on the cell-phone 19. Four balance support 20 that have the screw on the unmanned aerial vehicle body 1 are connected fixedly with the support frame 18 of cube shape, and the top of support frame 18 is equipped with the gyro wheel, includes by steering wheel control direction's direction wheel 11 and the drive wheel 12 that provides power by direct current motor, makes the device can remove at the top of the wall carrying out clear in-process. The high pressure water gun 13 is arranged on the side surface of the support frame 18 through a connecting support, and is connected with a high pressure water pump and a water source on the ground through a high pressure water pipe 32. The water source on the ground is pumped to the water gun to be sprayed out for cleaning the top of the wall. The unmanned aerial vehicle body is including the screw, the rotatory motor 16 of control screw, and unmanned aerial vehicle body internally mounted has control system, and control system mainly includes GPS module, gyroscope module, accelerometer module, data storage module. The user on the ground can control the unmanned aerial vehicle to safely and stably arrive at the place to be cleaned by operating the remote controller 2 to start the cleaning task. Camera 14 installs at unmanned aerial vehicle's top or other can observe the regional position of wall crown, and its camera lens direction can be fixed upwards or slant upwards, also can be through installing the direction of adjusting the camera lens through cell-phone software remote control on rotatable cloud platform. The image information collected by the camera 14 is sent to the smart phone 19 for real-time display, so that an operator can observe the cleaning effect conveniently. An unmanned aerial vehicle lifting frame 17 is further arranged below the supporting frame 18, and stable lifting of the device is guaranteed.
The specific implementation mode of the whole device is as follows: the user holds the remote controller, control unmanned aerial vehicle flies to needs abluent roof position 31, and unmanned aerial vehicle produces the negative pressure through four paddle rotations, makes four gyro wheels of this clean unmanned aerial vehicle top hug closely on the roof, for preventing that the gyro wheel from meeting water at the roof and skidding simultaneously, the tire of gyro wheel adopts the reinforcing rubber plastics of similar glass fiber silk structure for this belt cleaning device is tightly adsorbed on the roof. Treat to arrive appointed place and adsorb behind the wall crown, operating personnel utilizes cell-phone APP to pass through the communication unit in wireless network connection gyro wheel control module 15, and the STM32 chip in gyro wheel control module 15 makes whole device can remove according to operator's needs at the wall crown through the gyro wheel that control PWM waveform come control the device top through the received signal. Wherein, a steering engine is arranged in the support frame between the front steering wheels 11, and two steering pull rods of the steering engine are respectively connected with the steering wheels. A direct current motor is arranged inside the supporting frame between the rear driving wheels 12 of the roller, the direct current motor is structured in a way that a large driving gear is connected with a rotating shaft and the large driving gear drives a small driven gear to be connected with two driving wheels through a connecting rod, and the direct current motor is used for realizing synchronous driving of the two rear wheels. The high pressure water gun 13 on the top of the wall may be optionally located on the side near the drive wheel 12. The arrangement can ensure that the cleaning device sprays water to the place again after walking a certain place in the advancing direction, thereby avoiding the skidding of the roller and keeping the device in a stable motion state. The high-pressure water pump is turned on, and the high-pressure water gun 13 sprays high-speed water flow to clean. Open the camera on the unmanned aerial vehicle, operating personnel can utilize cell-phone APP to observe the clean condition on roof. After unmanned aerial vehicle hugged closely needs clear position, operating personnel passes through cell-phone APP and starts back drive wheel 12 to open the high-pressure squirt and clean 13. According to the video that camera real-time transmission on the cell-phone on the unmanned aerial vehicle, the user can control unmanned aerial vehicle's removal according to the clean degree in this region. When this regional cleanness finishes, operating personnel can fly to next place that will wash through remote controller control unmanned aerial vehicle, perhaps let unmanned aerial vehicle independently return a journey. Two take-off and landing supports 17 at the bottom of the unmanned aerial vehicle can enable the aircraft to land stably. All support frames all select for use carbon-fibre composite to alleviate unmanned aerial vehicle weight.
In order to increase the operating time of device, can select to set up the power supply of whole device on ground, the motor and the control module of unmanned aerial vehicle body and gyro wheel and this power supply wired connection. In order to prevent the winding of the line body, the line can be fixed by depending on the outer side of the high-pressure water pipe. The smart phone 19 for controlling the unmanned aerial vehicle to move on the top of the wall can be replaced by other mobile devices with wireless communication functions, such as a simple manipulator (but without a real-time image transmission function), and mobile devices with display screens, such as iPad.
Claims (8)
1. The utility model provides a clean unmanned aerial vehicle in wall crown, includes the unmanned aerial vehicle body, is used for controlling its flight remote control system and power, is equipped with the screw on the unmanned aerial vehicle body, its characterized in that: the device also comprises a support frame (18) connected with the unmanned aerial vehicle body (1), rollers arranged above the support frame (18), a driving motor for controlling the rollers to rotate and a roller control module (15); the device also comprises a mobile device for remotely controlling the roller; the device utilizes the propeller to generate lift force to cling to the top of the wall, and the device is moved on the top surface of the wall through the moving equipment; and a cleaning component for cleaning the top of the wall is arranged on the supporting frame (18).
2. The wall top cleaning unmanned aerial vehicle of claim 1, wherein: the cleaning assembly is a high-pressure water gun (13), and a water source is guided into the high-pressure water gun to be sprayed out through a high-pressure water pipe (32) and a high-pressure water pump.
3. The wall top cleaning unmanned aerial vehicle of claim 1, wherein: the apparatus also includes a camera (14) for observing the cleanliness of the wall top.
4. The wall top cleaning unmanned aerial vehicle of claim 1, wherein: the mobile equipment adopts a smart phone (19).
5. The wall top cleaning unmanned aerial vehicle of claim 1, wherein: the gyro wheel includes direction wheel (11) and drive wheel (12), the motor is including the steering wheel that is used for controlling direction wheel (11) rotation direction and the direct current motor that is used for controlling drive wheel (12) to rotate.
6. The wall top cleaning unmanned aerial vehicle of claim 1, wherein: the device also comprises a lifting frame (17) which is arranged below the supporting frame (18) and used for stabilizing the lifting of the device.
7. The wall top cleaning unmanned aerial vehicle of claim 1, wherein: the power setting is used for supplying power for the device on the unmanned aerial vehicle body.
8. The wall top cleaning unmanned aerial vehicle of claim 1, wherein: the power setting is on ground, the motor of unmanned aerial vehicle body, gyro wheel and control module with the power passes through the circuit electricity and connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920711960.7U CN210354583U (en) | 2019-05-17 | 2019-05-17 | Wall top cleaning unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920711960.7U CN210354583U (en) | 2019-05-17 | 2019-05-17 | Wall top cleaning unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210354583U true CN210354583U (en) | 2020-04-21 |
Family
ID=70260606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920711960.7U Expired - Fee Related CN210354583U (en) | 2019-05-17 | 2019-05-17 | Wall top cleaning unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210354583U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998431A (en) * | 2019-05-17 | 2019-07-12 | 南京信息工程大学 | Wall top cleans unmanned plane |
| TWI747271B (en) * | 2020-05-07 | 2021-11-21 | 鎮鑫科技股份有限公司 | Safety monitoring device for building structure |
-
2019
- 2019-05-17 CN CN201920711960.7U patent/CN210354583U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998431A (en) * | 2019-05-17 | 2019-07-12 | 南京信息工程大学 | Wall top cleans unmanned plane |
| TWI747271B (en) * | 2020-05-07 | 2021-11-21 | 鎮鑫科技股份有限公司 | Safety monitoring device for building structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105799910B (en) | Photovoltaic panel monitoring cleaning air-robot system and photovoltaic panel method for cleaning | |
| CN205031188U (en) | Clean robot can fly | |
| CN109998431A (en) | Wall top cleans unmanned plane | |
| EP3126067B1 (en) | Agcfds: automated glass cleaning flying drone system | |
| CN105739524B (en) | One kind being tethered at unmanned rotary wing aircraft cluster platform system and the continuous sprinkling system of liquid | |
| CN108860637B (en) | Auxiliary take-off and landing flight platform and auxiliary take-off and landing flight method of unmanned aerial vehicle | |
| CN210354583U (en) | Wall top cleaning unmanned aerial vehicle | |
| CN106627010A (en) | Water-air amphibious unmanned aerial vehicle | |
| CN109334977A (en) | A kind of high-altitude glass curtain wall cleaning unmanned plane | |
| CN107181201A (en) | A kind of aerial barrier clearing device and system based on laser | |
| CN111404083A (en) | Power transmission line inspection robot based on comprehensive navigation and line inspection method thereof | |
| WO2020114195A1 (en) | Special service robot for high-altitude operation | |
| CN111152921A (en) | Control system of unmanned aerial vehicle capable of taking off and landing vertically | |
| CN205499327U (en) | Aerial robot system of photovoltaic board monitoring clearance | |
| CN111152919B (en) | Control method of unmanned aerial vehicle capable of taking off and landing vertically | |
| CN106005408A (en) | Wall-climbing aircraft with all-wheel-drive supporting wheels | |
| CN205998137U (en) | A kind of combination type plant protection unmanned plane | |
| CN106986026A (en) | A kind of high-altitude glass-cleaning aircraft | |
| CN207691747U (en) | Solar street light photovoltaic cell cleans flying robot | |
| CN208134620U (en) | A kind of battlefield is scouted and defence unmanned plane | |
| CN114560085B (en) | Unmanned aerial vehicle device and system for autonomous cleaning and maintenance of solar photovoltaic panel | |
| CN207384192U (en) | Unmanned plane available for cleaning high-altitude glass | |
| CN211336424U (en) | Six rotors spray unmanned aerial vehicle | |
| CN205221113U (en) | Portable companion of wrist formula flies autonomic control unmanned aerial vehicle | |
| CN212605811U (en) | Flight type spray dust removal device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200421 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |