EP0975254A2 - Commande d'un dispositif automatique de nettoyage - Google Patents

Commande d'un dispositif automatique de nettoyage

Info

Publication number
EP0975254A2
EP0975254A2 EP98928133A EP98928133A EP0975254A2 EP 0975254 A2 EP0975254 A2 EP 0975254A2 EP 98928133 A EP98928133 A EP 98928133A EP 98928133 A EP98928133 A EP 98928133A EP 0975254 A2 EP0975254 A2 EP 0975254A2
Authority
EP
European Patent Office
Prior art keywords
window
cleaning head
edge
frame
axis
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.)
Granted
Application number
EP98928133A
Other languages
German (de)
English (en)
Other versions
EP0975254B1 (fr
Inventor
Iréne DORNIER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dornier Technologie GmbH and Co KG
Original Assignee
Dornier Technologie GmbH and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Dornier Technologie GmbH and Co KG filed Critical Dornier Technologie GmbH and Co KG
Publication of EP0975254A2 publication Critical patent/EP0975254A2/fr
Application granted granted Critical
Publication of EP0975254B1 publication Critical patent/EP0975254B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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

Definitions

  • the invention relates to a method for controlling a cleaning head of an automatic cleaning device over the window surfaces of a building, the cleaning head being connected to a frame which can be moved along the facade in the horizontal direction (X direction) and in the vertical direction (Z direction) and in front a window surface can be positioned and the cleaning head can be moved relative to the frame towards the window surface to be cleaned and away (Y direction) and in the two other directions perpendicular thereto (X direction, Z direction).
  • the frame is suspended with ropes from a crane or trolley that can be moved on rails that are attached to the roof of the building.
  • the crane moves the frame from window row to window row so that the cleaning processes can be carried out there.
  • the present invention has for its object to provide a method for automatically controlling the cleaning head over the window surfaces to be cleaned.
  • control system is divided into a number of control modules which relate to the frame, the manipulator holding the cleaning head and the cleaning head itself.
  • the basic data of the building to be cleaned is recorded in a table on the basis of the construction plan, the division into columns and rows.
  • the horizontal lines represent the window position and the window geometry, while the columns indicate the vertical window lines.
  • This basic data is expediently created using a spreadsheet program or a database system.
  • the frame of the automatic cleaning device hangs - as described above - preferably on ropes on a crane or a trolley and is preferably guided in vertical rails of the building facade, ie the frame is positioned in the Z direction in the respective facade column in front of the individual windows, so there the cleaning process can be carried out.
  • the frame is threaded out of the associated vertical guide rails and moved in the X direction so that the frame can be threaded into the vertical guide rails of the next facade column.
  • the frame is positioned in front of a window on the basis of the facade data, which is preferably tabulated, in such a way that the cleaning head is preferably positioned approximately at the center of the window when it is advanced in the Y direction, that is to say when it is being delivered to the building.
  • the facade data are not critical.
  • this is done in such a way that the cleaning head is in the retracted position when the frame is positioned in front of the window so that the cleaning head can approach the middle of the window.
  • the cleaning head is placed on the window surface.
  • the cleaning head can be moved in three mutually perpendicular directions. In a preferred embodiment of the invention, this is accomplished in that the cleaning head is attached to preferably two pneumatic piston / cylinder arrangements arranged next to one another, the piston stroke executing the feed movement to the window surface.
  • piston / cylinder arrangements which can also be replaced by other suitable drives, are in turn fastened to a slide which is movably arranged on a guide rail running in the Z direction.
  • the design can be such that there are deflection rollers at each end of the guide rail, over which, for example, toothed belts run, which are attached to the slide on both sides.
  • This toothed belt is driven by an associated motor.
  • the guide rail which is referred to below as the Z axis and extends in the Z direction, is fastened to two slides which in turn are seated on two guide rails which run in the horizontal X direction and are referred to below as the X axis.
  • the drive is preferably carried out via toothed belts fastened to the slide, which run over deflection rollers and are driven by a separate drive motor for the X axis.
  • the Y-axis is preferably driven by force. This means that the cleaning head is pressed forward with a small force after activation of the Y axis and comes to a standstill when the window pane is reached.
  • the backward movement into the starting position can take place, for example, by spring force.
  • the cleaning head can slide back into the retracted starting position due to its own weight, for which purpose the pistons holding the cleaning head run somewhat obliquely upwards.
  • the Y position is monitored using a displacement measuring system arranged for this purpose.
  • the X and Z axes run to the center of the window in the edge search mode described in more detail below and remain there.
  • the cleaning head is placed on the window pane.
  • the cleaning head is now preferably moved in a straight line in the edge search mode either in the X direction or in the Z direction over the window surface until it reaches a window edge, preferably running onto a window edge.
  • the cleaning head is now preferably in an edge-follow mode associated with the Z-direction in an edge-follow mode along the window edge in an edge effective in the X-direction.
  • Search mode moves until the cleaning head hits the second window edge, with which it has reached a corner position of the window.
  • a sensor can additionally be provided which detects the reaching of the window edge and emits a signal to the control device which controls the cleaning head accordingly via the window surface.
  • a target speed for the motor assigned to the associated axis in the edge search mode the specific travel speed depending on the conditions required for the respective window pane and the distance from the expected window edge.
  • the edge search mode only one axis, the X or Z axis, is driven at the specified target speed, while the other axis is held in a fixed position. This can either be done in the edge follow mode described below or position-controlled.
  • an element of the cleaning head which comes into contact with the window edge preferably its frame, is displaced relative to the inner fixed structure of the cleaning head, for example a brush arrangement, the magnitude of this displacement being measured by a measuring or Sensor system detected and subsequently referred to as the "sensor stroke" recorded measured value is supplied to the control device.
  • the frame is preferably mounted elastically with respect to the inner fixed structure, for example by means of suitable spring devices which are effective on all four sides between the rectangular frame and the inner fixed structure.
  • the sensor stroke assigned to the respective axis can be used to determine whether the cleaning head is moving on a free surface, whether it has hit an obstacle (window edge) or whether it is moving along a window edge.
  • the preferably elastically mounted element of the cleaning head does not necessarily have to be its frame, but, for example, contact elements projecting from the frame can also be elastically displaceable or deflectable.
  • the drive of the X-axis and the Z-axis is speed-controlled, that is to say the cleaning head is moved over the disk at a predetermined target speed in an open area.
  • this setpoint speed of the cleaning head is braked to zero as a function of the displacement of the elastic frame of the cleaning head detected by the sensor stroke when it hits a window edge. It is preferred that when the sensor device of the cleaning head detects the impact on a window edge, the speed specified by the computer is reduced in proportion to the sensor stroke or sensor deflection until the axis of motion comes to a standstill. If, for example, a speed of 30% of the maximum value is specified, the drive stops at 30% of the maximum sensor stroke. It is within the scope of the invention that the ratio between the predetermined speed and the sensor stroke can also be disproportionate.
  • the cleaning head moves along a window frame up to the window frame perpendicular to it, it automatically follows the window frame in the edge-following mode, in which the cleaning head is pressed against the window frame with a predetermined force. This means that during this movement the cleaning head rests on the frame in such a way that the elastically mounted frame of the cleaning head is moved by a predetermined value, i. H. a predetermined sensor stroke, is deflected from the starting position. This sensor stroke or this elastic displacement of the frame is maintained by the associated drive motor during the movement in the direction perpendicular thereto.
  • the cleaning head When hitting a corner of the window, it is also provided that the cleaning head is pressed into the corner by enlarging the sensor stroke in both directions (X and Z directions) in such a way that the brushes of the cleaning head come close to the edge of the pane. This is done by increasing the control voltage of both axes. The actual cleaning process begins from this position in a corner of the window.
  • the cleaning head After reaching the opposite corner, the cleaning head, for example, following the vertical edge in the edge-follow mode, while the drive of the Z-axis took place in edge-find mode, the Z-axis drive now goes into the edge-follow mode while the X-axis is controlled so that the cleaning head is moved a predetermined distance. In a preferred embodiment of the invention, this distance can be approximately 90% of the cleaning width of the head.
  • the position counter is reached with the help of a position counter.
  • the Z drive is actuated from this position, the Z axis being in the edge search mode, while the X axis is position-controlled at the same time. This is done with the help of a position counter, which enables the associated computer to compensate for a drift.
  • the motor be provided with an encoder that generates a certain number of pulses (eg 512) per motor revolution. From these pulses, a position counter determines analog values that the computer can process quickly, which then gives the appropriate correction signals to the motor.
  • a position counter determines analog values that the computer can process quickly, which then gives the appropriate correction signals to the motor.
  • the control in practice emits tiny control signals, which lead to the capturing of the predetermined position of the cleaning head.
  • the combination of the digital and the analog system ensures that the motor reacts quickly.
  • the cleaning head When the opposite window frame is reached, the cleaning head is pressed to the edge again and the X-axis is shifted again by 90% of the head width, whereby the entire window surface is cleaned line by line. Finally, after cleaning the entire pane, the cleaning head is lifted off and moved to the next window.
  • a window 2 m high and 1.50 m wide should be cleaned.
  • the cleaning head is placed on the window 0.2 m from the lower edge and 0.2 m from the left side edge.
  • the X axis is traversed at approx. 50 mm / s. This corresponds to a control voltage of approx. -1.5 V (minus, since the vehicle is driven to the left).
  • the Z axis is held at the position 0.2 m above the bottom edge of the window. If the motor runs away due to the drift of the controller, this is corrected by the controlling computer and a speed signal is generated in the direction to be corrected.
  • the computer receives the position information from the position counter.
  • the drive stops and goes into edge follow-up mode.
  • the sensor moved approx. 2 mm when it was at a standstill.
  • the control voltage of the X-axis is increased to -5 V, so that a sensor position of approx. 6 mm is set.
  • the Z axis starts in edge search mode.
  • the X axis is controlled so that the sensor stroke at the window edge remains constant. If the Z axis also hits the edge of the window, it stops.
  • Both axes are now in edge follow mode.
  • the cleaning head is pressed into the corner of the window.
  • the stroke of the sensor is about 10 mm in both axes.
  • the Z axis is controlled with a voltage of approx. 3 V, which causes the cleaning head to run upwards at approx. 100 mm / s. This also means the transition to the edge search mode.
  • the X axis remains in edge follow mode.
  • the Z axis stops again with a sensor stroke of approximately 3 mm.
  • the control voltage of the Z-axis By increasing the control voltage of the Z-axis to 8 V, the cleaning head is pressed into the upper left corner of the window.
  • the X axis is now controlled and moved by 90% of the cleaning width of the head. This is done by a control voltage of approx. + 6 V, which is reduced to 0 V when the target position is reached.
  • the Z axis runs down again after a control voltage of approx. -6 V is applied. During the run down, both axes are in the edge search mode, with the X axis being position-controlled at the same time. This is done with the help of the position counter, which enables the computer to compensate for any drift.
  • the X axis moves the cleaning head again by 90% of its head width. It is then cleaned up again. This continues until the X axis, which was always in the edge search mode, hits the right edge of the window. If this is the case, there is a final vertical cleaning movement with a final pressing of the cleaning head in the lower right corner of the window. This ensures that the entire pane is cleaned.
  • a sensor system is therefore used to control the cleaning head, which determines whether the cleaning head bumps against an edge of the window.
  • the sensor system determines the displacement of the frame of the cleaning head, which is supported in relation to its inner fixed structure in the X and Z directions in such a way that it can be displaced by a certain distance, for example by approximately 12 mm.
  • This path is detected by a redundant position measuring system, for example a potentiometer, and fed to the control electronics.
  • a position counter is used to control the head, which is effective when the cleaning head does not move along a window edge.
  • Fig. 1 is an end view of the manipulator
  • FIG. 2 shows a side view of the arrangement according to FIG. 1.
  • the figures show, in a largely schematic manner, a frame 1 which hangs on ropes 2 along a building facade, not shown, which are fastened to the frame 1 via crane adapters 3.
  • the frame 1 is provided with an integrated water treatment system and control, without this being shown in the figures.
  • the frame 1 is provided with rigid support legs 4, the ends 5 of which are guided in vertical guide rails, not shown, which are fastened to the building facade or embedded therein.
  • the invention is not limited to such guidance.
  • the backward movement is carried out by the weight of the cleaning head or by another suitable device in the powerless state of the piston / cylinder arrangement.
  • the cleaning head 6 can also be an ultrasonic cleaning head, for example, and instead of a pneumatic piston / cylinder arrangement, for example, a hydraulic arrangement or a suitable other drive arrangement can also be provided.
  • the cleaning head 6 and its drive device are fastened to a carriage 8 which is displaceably seated on a guide rail 9, which is designated as the Z axis in FIG. 1.
  • the Z axis 9 is in turn held by two slides 10, which in turn are displaceably seated on two horizontally running guide rails 11, which are designated in the figures as the X axis.
  • deflection rollers At the ends of the guide rails 9 and 11 there are deflection rollers, not shown, over which a drive belt runs, the ends of which are fastened to the slide 8 and the slide 10, respectively.
  • the belts are driven by a drive motor 12 of the Z axis or a drive motor 13 of the X axis. As a result, the cleaning head 6 is moved according to the control method according to the invention over a window pane to be cleaned.

Landscapes

  • Cleaning By Liquid Or Steam (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Selective Calling Equipment (AREA)
  • Cleaning In General (AREA)
  • Valve Device For Special Equipments (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)

Abstract

Selon un procédé permettant la commande d'un dispositif automatique de nettoyage utilisable notamment dans le cas du nettoyage de la surface d'une fenêtre, la tête de nettoyage est tout d'abord déplacée, par servocommande, sensiblement au milieu ou au voisinage du bord, à l'encontre de la surface de la fenêtre. Cette position de départ résulte des données fondamentales du bâtiment correspondant, sur la base du plan de construction. La tête de nettoyage est ensuite déplacée en direction X ou Y, en un premier mode de recherche des bords, au-dessus de la surface de la fenêtre, jusqu'au cadre de la fenêtre, puis le long du cadre, dans le coin correspondant de la fenêtre où commence le processus de nettoyage proprement dit. Le cadre de la tête de nettoyage est mobile élastiquement par rapport à la structure fixe, de sorte que le dispositif de commande est en mesure de détecter si la tête de nettoyage est en contact avec un bord de la fenêtre. En variante, on peut prévoir, pour les fenêtres sans cadre, un détecteur dont le signal est détecté par le dispositif de commande.
EP98928133A 1997-04-15 1998-04-03 Commande d'un dispositif automatique de nettoyage Expired - Lifetime EP0975254B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19715563 1997-04-15
DE19715563A DE19715563C2 (de) 1997-04-15 1997-04-15 Verfahren zum Reinigen einer Fensterfläche
PCT/DE1998/000957 WO1998046111A2 (fr) 1997-04-15 1998-04-03 Commande d'un dispositif automatique de nettoyage

Publications (2)

Publication Number Publication Date
EP0975254A2 true EP0975254A2 (fr) 2000-02-02
EP0975254B1 EP0975254B1 (fr) 2001-10-10

Family

ID=7826482

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98928133A Expired - Lifetime EP0975254B1 (fr) 1997-04-15 1998-04-03 Commande d'un dispositif automatique de nettoyage

Country Status (7)

Country Link
US (1) US6328813B1 (fr)
EP (1) EP0975254B1 (fr)
AT (1) ATE206599T1 (fr)
AU (1) AU8009498A (fr)
CA (1) CA2286089A1 (fr)
DE (2) DE19715563C2 (fr)
WO (1) WO1998046111A2 (fr)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19837306C1 (de) * 1998-08-18 2000-03-02 Dornier Tech Gmbh & Co Reinigungsvorrichtung
DE19918312C1 (de) * 1999-04-22 2000-10-05 Dornier Tech Gmbh & Co Automatische Reinigungsvorrichtung für Fenster- und Fassadenflächen eines Gebäudes
DE102004023414B4 (de) * 2003-05-16 2006-10-12 Taurus Instruments Gmbh Vorrichtung zur automatischen Reinigung von Gebäudefassaden und ebenen Flächen
DE10322201B3 (de) * 2003-05-16 2004-08-26 Taurus Instruments Gmbh Vorrichtung zur automatischen Reinigung von Gebäudefassaden und ebenen Flächen
US7523517B2 (en) * 2005-07-07 2009-04-28 Northrop Grumman Corporation Window cleaning machine
ES2376871B1 (es) * 2009-03-05 2012-12-28 Francisco Jesús Cavada Gutiérrez Sistema integrado de limpieza de captadores solares.
DE202010008244U1 (de) * 2010-08-09 2011-11-14 Roland Fleischer Vorrichtung zur Reinigung einer Dachfläche
CN101972126B (zh) * 2010-11-12 2012-07-18 博宇(无锡)科技有限公司 擦窗机的自动垂式吊挂机构
US8894467B2 (en) * 2011-06-23 2014-11-25 Robert J. Santure Surface media blasting system and method
US9827650B2 (en) * 2011-06-23 2017-11-28 Robert J Santure Surface media blaster
US8771432B2 (en) 2012-05-15 2014-07-08 Ecoppia Scientific, Ltd. Solar panel cleaning system and method
CN102743126A (zh) * 2012-07-31 2012-10-24 青岛科技大学 太阳能自动洁窗器
US8813303B1 (en) 2013-08-28 2014-08-26 Ecoppia Scientific, Ltd. Descent control and energy recovery system for solar panel cleaning system
US9080791B1 (en) 2014-04-30 2015-07-14 Ecoppia Scientific, Ltd. Docking and locking system for solar panel cleaning system
ITUB20154679A1 (it) * 2015-10-14 2017-04-14 Amos Magri Apparecchiatura automatica di lavaggio di vetrate di edifici
CN105595905A (zh) * 2016-02-17 2016-05-25 柳州市乾阳机电设备有限公司 自动擦窗装置
DE102016109402A1 (de) * 2016-05-23 2017-11-23 Anton Jäger Vorrichtung zum Reinigen von Flächen
US10780550B2 (en) * 2018-01-11 2020-09-22 Anthony Cibilich System for blast-cleaning a barge deck, sides, and fittings

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DE2346582A1 (de) * 1973-09-15 1975-03-27 Fraunhofer Ges Forschung Roboter zur fensterreinigung
DE2435547A1 (de) * 1974-07-24 1976-02-05 Kyborg Ges Fensterreinigungsautomat
DE3838299A1 (de) * 1988-11-11 1990-05-17 Bernhard Kuhnke Vorrichtung fuer die selbsttaetige reinigung von fassadenflaechen, insbesondere fenster- und wandflaechen an einem gebaeude
GB9211146D0 (en) * 1992-05-26 1992-07-08 O C S Group Limited Improvements in window cleaning
DE29609481U1 (de) * 1996-05-29 1996-11-14 Treptow, Gregor, 44866 Bochum Mobiles computergesteuertes Gerät für Fassadenbeschichtung und -Reinigung

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Also Published As

Publication number Publication date
WO1998046111A2 (fr) 1998-10-22
AU8009498A (en) 1998-11-11
CA2286089A1 (fr) 1998-10-22
DE59801692D1 (de) 2001-11-15
ATE206599T1 (de) 2001-10-15
US6328813B1 (en) 2001-12-11
DE19715563A1 (de) 1998-10-22
EP0975254B1 (fr) 2001-10-10
WO1998046111A3 (fr) 1999-02-11
DE19715563C2 (de) 1999-10-28

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