WO2013076711A2 - Aerobotic glass cleaner - Google Patents

Aerobotic glass cleaner Download PDF

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Publication number
WO2013076711A2
WO2013076711A2 PCT/IB2013/000323 IB2013000323W WO2013076711A2 WO 2013076711 A2 WO2013076711 A2 WO 2013076711A2 IB 2013000323 W IB2013000323 W IB 2013000323W WO 2013076711 A2 WO2013076711 A2 WO 2013076711A2
Authority
WO
WIPO (PCT)
Prior art keywords
mini
brush
cleaning
cleaner
helicopter
Prior art date
Application number
PCT/IB2013/000323
Other languages
French (fr)
Other versions
WO2013076711A3 (en
Inventor
Wasfi Alshdaifat
Eida Almuhairbi
Farah Afif KASSAB
Original Assignee
Wasfi Alshdaifat
Eida Almuhairbi
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 Wasfi Alshdaifat, Eida Almuhairbi filed Critical Wasfi Alshdaifat
Priority to PCT/IB2013/000323 priority Critical patent/WO2013076711A2/en
Publication of WO2013076711A2 publication Critical patent/WO2013076711A2/en
Publication of WO2013076711A3 publication Critical patent/WO2013076711A3/en

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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00Cleaning windows
    • A47L1/02Power-driven machines or devices
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L3/00Safety devices for use in window-cleaning
    • A47L3/04Safety ropes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00Working measures on existing buildings
    • E04G23/002Arrangements for cleaning building facades
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/02Unmanned aerial vehicles; Equipment therefor characterized by type of aircraft
    • B64C2201/024Helicopters, or autogiros
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/12Unmanned aerial vehicles; Equipment therefor adapted for particular use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/14Unmanned aerial vehicles; Equipment therefor characterised by flight control
    • B64C2201/146Remote controls
    • B64C2201/148Remote controls using tethers for connecting to ground station
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/20Methods for transport, or storage of unmanned aerial vehicles
    • B64C2201/208Methods for transport, or storage of unmanned aerial vehicles by landborne vehicles, e.g. trucks, lorries, tanks or cars

Abstract

To provide an effective, safe, time and labor saving aeropotic glass cleaner (20) apparatus, depending mainly on a mini helicopter (21) to move up/down opposite to the glass to be cleaned. Three apparatuses (20) stored in each cabover truck (23) container, that includes also the fluid supply tank, fluid pump, and batteries (32), in addition to a control pannel, in the truck cabin, to monitor/control remotely the cleaning process. It further consists of a water distribution block (50) on the ground, 2-way motor (53) with pulleys releasing the fluid hoses and the electric/data cable to the mini helicopter (21), toproof mounted U-shaped frame (41) with 2-way motor (38), and pulleys for releasing the safety ropes to the mini helicopter (21), a reciprocating cleaning brush (28) with rinse/compress mechanism, cameras, distance sensors, wind meter, speed sensors, cotrol unit (55).. all to control the cleaning process of the apparatus (20) which is capable to clean facades with protruded vertical parts, curving inwards or outwards.

Description

AEROBOTIC GLASS CLEANER
Description of the Invention
Technical Field of Invention
This invention relates to remote cleaning of high rise buildings outer windows surfaces, and buildings facades, without the need for workers, located on or just near to the cleaned surfaces.
Background Art
Commonly, the cleaning of the facades of high rise buildings, including glazed surfaces, and sealed windows, is carried out by means of manual operation, by a swinging worker suspended by ropes, these workers follow three steps to clean the windows: a- they position themselves and their suspended cleaners buckets opposite to the target window to be cleaned, b- using a brush soaked in a cleaning fluid to brush or scrubb a window, c- using a squeegee or rubber blade, to scrape all the excess liquid, from the glazed window. Anyway, This common method of low quality cleaning is expensive, uncomfortable, time consuming, and considered as one of the most dangerous occupations in industry.
Another method used, is a scaffold (3D open cage) vertically suspended by a rope from the roof of the building, pulled up depending on top mounted motors, moving down depending on gravity, the scaffold is carrying inside it the workers, and their materials, this method is not far differren from the prior one, even the workers here are not suspended directly, but still there should be a space kept in-between the metallic box, and the facade, so that it will not be scratched or damaged by the box.
Recently, for an improved safety, labor, and time saving; numerous inventions have been propsed, aiming to replace the workers and their cleaning materials, either by providing an apparatus (casing or rectangular box) with self contained means, cotrolled by an operater, remotely located upon the ground, e.g: Pat. No.s U.S.: 3298052; 3,715,774, or by remote control means, aiming to control remotely the use of mechanical devices in e.g a suspended carriage with wheels, to raise and lower the cleaning head, along the building glazed facade, and to control the sprays of the fluid, and scurpping the facade with brushes, these involve the use of rotating, or non-rotating brushes, these are available in the prior art, such as: U.S. Pat. No.s 3,344,454; 4,025,984; 4,198, 724.
A most recent remote controlled apparatus, for cleaning building facades, without the need of guides, or tracks on the facade, is disclosed in Pat. No.: US 7,823,242, wherein it is using a suspended master frame, containg the cleaning tools, with installed counterweights, and outer sliding pads wheels, the entire cleaning operation is effected and monitored, by an operator in a safe remote location, for example, by means of closed circuit television, with cameras mounted as desired on the carrier frame. A television receiver is mounted at the remote control station, to permit for the operator, to monitor and control the cleaning process. Despite most of the remotely controlled apparatuses can carry out the cleaning relatively, still they have relatively weak points with regard to: 1- Safety: a- full- time hanging of the apparatus, loads the ropes with a full-time tension, that may break it, then fall down over the people., b- these cages are not provided with any safety techniques, that make them avoid swaying, or damaging the windows, or as a result causing ropes breakage, when the apparatus is facing a low speed wind, c- the apparatus is not provided with any technique, that avoids or closes the opened windows, which means it may break it, or may damage itself, and cause broken parts to fell down on people... 2- Water consumption: they spray the water directly to the glass, water is wasted, either by evaporation, dropping down, or drizzling side wards.. 3- Bulky: most of them are carrying their own water tanks. 4- Limited capabilities: they can only operate against a flat facade with no protrusions, or decorations... 5- Failsafe absence: It did not provide failsafe techniques, in the cases of emergencies. 6- Intelligent techniques absences: for example it cannot distinguish highly dirty areas, from less dirt ones. 7- No cleaning for the contaminated dirt on brushes.
All of these disadvantages and others are solved here in the aerobatic cleaner. Disclosure of Invention
Brief Description
To provide a time, fluid, and labor saving aeropotic glass cleaner apparatus, that is further effective and safe, depending mainly on a remotely controlled mini helicopter, to move up/down, opposite to the glass to be cleaned.
The apparatus can be provided alone or for fast action three apparatuses stored in a cabover truck container, that includes also the fluid supply tank, fluid pump, and extra rechargeable batteries, in addition to a control pannel in the truck cabin to monitor/control remotely the cleaning process.
It further consists of a water distribution block on the ground, 2-way motor with pulleys releasing the fluid hose, and the electric/data cable, to the mini helicopter, toproof mounted U-shaped frame, with two way motor, and pulleys, for releasing the safety ropes to the mini helicopter, a reciprocating cleaning brush, with rinse/compress mechanism, cameras, distance sensors, wind meter, altitude meter, digital compass, speed sensors, and electronic cotrol unit., all to control the cleaning process of the apparatus, which is capable to clean facades with protrusions, vertical parts curving inwards, or outwards, and even corners in-between facade protrusions, and the glass.
Brief Description of the Drawings:
• FIG. 1: Illustrates a 3-dimensional view for the whole apparatus through its whole working area.
• FIG. 2: Illustrates a 3-dimensional view for the used mini helicopter with its outer shape and tools.
• Fig. 3: Illustrates a general 3-dimensional view for the used mini helicopter outer and inner shape and tools.
• FIG. 4: Illustrates a 3-dimensional view for the safety suspending mechanism.
• FIG. 5: Illustrates a three dimensional view for the truck with the stored apparatuses. • FIG. 6: Illustrates a three dimensional view for the pre-installations arrangement on the ground.
• FIG. 7: Illustrates a 3-dimensional view for the drainage basin location.
• FIG. 8: Illustrates a 3-dimensional view for the top camera and a captured view.
• FIG. 9: Illustrates a 3-dimensional view for the center (detailed) camera, and a general captured view.
• FIG. 10: Illustrates a 3-dimensional view for the cleaning head, distance sensors, reflector sensors, and wind speed meter.
• FIG. 11: Illustrates a 3-dimensional view for the cleaning head and distance sensors.
• FIG. 12: Illustrates a 3-dimensional view for the reflector sensors ranges of operation.
• FIG. 13: Illustrates a 3-dimensional view for the reciprocating mechanism, water feeding system, and the assisting tools and devices.
• FIG. 14: Illustrates a 3-dimensional view for the drainage mechanism, and the assisting tools and devices.
• FIG. 15: Illustrates a 3-dimensional view for the drainage and reciprocating mechanisms, and the assisting tools and devices.
• FIG. 16 (A-G): Illustrates a 3-dimensional view for Aeroptic apparatus operation steps upon part of a facade.
• FIG. 17 (A-C): Illustrates a 3-dimensional view for cleaning head reciprocating cleaning steps upon part of a glass.
• FIG. 18 (A-D): Illustrates a 3-dimensional view for cleaning head/brush retard/compress/drain process in steps.
• FIG. 19: Illustrates a 3-dimensional view for a rotating cleaning brush as a second embodiment of the cleaning brush.
• FIG. 20: Illustrates a 3-dimensional view for a rotating cleaning brush with flaps as a third embodiment of the cleaning brush.
• FIG. 21 : Illustrates a 3-dimensional view for a curved in cleaning brush as a forth embodiment of the cleaning brush. • FIG. 22: Illustrates a 3-dimensional view for a curved out cleaning brush as a fifth embodiment of the cleaning brush.
• FIG. 23: Illustrates a 3-dimensional view for an L-shaped cleaning brush as a sixth embodiment of the cleaning brush.
• FIG. 24: Illustrates a 3-dimensional view for a U-shaped cleaning brush as a seventh embodiment of the cleaning brush.
• FIG. 25: Illustrates a 3-dimensional view for compact drive mechanisms.
• FIG. 26: Illustrates a 3-dimensional view for a flow chart for the electric/electronic data flow in-between the electronic devices.
Best Mode for Carrying out the Invention:
Detailed description of operation
In order to make it easy to carry out the invention, a detailed description of the parts of the invention supported with figures is provided here, as each part has many features, we made it easy to read, by referring to each feature with a number included in the parts description text, and in the parts numbering list, the numbering of parts features is indicated here by starting it sequentially from number 20, whenever a part feature appears in a text, it will be directly assigned its required serial number. As example in FIG. 1, the parts' features are arranged sequentially from number 20 to 21, 22...
Because at each angle of the invented apparatus there is a modification, the description here will list all these modified locations, wherein each is followed by description of its parts, then an explanation for the whole apparatus method of operation will follow.
1- The aerobotic cleaner apparatus 20 general shape (FIG. 1):
a- Mini helicopter 21 (FIG.s (2, 3)).
b- Safety suspending mechanism 22 (FIG. 4).
c- Storage/Supply/Control truck 23 (FIG. 5). mini-helicopter 21 (FIG.s 2, 3): to have an apparatus 20 that cannot depend directly on the suspending ropes 24 for supporting its weight, and controlling its speed of movement, despite the degree of cleanliness of the facade 25 different areas; and to have an apparatus 20, that would not load the ropes 24, by a full time tension, that may break them, which may produce unsafe issues, as a result, the selected shape to solve such issues, is a mini helicopter 21, that further offers the following benefits: 1- a self dependent apparatus 20, that can carry itself up, and moves sideways, according to the facade 25 shape details. 2- It can carry up with it, its cleaning tools. 3- Its original motor 26, which drives its propeller 27, to rotate other inner mechanisms. 4- Its front shape can be partly cut, or opened and modified, to carry the spongy rubber brush 28, and the wiper rubber 29, with their supporting mechanism. 5- It offers an inner empty space, which can be used to install other tools and mechanisms. 6- because its outer body is suggested to be made from light strong material, such as fiberglass, and because it will not carry a water tank 30, water pump 31, main batteries 32, and because it will use light mechanisms, its total weight, will be around 30-50 kg, which means it weights 0.01 to 0.02 % of the normal helicopters, as a result, a low power motor 26, can support the rotation of a smaller size propeller 27, that can be enough to support carrying the light weight of the mini helicopter 21. 7- its propeller 27, can be surrounded by an Avatar shape ring 33, its corners sides can be covered with rubber pads, these in addition to its curved shape, protect the windows glass 34, from being damaged by the mini-helicopter 21 , if it is shifted by accident toward the glass 34, due to any unexpected emergency. 8- Its body does not need to be loaded against the facade 25 surface, like other cleaning apparatuses in the prior art, also it can move forward or backward, and even sidewards, depending on the shape and details of the facade 25 surface; hence it is not limited to fully flat facades 25. Note: each mini helicopter 21 has four supporting wheels 35, to permit for it to be moved about in-between the truck 23, and the ground facing the facade 25. Safety suspending mechanism 22 (FIG. 4):
For safety reasons, the main danger from using a mini-helicopter 21, is that it may get idle in the air, or may be drifted by a sudden flow of a wind lying beyond the capabilities of its active early warning system, these issues will be dangerous, either the apparatus 20 may fall over people, or hit the facade 25 strongly..
For this reason, the apparatus 20 is hung freely by two separate ropes 24, while moving up or down, these first rope 24 and second standby rope 24, are isolated from each other, and are rotated separately around a first pulley 36 and a second pulley 37, driven by a roof top mounted 2-way motor 38. The motor 38 which is connected to rechargeable batteries 39, will be installed on a horizontal boom 40, which is mounted on a special deign U-shaped frame 41 of beams arrangement, that is installed around the edge of the roof top 42, the beams vertical legs 43, are surrounding the roof top edge 42, for secure fixing, while the flat (horizontal) beam 44 of the U-shaped frame 41, is used to prevent the side swinging of the U-shaped frame, further, it is having from its lower sides, which is in touch with the roof flat top 42 edge, a supporting rubber wheels 45 of polyurethane, when trying to clean another vertical set of windows 34; these wheels 45 support the movement of the whole apparatus 20, by moving the frame 41 sideways, to let it travel along the rooftop edge 42, either by pulling it manually sideways by a laborer, or mechanically depending on a motor that is remotely controlled (not shown), the horizontal hollow beam 44 of the U-shaped frame 41, should be provided with manual brakes, or electro-mechanical brakes (both not shown), to prevent abnormal sideward shifting of the U-shaped frame 41. in an emergency, if the apparatus got idle, the first rope 24 will support hanging the mini helicopter 21 instead of falling down, until the other systems interfere to move it down, in extreme emergence where the apparatus 20 got idle, and the first rope 24 suddenly got broken, the second standby rope 24 will support the mini helicopter 21 hanging. Note: The U-shaped frame 41 may have at its legs 43 lower ends four wheels 46, to permit for the frame 41 to be moved by one laborer, while moving it from the truck 23, to the installation location and vice versa. Storage/Supply/Control truck 23 (FIG. 5):
A medium size cabover van truck 23 is to be used for supporting the operation of the apparatus 20; it is mainly supporting the following three operations:
- Storage:
normally the truck container 47, is divided into three chambers, the lower one is the smallest and used as a tank 30 for water supply, the medium one is used to store one mini helicopter 21, and the suspending mechanism 22, the top chamber is used to store two mini helicopters 21, so in total three mini helicopters 21 are stored in each truck 23.
- Supply:
Also the truck 23 is used to supply the mini helicopters 21 with all of their needs, that would save weight and space for it, the supply includes a- the water tank (cleaner fluid tank) 30, it supplies the mini helicopter 21 with the cleaner fluid, depending on a fluid pump 31. b- electricity: instead of installing big batteries inside the mini helicopter 21, the truck 23 provides the electricity to two rechargeable batteries 32 via an alternator engaged to the engine of the truck 23, the two batteries 32 are specified for the apparatus 20 use, and installed inside the truck container 47.
Remote Control: the truck cabin 48 right side, is to have three screens for following up the work in progress of the apparatus 20, in addition to monitoring and controlling its operation via e.g joy sticks, switches, or touch screen... these screens get all the data collected by the sensors and cameras, that are installed on the apparatus 20.
Note: the remote control signals, may be transmitted to the apparatus 20, by an electric cable, or they may be transmitted by means of a conventional wireless system.
Water/Power Supply and drainage accessories (FIG. 6):
a- Water pipes and hoses:
the water pump 31 inside the water tank 30, pumps through the fluid main supply hose 49 in one option directly to one hose rolled freely around a pulley and then connected to the mini helicopter 21, and moving freely up from around the pulley with the upward movement of the mini helicopter 21, noting that the water pump 31 speed and pumping timing is controlled according to the electronic orders, which are governed by the calculated data by the related cleaning operation sensors.
Or in another option depended here, the water pump 31 is pumping the water directly through a main supply hose 49 to a portable three- way water outlet block (fluid distribution block) 50; this block 50 can be carried a little far away from the truck 23, to any location around the building, to be located on the ground facing the bottom part of the target facade 25 to be cleaned, this block 50 which maintains a pressurized quantity of water, has three actuator valves, that have solenoid valves, to control the amount of water, to be provided through each secondary supply hose 51, towards each one of the three used mini helicopters 21, in such arrangement, wherein the supplied water quantity will be specified, according to the calculated data, from specific cleaning operation sensors, note that to avoid entanglement of the hoses 51 ; after the block 50, there will be three pulleys 52 installed on a the shaft of a two-way bottom motor 53, that provides the required length of each secondary hose 51 , according to the distance crossed up by each mini helicopter 21, and to roll it back around the specified pulley 52, once the mini helicopter 21 is moving down, or in another embodiment, each pulley 52 has a built-in inner spiral spring, that can easily let the secondary hose 51, moves up with the mini helicopter 21 upward movement, and rolling back the secondary hose 51, while the mini helicopter 21 is moving down, b- Power supply (FIG. 6):
an electrical cable (wiring harness) 54 carries the power supply electricity, electronic orders, and the feedback signals in-between: 1- the control panel in the cabin 48, 2- the main batteries 32 in the truck 23, 3- the water pump 30, 5- the solenoid valves in the hoses block 50, 6- the water supply hoses 51 bottom motor 53, 7- the electronic control unit (ECU) 55 (FIG. 3) in the mini helicopter 21, 8- the top camera 56 in top of the mini helicopter 21, 9- The top motor 38 and any other embodiments of drive or braking mechanisms,
c- Drainage accessories (FIG. 7):
A water drainage hose 57 is fixed from one side to the mini helicopter 21 drainage basin support 58, and ending form its other side in a garden or a sewage manhole.
Note: For each apparatus 20, the wiring 54, supply hoses 51, and drainage hose 57, in-between the hoses block 50 and the bottom of the mini helicopter 21, are coupled together as one line, also the suspending ropes 24 and electric power supply wiring 54 going to the U-shape frame 41 mechanism are coupled together.
The mini helicopter 21 outer accessories:
The outer accessories consist of cameras, sensors, and meters, these are installed on the mini helicopter 21 and the brush 28, that is to simulate as much as possible a human being labor senses, who is directly suspended and handling the cleaning process, and so these accessories will send all sensed data to the electronic control unit (ECU) 55 inside the mini helicopter 21 and to the control panel, to appear on a screen front of a laborer (controller) in the Cabin, and to the concerned devices, to react in the same way like when a suspended laborer handle the cleaning, and may be much more better,
a- The Cameras:
- General view camera 56 (FIG.s 2, 8): In order to remotely monitor and control the operation of the mini helicopter 21 with regard to safe operation, correct location, right direction, and to have a view on the facade 25 surrounding details, a top wide angle camera 56 (Left of FIG.8) is installed at a predetermined distance, over the helicopter 21 body, this camera 56 gets a correct view of the mini helicopter 21 front side, with the cleaning tools location, and performance, it further gets a view on a big part of the glass 34 facing the mini helicopter 21, this general view (right of FIG.8) is transmitted to the control panel screen inside the cabin, were a watchman remotely monitor the general items related to the mini helicopter 21 performance.
- Detailed view camera 59 (FIG.s 2, 9): this camera 59 is installed at the middle of the top part of the front side of the mini helicopter body 21 (top part of FIG. 9)„ it concentrates on picking a view for the cleaning tools, specially in a region covering the cleaning location of the glass 34 (low part of FIG. 9), that is to say it is giving a view of the interaction between the direct cleaning tools, and an area of the glass 34 that is starting from many inches over the cleaned area, and the non-cleaned area under the cleaning tools, so it is giving a view on how the glass 34 appears before cleaning, and how the front part of the cleaning mechanism 60, specially the cleaning head 61 are operating and performing, and also it includes in the view how the glass 34 looks after being cleaned.
Note: The two cameras 56, 59 provide both views in one screen of the control panel inside the cabin 48, wherein the screen will be divided into two screens, and each one is for each view from each camera 56, 59. The distance sensors (FIG. 10, 11):
As the conventional remotely controlled cleaning apparatuses, in the prior art are depending on supporting the apparatus body and its movement against the glass, which means, that these apparatuses lack the capability in cleaning non-flat facades, in addition to the dangers from such direct moveable contact with the facade, in pressing on a cracked window glass, and as a result breaking it, or the danger of hitting an open window, which may not only cause the breakage of the window, or causing the device to be stuck, or drifted from its track while moving up or down, and hence breaking more windows, and getting serious damages in the device itself, but the highest danger comes from getting the device wheels, or parts stuck in an open window, while the top motor is still pulling on the rope up, which will lead quickly to the cut of the rope, and getting the heavy metallic apparatus unsafely falling down.
To solve such issues, and to create some other important benefits, the aerobatic cleaner 20 here, offers a mini helicopter 21 with a set of distance sensors, depending on their locations, these sensors will carry out different tasks, as the following:
- Front distance sensors 62 (FIG. 10):
These are two distance sensors 62, they are located at the middle of both sides, of the center of the front side, of the mini helicopter 21 body, these sensors 62 measure the distance in-between the mini helicopter 21 body, and the facing glass 34 or facade 25, and send the data to the (ECU) 55 in the mini helicopter 21, accordingly the (ECU) 55 will issue the orders to the propeller 27 swash plate (not shown) to adjust the propeller 27, to re-position the mini helicopter 21, such that its axis remains always perpendicular to the surface to be cleaned, and by moving a little forward to keep the cleaning head 61 brush 28 in touch with the glass 34, according to the predetermined set distance in-between these sensors 62 and the glass 34.
Furthermore, when the cleaning head 61, is required to move from cleaning the surface of e.g a protruding marble 63 in the facade 25, to a window glass 34 lying deeply far inside the facade 25, the sensors 62 sense the horizontal frontal distance (depth) variation, and as a result the (ECU) 55 issue orders to the swash plate to adjust the propeller 27, to make the mini helicopter 21 moves forward for a predetermined distance, until finishing the cleaning of the glass 34, and sensing the protruding marble 63 thickness again, wherein the mini helicopter 21 with its cleaning head 63 once again move backwards for the predetermined measured distance.
Side distance sensors 64 (FIG. 11 ):
Facade protrusions 63 does not only have horizontal depths measureable by the front distance sensors 62, but also it have it vertically extending from the vertical sides, around the cleaner head 61 both right and left sides, and so to avoid hitting these protrusions 63 by one side of the cleaner head 61; side distance sensors 64 are installed and located on both front right and left sides of the cleaner head 61 (brush 28 side) to measure the distance in-between these vertical protrusions 63 and them, and then to send the data to the ECU 55, which issues the orders to the propeller 27 swash plate to adjust the propeller 27, to re-position the mini helicopter 21, either to move a little sideward away, or sideward toward the inner surface of the vertical protrusion 63, to keep the whole cleaning head 61 in touch with the whole glass 34, starting from one inner edge of the vertical protrusion 63, according to the predetermined fed distance in-between these sensors 64 and the glass 34 and the vertical protrusion 63. - Upper and lower distance sensors 65 (FIG. 11):
To determine if there is an open window, either on top of the cleaner head 61, or at the bottom of it, or to determine the distance in-between the cleaner head 61 and a horizontal protrusion 63, that is located either on top or at the bottom of the cleaner head 61 , one upper and one lower distance sensors 65 are used, these sensors 65 feed the ECU 55 with the data, upon which it determines the timing when to issue the orders to the propeller 27 swash plate to adjust the propeller 27, to re-position the mini helicopter 21, to move a little backward from the glass 34 to prevent the cleaning head 61 from hitting an open window, or an upper horizontal protrusion 63, or a lower one 63.
Note 1 : The orders can further help in retarding the mini helicopter 21 backward from under or over an open window, and then moving toward it again with the cleaning head 61 to push it to be closed, according to the decision of the laborer controller.
Note 2: The six sensors 62, 64, 65 work together in preventing the mini helicopter 21 from swaying or tilting up or down or sidewards, which is the case that may happen if it depends on each two distance sensors data separately from the others data.
- The reflector sensors (FIG.s 10, 12) :
The suspended labor cleaners can evaluate how much dirt on a glass, and accordingly he can judge two requirements: first: how much extra effort required to clean it, second: how much extra dirt is stuck in the rubber (sponge brush) that need to be removed from it at a fast mode, from the other side, all of the machines in the prior art cannot do that; accordingly to install a technique that can simulate that, at first the amount of dirt on the glass should be evaluated, but neither a remotely located laborer on the ground can strictly measure or evaluate that, even through the cameras. As a result a technology provided here is to provide a set of e.g. two reflector sensors 66, each sensor 66 is made from two pieces: sender and receiver, these sensors 66 can sense the difference in the reflectivity values in-between the glass 34 before cleaning, and after cleaning, then sending these data to the ECU 55, wherein the data is compared with the preset values, that can judge how many times the cleaning head 61 should repeat cleaning a specific area, by controlling either the reciprocal speed of the cleaning head 61, or the rotational speed of a rotating cleaning head 61, or in another way moving the mini helicopter 21 slowly up or down, to give more time for the cleaning head 61 to clean a highly dirty area.
That was the first benefit of the reflector sensors 66 that simulate the capability of a laborer cleaner. The second benefit of these reflector sensors compared to laborer cleaner, is simulating the capability of a human capability in knowing when to rinse/compress the cleaning head 61 from the accumulating dirt, this task is achieved when the reflector sensors 66 measures how much dirty is the glass 34, and depending on these data, and comparing it with preset values in the ECU 55, the ECU 55 determines when to stop cleaning, and to drag back the rubber (spongy) brush 28 to be rinsed and compressed from the contaminated dirt and dirty fluid that is stuck in its bores.
To make this more clear in the situation of the reflector sensors 66, the available preset values in the ECU 66 are old values that are collected in the laboratory, by the same type of reflector sensors 66, from different types of windows glasses, with different degrees of dirt, from different world environments, then calculations are made to evaluate how many times for each degree of dirt, the cleaner head 61 should repeat the cleaning process, and also how many times for a crossed specific distance of a dirty glass, the spongy (rubber) brush 28 need to be rinsed/compressed, these values are programmed in the ECU 55, so that at actual situations, the collected values are compared with its similar preset ones in the ECU 55, to judge which are the suitable orders to be issued by the ECU 55 to provide an active situation for repeating cleaning, and specifying the rinse/compress timing of the spongy brush 28. The wind speed meter 67 (FIG. 10):
On the surfaces of the facades of high rise buildings the wind speed is not the same along the facade from the bottom to the top, that is not only affected by ascending up, but it depends on the height and shape of the nearby buildings, and their distance from the target one, so this means the wind speed at the same height may be not the same at different sides of facades of the same building, also the wind sometimes changes its speed suddenly or quickly, a laborer cleaner can evaluate how much is the wind speed affecting his performance, he may try at first to adjust himself with the situation, but if he cannot, he will stop working.
All the cleaner apparatuses in the art have no means that simulate a human act in such cases, which means the wind can cause swinging of these metallic frames (apparatuses) causing them to scratch or damage the windows, or knocking it hardly, but the most dangerous issue is that these apparatuses are continually pulled up in such cases by a motor, even one apparatus only in the prior art is using a camera to monitor the cleaning process, a quick reaction may not be taken by a human in such a case, because either the camera my not show how much the situation is serious, or at the best cases a human controller may take a time to stop the machine from being pulled up, but not at all stopping it from swinging.
Anyway, for most of apparatuses which are swinging and stuck in a damaged window while pulled up by the motor, the cable (rope) simply will be broken; as a result a swinging apparatus may fell down far away over an unexpected location, which is out of the restricted area, causing human injuries or losses as well as material losses. To overcome this issue, an early warning safety system is to be provided, simulating the human laborer sensing of the wind speed, wherein a wind speed meter 67 is to be installed under the mini helicopter 21 , when the data collected from this meter 67 is processed in the ECU 55, the ECU 55 should consider the preset effects on the read values by the wind speed meters 67, these effects refer to the air rotation caused by the mini helicopter 21 propeller 27, that is depending on knowing the propeller 27 speed, and how much will it affect on the wind speed at the meter 67 location.
When the wind speed is within the safe limits, the mini helicopter 21 works normally, if it is more and lying within a specific range, to the degree in comparison with the preset values in the ECU 55, it is judged to create a little shifting in the mini helicopter 21 sideways, the ECU 55 issues orders to the actuators to adjust the propeller 27 to help in adjusting the mini helicopter 21 to the target location, if this process fails, or if the measured wind speed is lying in the dangerous range compared to the preset value, in both cases under the control of the ECU 55 fail safe program, and under the control of the controller who will be warned by sound via the control panel, the mini helicopter 21 retards its cleaning head 61, and starts descending directly, but if the wind speed was too much high, to the degree that it will swing the mini helicopter 21, and makes it hits the glass, still the following safety devices can be operated at the same time:
1- The top motor 38, it will pull the two safety ropes 24 with little tension upwards and stop firmly.
2- The bottom motor 53 pulls the attached cable and water hoses 51, 54 with little tension downwards and stop firmly.
This reverse ward action of pulling on the mini helicopter 21, holds it standstill suspended in the air without any chance for swinging, this step can be followed by a gradual balanced release of the top rope 24 by the top motor 38, with the same rolling down of the attached cable and hoses 51, 54, to assist in dragging the mini helicopter 21 down, while keeping the tension in both reversed direction.
Such fail safe emergency controlled operation, can be beneficial while either the mini helicopter 21 is facing a windy situation, beyond the limits of its capability, or when it got idle in the air, it means if it got idle in the air, it will not fell down, neither it will swing, nor it will hit the facade 25.
Still to make it further clear with regard to the response of the motors 38, 53 to such emergencies, once the ECU 55 distinguish such emergencies, it will estimate at first if the mini helicopter 21 is ascending or descending, if it is ascending, it means the top motor 38 is rolling the safety ropes 24 up, while the bottom motor 53 too, is releasing the wiring cable and the water supply hoses 51, 54 up, at such situation the top motor 38 is given the order to continue rolling up the safety ropes 24, while the bottom motor 53 is stopped and rotated a little reverse wards, these rotation periods and speeds for both motors 38, 53 are issued as per reset orders from the ECU 55, which is synchronizing the rotation of both motors 38, 53.
A digital compass 68:
The digital compass 68 which is to be located inside the mini helicopter 21, and in a direct contact with the ECU 55, at each time when the mini helicopter 21 and the cleaning head 61 are set and positioned vertically to the target glass 34, the compass 68 provides the ECU 55 with the data directions, to be set in the ECU 55 as a reference of the perfect correct position of the mini helicopter 21, and the cleaning head 61, against the glass 34, the received data by the ECU 55 from the distance sensors 62, 64, 65 in co-operation with the digital compass 68, are used by the ECU 55, to issue the correct adjustment orders to the swash plate to reposition the mini helicopter 21, and the cleaning head 61, in the correct direction, if there is any delay in repositioning the mini helicopter 21 against the glass 34, no cleaning will be carried out. f- Altitude meter 69:
The altitude meter 69 is installed inside the mini helicopter 21, it measures the height of it from the ground, and its data are used in ILS system, which will be described later.
g- Speed sensors:
All the motors will have speed sensors connected to the ECU 55, each mini helicopter 21 too has its own speed sensor for the vertical up/down movements.
4- The Cleaning Mechanism 60 (FIG.s. 11, 13):
To simulate the cleaning operation followed by a laborer, wherein he uses his hand to move up/down a spongy rubber brush against a window glass, then dipping it in the water and compressing it, to repeat the cleaning again, it is required here in this invention basically to have a spongy rubber brush 28, that is moved up and down against the window glass 34, via a mechanism 60, and then to be pulled back to be compressed and dried after a specific period of use, evaluated according to the reflector sensors 66 data, as explained before, and then returned back to cleaning the glass 34, this means we need the following parts to achieve these tasks: a- The spongy (rubber) brush 28 (FIG. 11):
The selected shape for the brush 28 is to be cylindrical, with a rear extension that provides a firm support for the brush 28, while moving up and down, and will provide a passage for the brush 28 in-between the slots of the four freely rotating tubes 70.
b- The wiper rubber 71 (FIG. 11):
A double wiper rubber 71 is used for wiping the water from under the wet spongy brush 28, while it is going up, and from over it while it is going down, it should have many features: 1- it is installed to the same main carrier frame 72 of the wet spongy brush 28, and projecting slightly over the brush 28, and extending its full length, the wiper rubber 71 is dragged with it, such that when the wet spongy rubber brush 28 is reciprocating downwards, the wiper rubber 71 is located and dragged from over it downwards to remove (wipe the excess) fluid, but while the brush 28 is reciprocating upward, the wiper rubber 71 is dragged from under it upward to remove (wipe the excess) fluid, to achieve this, the wiper rubber 71 has a sub-frame 73 that rotates 180 - 270 ° around the main frame 72 of the spongy rubber brush 28, that can be achieved by installing a drive motor 74, at one of the extreme edges of the main frame 72, to drive the rotation of the sub-frame 73 according to the issued orders from the ECU 55, which specifies in what direction the mini helicopter 21 is moving, and according to that, specifies at what location relative to the spongy rubber brush 28, the wiper rubber 71 should be located.
Note 1: the wiper rubber 71 is of two double elongated connected rubber parts, which provides effective wiping.
Note 2: the atomospheric air caused by the propeller 27 to rush over the surface, causes evaporation of any excess unwiped fluid. Brush reciprocating mechanism 60 (FIG. 13, 15):
To make the brush 28 reciprocate, it need to be connected via two reciprocating shafts 75, to inside the mini helicopter 21 compartment, a selected mechanism to make these shafts 75 move up and down from their front end (brush 28 side), is to install a rotating double-cams shaft 76 at a distance a little forward from their ends toward the brush 28, these double-cams shaft 76 is rotated an electric motor 77, mounted inside the mini helicopter 21 wing 78, meanwhile the two reciprocating shafts 75 have a little from before from their inner ends, which are in touch with the reciprocating shafts 75, should have partially elliptical protrusion to prevent the damage of the reciprocating shafts 75 edges and to smoothen their movement.
A little ahead of the reciprocating shafts 75 location towards the brush 28, the reciprocating shafts 75 should be pivoted to the mini helicopter 21 base, to promote the reciprocation of them, but still the reciprocating shafts 75 do not retard (reciprocate) up, unless a double tensioned springs 80 are used, wherein one is used for each reciprocating shaft 75, these springs 80 are put under tension, when the front ends of the reciprocating shafts 75 are moved down, due to being pushed up from the rear side by the double-cams shaft 76, when the cams effects is released from the reciprocating shafts 75 ends, the springs 80 tension will lift the reciprocating shafts 75 front end up, and as a result the brush 28 is lifted up.
Note: The reciprocating speed of the brush 28 is controlled by the side motor 77 that is rotating the double-cams shaft 76, the motor's speed is controlled by the ECU 55 issued orders, the ECU 55 issue these orders according to the data collected from the reflector sensors 66, which measure how much dirty is the glass 34, and as a result how much it is required to brush a specific area repeatedly, wherein in extreme cases, the ascending or descending speed of the mini helicopter 21 is slowed down.
Note: a one reciprocation distance of the brush 28 in-between the extreme limits at part of the glass 34, is calculated such that the contact pressure between the brush 28 surface in touch with the surface to be cleaned, remains substantially constant at the desired distance,
Fluid feeding to the brush (FIG. 13):
Because spraying the water directly on the windows surface ahead of the spongy rubber, and because the scrubber brushes and removal means are generally positioned to the location at which the washing liquid is sprayed on the window surface, a large amount of liquid is needed, in addition to that a large amount of water is wasted, to overcome such issues, it is required to apply a film of cleaner instead of a spray, which will dry rapidly, and when subsequently brushed off, the glass is cleaned very effectively.
To feed the water to the brush, the water sent through the fluid hose 51, is entered through the reciprocating shafts 75, towards the brush (follow the arrows in FIG. 13), where a modified spongy rubber brush 28 provided in this invention, is a one getting the fluid fed directly to inside it from its side edges, towards an elongated cylindrical groove made along its center, wherein the fluid is directed through nozzles towards the front part of the brush 28 which is facing the glass, but this fluid will not be sprayed out of the brush 28, because its nozzles ends are closed by the spongy rubber from the front side of the brush 28, that is to let the fluid penetrate the brush 28 to its front side but without being sprayed out, instead it will make the brush 28 front side wet enough to apply the fluid to the glass as a film of fluid.
Brief steps of cleaning operations (FIG.16- A-G, FIG. 17. A-C)
- FIG.16 - A: The mini helicopter 20, is ready for operation at the bottom of the facade 25, with its cleaning head 61 retarded back.
- FIG. 16- B: The mini helicopter 20, has moved up from the ground level, to the first level of the facade 25, with its cleaning head 61 still retarded.
- FIG. 16- C, FIG. 17-A: The cleaning head 61, is pushed out, by the piston 85 rod end, towards the glass 34.
- FIG.16 - D, FIG. 17-B: The cleaning head 61 is already reciprocating, and it moved the brush 28 on the glass 34 downward.
- FIG.16 - E, FIG. 17- C: The reciprocating mechanism moved up the cleaning head 61 and the brush 28 on the glass 34.
- FIG.16 F: The cleaning head 61 is retarded back towards the rinse/compress location; the figure is showing the spongy rubber brush 28, before being inserted in between the double-rotating tubes 70 slot.
- FIG.16 - G: The cleaning head 61, is not moved any more backwards, but the spongy rubber brush 28, is pulled back by the piston rod 85 end, and so it passed in-between the rotating tubes 70, to be squeezed (compressed) - The drainage mechanism 81 (FIG. 14, 15):
As it is explained before, the data from the reflector sensors 66 specifies for the ECU 55 when to issue the orders to rinse/compress the spongy rubber brush 28, the provided mechanism here for rinsing/compressing the spongy brush 28 is working by dragging it back towards a collapsible (semi-telescopic) basin 82 mounted in a support 58 created in the front lower side of the mini helicopter 21.
To drag the cleaner head 61 back, it is required to drag the reciprocating shafts 75, as a result the reciprocating shafts 75 should pass through a ring-shaped hole in the back of the main frame 72, and to be modified to be telescopic, to use a force to pull the brush 28 for rinsing/compressing, and to push it back towards the glass 34, the force should be applied to the brush 28 center, and as a result while pulling back the brush 28; the first small diameter reciprocating shaft 83, goes to inside the second bigger diameter shaft 84, a selected conventional mechanism to achieve this, is to use a hydraulic piston-cylinder system, wherein the rod 85 which will be inserted to inside the cylinder 86, and connected to the piston from one side, is connected from the other side to the brush 28 middle back side, the hydraulic circuit further consists conventionally from a hydraulic pump 87, a hydraulic fluid suction hose 88 in-between the pump 87 and the fluid reservoir 89, a pressure hose 90 delivering the pumped fluid from the pump 87 to the cylinder 86 before the piston, a return hose 91 for the fluid behind the piston, the circuit will also include a selector valve 92 to reverse the direction of the hydraulic fluid, so that the piston has a two way forced movements, only under the effect and control of the hydraulic circuit, which is activated by the ECU 55, according to the data from the reflector sensors 66 in this case.
To pull back the brush 28, the ECU 55 issues an order to stop the side motor 77, and the fluid pumping to the brush 28 at a precise time, wherein the brush 28 will be stopped at a horizontal location of the reciprocating shafts 75, then the ECU 55 issues another order to the hydraulic circuit, to push back the brush 28, it need to be noted here that there will be three processes carried out here (FIG.s 18 (A-D)):
The hydraulic pressure, causes the piston to be dragged back deeply inside the hydraulic cylinder 86, wherein the piston rod 85 end connected with the brush 28, pulls it back with the whole main support frame 72 toward the basins 82, at the same moment the two telescopic reciprocating small diameter shafts 83, is pulled back also to inside the two big diameter shafts 84.
The diagonal telescopic shafts 93 (FIG. 7), which have each end of them pivoted from one side to the brush frame 72 nearly at the rear middle side of it, and from another side pivoted to the right and left top sides of the two semi-telescopic basins 82, the diagonal telescopic shafts 93 push sideways by the brush frame 72 while it is pulled back, as a result the first basin 82 is moved to the right, and the second basin 82 moved to the left.
Note 1 : After the brush 28 is moved back for nearly half the way, before being centralized on top of the basins 82, the diagonal telescopic shafts 93 do not push directly the basins 82 sideways, but during this the small diameter shaft 94 goes inside the big diameter shaft 95, then after this stage is finished, in the second stage, after the brush 28 passes half of the calculated distance, the diagonal telescopic shafts 93 start pushing the basins 82 sideways. Note 2: the basins 82 are made semi telescopic for compatibility in their general shape.
- When the brush 28 frame 72 becomes over the basins 82, the telescopic reciprocating shafts 75 are completely inserted into each other, at this location, as a result, because they are welded to the main frame 72, they prevent the frame 72 from being pulled back more, but because the other side the piston rod 85 end is connected and catching firmly the rear side of the brush 28, and because this piston rod 85 continues moving back, it will pull the brush 28 from inside the slot, located in-between the four double free rotating pipes 70, wherein the spongy brush 28 is compressed, while passing that narrow slot, this compression of the spongy brush 28, squeezes it to expel all the fluid from inside it, sending it out with all the contaminated dirt, the fluid will be drained down toward the basins 82, which are a little bit longer and wider than the cleaning head 61, the fluid will be further drained through a hole in the basin 82, towards the drainage hose 57, which is suspended downward toward a manhole or a garden.
Finally, the ECU 55 issues orders to move the piston rod 85 forward, which pushes the cleaner head 61 forward in the direction of the glass 34, until the reciprocating shafts 75 reaches their max. extension point, the frame 72 of the brush 28 stops too, but as the piston rod 85 continues pushing the brush 28 forward to a precise limit, which means the brush 28 is pulled out from inside the slot in-between the four rotating pipes 70, and so it gradually slides out from its compressed state, toward its original expanded state, wherein it starts its operation again, by being provided by the fluid (cleaned) reciprocated up/down, while the mini helicopter 21 is moving upward or downward. - Standby power supply 96 (FIG.S 15, 26):
Without a standby power supply option, any failure in the ECU 55 input power or output power, leads to the idle of the mini helicopter 21 whole or partial operation, to pass by such emergency, the mini helicopter 21 has a standby battery 96, that via a microprocessor 97 having a built-in fail safe program, carries a failsafe function once it is known that the input or output power, to or from the ECU 55 is interrupted, in such a case, the microprocessor 97 immediately start functioning, by keeping the propeller 27 rotating, and issuing all the orders to retard back the cleaner head 61, and to take the mini helicopter 21 down to the ground, to be sent for diagnosing and repairing the fault.
- Intelligent Learning System (ILS) 97 (FIG. 26)):
The (ILS) 97 IS an extra option installed in the (ECU) 55, to provide extra vast benefits of the accessories and techniques of the apparatus 20, the tasks to be carried out by the (ILS) 97 are:
a- The memory in the control units (ECUs) of both the control panel and the mini helicopter 21 save all the data gathered from the speed sensors, distance sensors 62, 64, 65, digital compass 68, altitude meter 69, and these related to the issued orders, to draw a work track of how the whole apparatus 20 together, and in parts was performing the tasks during specified moments, that is to say to know what happened after being started at the location on the ground, where the apparatus 20 was started opposite to the lower part of the facade 25 in a prior task, which means to know how much was the start speed of the propeller 27, the water pump 31, the two-way bottom motor 53, the two-way top motor 38, the cleaner head 61 reciprocal speed, and to know how the mini helicopter 21 positions itself, and its cleaning head 61, opposite to and against the facade25 first lower part, to start from it the cleaning, these details are used to know when to rinse/compress the brush 28, but to draw the high rise building facade 25 shape, details, and dimensions to be programmed in the (ILS) 97, these whole saved data are used by the (ILS) 97, to control automatically the whole movement process against the target facade 25, to be tracked while washing, e.g. to know how much is the height of a protrusion, then its depth, then the glass length, then the next protrusion height and depth, and further to know all the prior tracked widths for the glasses and protrusions, it is an intelligent learning system that make the next future cleaning operations more faster.
So when in operation, the mini helicopter 21 is raised or lowered, and positioned laterally to bring the window area to be washed, within the extent of travel of the brush 28, the cleaning head 61 is then extended, at the same time the cleaning head 61 is reciprocated in the required direction across the window indicated,
b- The (ILS) 97 can be programmed by getting all the three dimensional facade25 dimensions, including the dimensions of its protrusions, decorations, and all other related details, wherein according to these data, the ECU 55 issues the orders to the motors to rotate at a measured feedback speed, to know according to these speeds via the crossed time how much is the distance crossed of a window glass, suppose the glass height is 4 meters followed by a 0.5 meter protrusion horizontal depth, and 0.5 meter height, and the upward speed of the mini helicopter at the start of cleaning the glass is 0.5 m/s, this means after t = 4/0.5 = 8 seconds, the ECU 55 will issue an order to stop the mini helicopter 21 from moving up, then will issue an order to stop the cleaner brush 28 at its middle horizontal position, issue another order to move the mini helicopter 21 (0.5 meters) backward, then issue an order to the mini helicopter 21 to move up a couple of inches that equal half the reciprocating vertical distance of the cleaner head 61, in-between two extreme points + 1/2 the height of the brush 28, that is to locate the brush 28 at the start bottom edge of the protrusions, then the (ECU) 55 issue order for the brush 28 mechanism to reciprocate, and another order for the mini helicopter 21 to move upward, through the feedback speed from the mini helicopter 21, then the (ECU) 55 estimates how much is the time required to carry out the protrusion vertical surface cleaning, then it prepares orders to carry out washing the window glass that is located deeply inside. - Cleaning brushes and mechanism other embodiments:
a- In a second embodiment (FIG. 19) for the cleaning brush 28 mechanism 60, instead of using a reciprocating brush 28, a rotating brush 98 is to be used, wherein the cylindrical spongy rubber brush 28, is to be installed at the extreme end of the mechanism opposite to the window glass, the brush 28 have an axle 99 fixed along its center, penetrating its edges, and extending out to be supported on a beam 100 of a sub-frame 101, with carrier bearings (not shown) in-between a hole in the beam 100 and the axle 99 ends from both sides, installed on the axle 99 in-between the bearing and the brush 98, one gear 102 from both sides, depending on a monitored two-way motor 103, installed inside the frame 101, and via a toothed belt 104, this gear 102 is rotated, as a result, the brush 28 is rotated in either direction as desired.
Note that water supply in this mechanism, is provided from the water secondary supply hose 51, to pass from inside the telescopic shafts 75, then through the frame 01 center beam 105 towards each of the side beams 100, wherein it will enter from the ends of the brush axle 99, which has nozzles releasing the water out to inside the spongy rubber material of the rotating brush 98.
b- In a third embodiment for the cleaning brush (FIG. 20), a rotatable brush with flaps 106, surrounding its center, along its width, is to be used, this brush 106 is rotated via the same mechanism provided in for the second embodiment, also the fluid supply for it is in the same way like in the second embodiment, wherein the flaps 107 are wetted from their bases, toward their surfaces, furthermore the brush 106 is surrounded by a curved plate 108 from all sides, except from the glass 34 side, herein it is opened, and having at its upper and lower edges a wiper rubber 109. Note that the curved plate 108 is welded to the carrier frame 101 from its rear side edges, and collecting the splashing water in its bottom side, and sending it down through its drain hole, toward a connected drainage hose 57.
c- For different shapes of facade 25 details, such as when the target part of its vertical area is curved to inside, or curved to outside, or having L shape design, a set of different washing brushes are offered here for such shapes respectively, a brush curved to inside 111 (FIG. 21), a brush curved to outside 110 (FIG. 22), and an L shaped brush 112 (FIG. 23), for front and right or left sides, and U-shaped brushes 113 for front, right, and left sides (FIG. 24).
Note here that the offered brushes shapes, are driven by a reciprocating mechanism, and also a rinse/compress process can be carried out on them, wherein they are pulled from in-between a set of two or four rotating tubes 70, in the same way like the one explained for the first embodiment, but with the frame carrying the rinsing tubes separated from the brush, specially for the L-shaped and U-shaped brushes, wherein the compress frame 114, is located over the drainage basins. - Compact motorized mechanism (FIG. 25):
It need to be noted that three motors 26, 77, 87 are appearing to drive the inner mechanisms inside the mini helicopter 21, these are sketched for clarity, but a compact design, will be a one having only a single drive motor 115, installed inside the mini helicopter 21 to drive the propeller 28, the double cams shaft 77, and the hydraulic fluid circuit pump 87.
Method of operation (Apparatus installation and removal steps);
1- The three mini helicopters 21 are to be removed from inside the cabover truck 23 and located facing the facade 25, with a separation distance in-between them;
the top suspending frame 22 is to be removed, and taken by one laborer, to be installed at the top roof edge 42, who starts releasing the suspending ropes 24 downward (note: this labored stays over the building for the whole time while the apparatuses 20 are in operation for monitoring the cleaning process);
the fluid distribution block 50 and electrical cable 54 are removed out from the cabover truck 23; the fluid main hose 49 is connected from one side to the fluid pump 31 outlet, and from another side to the fluid distribution block 50; the electrical cable 54 is connected in-between the batteries 32 poles and the fluid distribution block 50, and the bottom two-way motor 53;
the fluid supply hoses 51, the electrical cable 54, and the fluid drainage hoses 57 (three pieces), are connected in-between the fluid distribution block 50, and each of the three mini helicopters 21;
the suspending ropes 24 are connected to each mini helicopter 21, separately;
the control panel is started, and a diagnosis check is run to assure that all devices are ready for operation;
the apparatus 20 is started, wherein the two-way bottom motor 53 is synchronized with the top motor 38, and the mini helicopters 21 reposition themselves, and their cleaning heads 61 opposite to the bottom of their target part of the facade 25 to be cleaned;
a laborer at the ground will check visually the right positioning of the mini helicopters 21 and their cleaning heads 61;
the laborer return to the control cabin 48 to join another laborer in monitoring and controlling the operation, wherein they start the mini helicopters 21 raising with the washing heads 61 reciprocating cleaning;
once the three helicopters 21 reach near the roof top 42; through telecommunication, the top laborer inform the two cabin controllers to stop the cleaning, so that he can shift the U-shaped frame 41 sideward, wherein he will reposition it so that the mini helicopters 21 are repositioned opposite to next target vertical part of the facade 25.
- After finishing cleaning the building facades, the three mini helicopters 21 are to be located on the ground;
the apparatus 20 is switched off; the laborer at the ground disconnects from the top side of the mini helicopters 21 the safety suspending ropes 24, and disconnect from the lower side of the mini helicopters 21 the fluid supply 51 and drainage hoses 57, and the power supply cables 54;
the laborer at the top starts the two-way motor 38 on its reversible mode, to roll back the hanging ropes 24 around the pulleys 36, 37; the ground laborers disconnects the power supply cables 54, and water supply hoses 51 from the block 50 to mini helicopter 21 side; the ground laborer disconnects the power supply cable 54, and the fluid supply main hose 49 that are located in-between the block 50 and the truck 23;
the top laborer carries the suspension U-shaped frame 41 down the building;
all the laborers return to the truck 23 the mini helicopters 21, the suspension U-shaped frame 41, the cables 54, the hoses 49, 51, 57, and the fluid distribution block 50.
Industrial applicability
The subject invention has the following benefits, which make it easier to be industrially applicable: 1- All the apparatus devices: the mini helicopter, electronic control circuits, motorizing mechanisms, water supply block, tank, pump, and supporting frames can be easily manufactured from available tools and materials used successfully in other types of arts with easy modifications.
2- Modifying a mini helicopter, without disturbing its final operating shape, to be an aerobotic device for civil services such as cleaning, fire fighting..
3- For the first time an apparatus can substitute the cleaning laborers, to clean detailed facades, with protrusions, in a way that is not only simulating there capabilities and senses, but providing a higher quality cleaning results.
4- Fast installation of the apparatus, compared to the manners and devices in the art.
5- Fast cleaning than any other apparatus or a laborer cleaner, due to the use of a mini helicopter that would not bear against the facade, in addition to using a fast reciprocating cleaner.
6- Extra additions to facilitate the safety of use, and to exclude all the emergencies that may face the other apparatuses without having safety options.
7- Multi control systems on the cleaning process, and the mini helicopter safety, facade safety, or any other people or valuable materials, that is achieved by depending on a built-in control unit inside the helicopter, emergency microprocessor, remote control panel with screens.
8- Water consumption saving to extreme limits.
9- Complete sets of sensors, cameras, and meters to facilitate a high quality cleaning performance especially with non flat facades.
10- A special truck to facilitate all the operations, of a three apparatuses that would carry out their tasks with a considerable time saving, in addition to taking the weight of the water tank out from the mini helicopters. Parts Drawing Index:
20 Apparatus. 41 U-shaped frame.
21 Mini helicopter. 42 Roof top edge.
22 Safety suspending mechanism. 43 Vertical beam legs.
23 Truck. 44 Flat horizontal beam.
24 Suspending ropes. 45 Supporting rubber wheel.
25 Facade. 46 Beam legs wheel.
26 Drive motor. 47 Truck container.
27 Propeller. 48 Truck cabin.
28 Spongy rubber brush. 49 Main fluid supply hose.
29 Double-wiper rubber. 50 Fluid distribution block.
30 Water tank. 51 Secondary fluid supply hose.
31 Water pump. 52 Three pulleys.
32 Main rechargeable batteries. 53 Bottom 2-way motor.
33 Avatar shape ring. 54 Electrical cable.
34 Window glass. 55 Electronic control unit (ECU).
35 Supporting wheel. 56 Top camera.
36 First pulley. 57 Water drainage hose.
37 Second pulley. 58 Drainage basin support.
38 Top 2 -way motor. 59 Detailed view camera.
39 Top motor batteries. 60 Cleaning mechanism.
40 Boom. 61 Cleaning head. Front distance sensor. 83 Small diameter reciprocating shaft. Protruding marble. 84 Big diameter reciprocating shaft. Side distance sensor. 85 Piston rod. Upper/Lower distance sensor 86 Hydraulic cylinder. Reflectors sensors. 87 Hydraulic pump & motor. Wind speed meter. 88 Hydraulic Fluid suction hose. Digital compass. 89 Hydraulic Fluid reservoir. Altitude meter. 90 Hydraulic fluid pressure hose. Four freely rotating tubes. 91 Hydraulic Fluid return hose. Double wiper rubber. 92 Hydraulic Fluid selector valve. Main carrier frame. 93 Diagonal telescopic shaft. Sub-frame. 94 Diagonal small diameter shaft. Wiper motor. 95 Diagonal big diameter shaft. Reciprocating shafts. 96 Standby batteries. Double-cams shaft. 97 Intelligent learning system (ILS). Electric motor. 98 Rotating brush. Wing. 99 Brush axle. Partially elliptical protrusion. 100 Beam. Spring. 101 Support frame. Drainage mechanism. 102 Gear. Semi-telescopic basins. 103 2 -way motor. 104 Toothed belt.
105 Center beam.
106 Rotatable brushes with flaps.
107 Flaps.
108 Curved plate.
109 Wiper rubber.
110 Curved out brush.
111 Curved in brush.
112 L-shaped brush.
113 U-shaped brush.
114 Com press frame.
115 Drive motor.

Claims

Claims
1- An Aerobotic Glass Cleaner apparatus (20) for cleaning high rise buildings, comprising:
a mini helicopter (21);
Safety suspending mechanism (22);
storage/Supply/Control truck (23);
remote monitor/control panel;
electronic control unit (ECU) (55);
water/Power Supply and drainage accessories;
2-way ground motor;
outer body accessories;
general and detailed view cameras (56), (59);
frontal, side and upper/lower distance sensors (62), (64), (65); two reflector sensors (66);
wind speed meter (67);
a digital compass (68);
altitude meter (69);
speed sensors;
a cleaning Mechanism (60);
a reciprocating cleaning brush.
a rinse/compress mechanism;
a drainage mechanism;
a standby power supply (96);
an intelligent Learning System (ILS) (97);
compact motorized mechanisms.
2- The aerobatic cleaner according to claim 1, wherein the mini helicopter (21) is the part of the apparatus (20) which by itself carries up/down and sidewards the cleaning mechanism (60), tools, drainage mechanism, rinse/compress mechanism, ECU (55), sensors, meters.
3- The aerobatic cleaner (20) according to claim 1, wherein its corners sides and edges are covered with rubber pads, and its propeller (27) is surrounded by avatar shape ring (33), to protect the windows glass (34) from being accidently damaged by the mini-helicopter (21).
4- The aerobatic cleaner (20) according to claim 1, wherein the safety suspending mechanism (22), is compromising a U-shaped frame (41), consisting of legs (46), fixed around the roof top (42), boom (40), 2-way remotely controlled roof top motor (38), two pulleys (36), (37), and two safety ropes (24), fixed from one side to the pulleys (36), (37), and from another side to the mini helicopter (21), the ropes are rolled freely with little tension around the pulleys (36), (37), while the mini helicopter (21) is ascending, rolling out from the pulleys (36), (37) while the mini helicopter (21) is descending, and supporting the mini helicopter (21) load only at emergencies by being held fixed.
5- The aerobotic cleaner (20) according to claim 1, wherein the storeage/control/supply truck (23), is a medium size transporting and storing van truck, with its cabin used to support a remote monitor/control panel, while its container is divided into three compartments, a lower part as a fluid supply tank (30) with water pump (31), and two main batteries (32), the other two compartments store three mini helicopters (21), the suspending mechanism (22), the fluid distribution block (50), the hoses (49), (51), (57), and cables (54).
6- The aerobotic cleaner (20) according to claim 1, wherein the remote monitor/control panel, is installed in the truck cabin (48) (passengers side) having three screens, for following up the work in progress of three apparatuses (20), in addition to monitoring and controlling its operation via e.g joy sticks, switches, or touch screen... these screens gets all the data collected by the sensors, and cameras (56), (59), that are installed on the apparatus (20), and sent by an electric cable (54), or may be transmitted by means of a conventional wireless system.
7- The aerobotic cleaner (20) according to claim 1, wherein the electronic control unit (ECU) (55), is installed inside the mini helicopter (21), it receives all the data from the sensors, meters..., manipulate them, issue orders to control the whole apparatus (20) operation, and meanwhile it communicates with the control panel.
8- The aerobotic cleaner (20) according to claim 1, wherein the water supply accessories, include a main supply hose (49), connected from one side to the water pump (31), and from another side to a portable three-way water distribution block (50), that maintains a pressurized quantity of water, passing three actuator valves, that have solenoid valves, to control the amount of water, to be provided through each water secondary supply hose (51), toward each one of the three used mini helicopters (21), wherein the supplied water quantity is specified according to the calculated data from specific cleaning operation sensors, and controlled by the (ECU) (55).
9- The aerobotic cleaner (20) according to claim 1, wherein a 2-way ground motor (53) is driving three pulleys (52) to roll on or out the hoses (51), to provide the required length of each hose (51), according to the distance crossed up by each mini helicopter (21), and to roll it back around the pulley (52) once the mini helicopter (21) is moving down..
10- The aerobotic cleaner (20) according to claim 1, wherein the Power supply is provided via an electrical cable (wiring harness) (54), that carries the power supply electricity, the electronic orders, and the feedback signals, in-between the control panel in the cabin (48), the main batteries (32) in the truck (23), the water pump (31), the hoses block (50) (solenoid valves), the water supply hoses (51), the roller motor (53), the ECU (55) in the mini helicopter (21) and its connected sensors, actuators, meters, in addition to the standby batteries (96), the cameras (56), (59), and the U-shaped frame (41) 2-way motor (38) and any other drive, or braking mechanism.
11- The aerobotic cleaner (20) according to claim 1, wherein the drainage accessories consists of a water drainage hose (57) fixed from one side to each mini helicopter (21) drainage basin support (58), and ending form its other side to a garden or a sewage manhole. 12- The aerobotic cleaner (20) according to claim 1, wherein the water/Power Supply and drainage accessories; have their hoses (51), (57), and the cable (54), that are located in-between the ground and the mini helicopter (21), coupled together, similarly the hanging cable (54) and electric power supply wiring, going to the U-shaped frame (41) mechanism are coupled together.
13- The aerobotic cleaner (20) according to claims 1 and 12, wherein the coupled water/Power Supply and drainage hoses (51), 57), and cables (54), that are located in-between the ground, and the mini helicopter (21) are put under little tension downward by the ground motor (53), when the othertop motor (38) is putting the suspending ropes (24) under little tension upward, to hold fixed and prevent the mini helicopter (21) from swinging when it gets idle, and thus preventing it from hitting the facade (25), the ECU (55) runs this process, by synchronizing both top and bottom motors (38), (53) operation, while the laborer in the cabin (48) later control taking down the idle mini helicopter (21), depending on the top and bottom motors (38), (53).
14- The aerobotic cleaner (20) according to claim 1, wherein the mini helicopter (21) outer body accessories, consist of cameras, sensors, and meters, installed on the mini helicopter (21), and send all the sensed data to the ECU (55), and to the control panel in the cabin (48), to act and respond in the same way, when a suspended labor handle the cleaning, or may be much more better.
15- The aerobotic cleaner (20) according to claim 1, wherein the general view (wide angle) camera (56), is installed at a predetermined distance over the mini helicopter (21) body, to get a correct view of the mini helicopter (21) front side, with the cleaning tools location, and performance, it further gets a view on a big part of the glass (34) facing the mini helicopter (21), the general view is to be transmitted to the control panel screen, inside the cabin, where a watchman remotely monitor the performance of the general items related to the mini helicopter (21), such as safe operation, correct location, right direction.
16- The aerobotic (20) cleaner according to claim 1, wherein a detailed view camera (59), is installed at the middle nearly top part of the front side of the mini helicopter (21), to concentrate on picking a view for the cleaning tools, specially in a region covering the cleaning location of the glass (34), to give a view on how the glass (34) appear before and after cleaning, and how the cleaning head (61) and the front side of the cleaning tool are operating and performing.
17- The aerobotic cleaner (20) according to claim 1, wherein the frontal two distance sensors (62), are installed at the middle of both sides of the center of the front side of the mini helicopter (21) body, these sensors (62) measure the distance in-between the mini helicopter (21) body, and the facing glass (34), and send the data to the ECU (55) in the mini helicopter (21), accordingly the ECU (55) issues the orders to the propeller (27) swash plate to adjust the propeller (27), to reposition the mini helicopter (21), such that its axis remains always perpendicular to the surface to be cleaned, by moving a little forward to keep the cleaning head (61) in touch with the glass (34), according to the predetermined set distance, in-between these sensors (62) and the glass (34), or if the mini helicopter (21) body is shifted side wards, due to the wind or what else, it readjust again to be facing fully the glass (34).
18- The aerobotic cleaner according to claims 1 and 17, wherein the frontal sensors (62) further measures the variation in distance depth, in-between the glass (34) and protruding horizontal details in the facade (25), to acknowledge the ECU (55), to issue the orders to the swash plate to adjust the propeller (27) to make the mini helicopter (21) moves forward for a predetermined distance, until finishing the cleaning of the glass (34), and sensing the protruding marble (63) distance again, wherein the mini helicopter (21) with its cleaning head (61) once again moveA backwards for a predetermined distance. 19- The aerobotic cleaner (20) according to claim 1, wherein the two side distance sensors (64) are installed and located on both front right and left sides of the cleaning brush (28), to measure the distance, in- between the vertical protrusions, and the brush right and left edges, and then to send the data to the ECU (55), to issue the orders to the propeller (27) swash plate, to adjust the propeller (27), to re-position the min helicopter (21), either to move a little sideward away, or sideward toward the inner surface of the vertical protrusion, to keep the whole cleaning head (61) in touch with the whole glass (34), starting from one inner edge of the vertical protrusion, according to the predetermined set distance, in-between these sensors (64), and the glass (34), and the vertical protrusion.
20- The aerobotic cleaner (20) according to claim 1, wherein the upper and lower distance sensors (65) are two, one installed at the middle top side of the cleaning head (61), and the lower is installed at the bottom lower side of the cleaning head (61), to determine if there is an open window, either on top of the cleaner head (61), or at the bottom of it, or to determine the distance in-between the cleaner head (61), and a horizontal protrusion, that is located either on top or at the bottom of the cleaner head (61), so that the ECU (55) issues the orders to handle such issue.
21- The aerobotic cleaner (20) according to claim 1, wherein the distance sensors (62), (64), (65) data, are manipulated by the ECU (55), to issue orders to the actuators, to prevent the mini helicopter (21) from swaying around any of its axes: tilting up, or down, or sidewards.
22- The aerobotic cleaner (20) according to claim 1, wherein the two reflector sensors (66), are installed on the mini helicopter (21) body outer front body, such that it is directed vertically toward the facade(25), with one pointing to a location over the cleaning head (61), and the other pointing to a location under the cleaning head (61), these sensors (66) measure the reflected beam amount (the reflectivity of the glass (34)), and send the data to the ECU (55), to compare it with preset values, to since the difference in dirt layer, in-between the two locations, before the cleaned area, and at the cleaned area, accordingly the amount of dust density on a glass (34) is evaluated, and as a result the ECU (55) judges how much is the suitable speed of the mini helicopter (21), suitable reciprocating speed of the cleaning head (61), and brush (28) rinse/compress cycles to be carried out.
23- The aerobotic cleaner (20) according to claim 1, wherein the wind speed meter (67), is installed on the outer bottom of the mini helicopter (21) body, the data collected from this meter (67) is processed in the control unit (55), considering the preset effects on the read values by the wind speed meter (67), these effects refer to the air rotated by the propeller (28) of the mini helicopter (21), that is depending on the adjusted measured data, the ECU (55) issues orders to reposition the mini helicopter (21), or to hold it fixed when the wind is beyond the safe operation limits.
24- The aerobotic cleaner (20) according to claim 1, wherein the digital compass (68) is installed inside the min helicopter (21), to provide the ECU (55), with the data about the directions to be set in it, as a reference for the perfect correct position of the mini helicopter (21), and the cleaning head (61), against the glass (34) before operation, to provide such data when the apparatus (20) is in operation, to help the ECU (55), and to issue the correct adjustment orders to the swash plate, to reposition the mini helicopter (21) and the cleaning head (61) in the correct direction.
25- The aerobotic cleaner (20) according to claim 1, wherein the altitude meter (69) is installed inside the mini helicopter (21), to measure the height of it from the ground, and to feed these data in the ECU (55) and the ILS (97).
26- The aerobotic cleaner (20) according to claim 1, wherein speed sensors are installed to measure the speeds of each motor, and to provide the data to the ECU (55), wherein each mini helicopter (21) too has a speed sensor for its vertical up/down movements. 27- The aerobotic cleaner (20) according to claim 1, wherein the cleaning mechanism (60) consists of a cleaning head (61), a reciprocating mechanism, rinse/compress/drain mechanism.
28- The aerobotic cleaner according to claim 27, wherein the cleaning head (61) consists of a frame (72) supporting longitudinally: a cylindrical spongy rubber brush (28), a double side rotating wiper rubber (71), two upper and two lower rinse/compress freely rotatable tubes (70), and fluid distribution (feeding) circuit.
29- The aerobotic cleaner (20) according to claim 27, wherein the reciprocating mechanism consists of a motor (77) controlled by ECU (55), driving a double-cams shaft (76), installed along the width of the bottom of the mini helicopter (21), the double-cams shaft (76) is driving the reciprocation of two telescopic reciprocating side shafts (75), that are pivoted before their inner ends, to the bottom of the mini helicopter (21), and connected from there far ends, to the cleaner head (61) supporting frame (72) and from there bigger diameter ends, to retard springs (80), to pull the front ends of the side shafts (75) up after being tilted down, and thus moving the cleaner head (61) with the brush (28) up and down against the window glass (34).
30- The aerobotic cleaner (20) according to claim 27, wherein the rinse/compress/drain mechanism, consists of a hydraulic circuit, with piston rod (85) end, connected to the brush (28), the supporting frame (72) of the brush (28), is also connected from down side through two diagonal telescopic shafts (93) to the semi telescopic basins (82), which are mounted on the front bottom base of the mini helicopter (21).
31- The aerobotic cleaner (20) according to claims 1 and 27, wherein the rinse/compress/drain mechanism is activated by the ECU (55), staring by stopping the cleaner head (61) at its middle reciprocating distance, activating the hydraulic circuit to pull back the brush (28), and as a result the cleaner head (61), and the cleaner frame (72) are pulled back with the reciprocating telescopic side shafts (75), and the diagonal telescopic shafts (93), once the cleaner frame (72) reaches the end of the bigger diameter reciprocating shaft (84), it stops, but the piston rod (85) end continues in pulling the brush (28), such that it passes from the narrow slot in-between the four freely rotatable pipes (70), and as a result the brush (28) is compressed to release fluid and dirt out in the drainage basins (82), which will drop it through a bottom hole to inside the drainage hose 57).
32- The aerobotic cleaner (20) according to claim 1, wherein the double side rotating wiper rubber (71) is installed via a sub-frame (73) on the cleaner head (61) support frame (72) over the brush (28), and from its extended ends, installed around the brush (28) axle, where a motor (73) is installed to drive the rotation of the wipers' sub-frame (73) 180 - 270° around the brush (28), such that it is positioned according to the ECU (55) orders: under the brush (28) when the cleaning direction is upwards, and over the brush (28) when the cleaning direction is downwards.
33- The aerobotic cleaner (20) according to claim 28, wherein the fluid feeding circuit consists of the water hose (51), that is coming from the fluid distribution block (50) outlet, through the bottom base of the mini helicopter (21), to be divided into two parts, each one entering from one end of the reciprocating telescoping side shafts (75), and passing toward the main frame (72), towards the side ends of the brush (28), where along the center of the brush (28), there is nozzles sending the water toward the outer layer of the brush (28), that is facing the glass (34), this arrangement prevents water splash, water consumption, and keep on sending out the fluid from the brush (28) bores, as well as sending out the dirt, which results in permanent rinsing of the brush (28).
34- The aerobotic cleaner (28) according to claim 1, wherein the standby power supply, consists of a rechargeable battery (96), controlled by a microprocessor, having a built-in fail safe program, that carries a failsafe function, once it is known that the input or output power, to or from the ECU (55) is interrupted, such that the microprocessor immediately starts functioning, by keeping the propeller (27) rotating, and issuing all the orders to retard back the cleaner head (61), and to take the mini helicopter (21) down to the ground, to be sent for diagnosing and repairing the fault.
35- The aerobotic cleaner (20) according to claim 1, wherein the Intelligent Learning System ILS (97), is installed as an extra option in the electronic control unit ECU (55) to save all the data gathered from the sensors, meters, and these related to the issued orders, to draw a work track of how the whole apparatus (20) together, and in parts was performing the tasks during specified moments, these details are used to draw the high rise building facade (25) shape, details, and dimensions to be programmed in the ILS (97), to be used later by the ILS (97) to control automatically the whole movement process, against the target facade(25), to be tracked while cleaning.
36- The aerobotic cleaner (20) according to claim 1, wherein the ILS (97), can be programmed by getting all the three dimensional facade (25) dimensions, including the dimensions of its protrusions, decorations, and all other related details, wherein according to these data, the control unit (55) issues the orders to all the motors and actuators to operate in carrying the cleaning operation.
37- The aerobotic cleaner (20) according to claim 1, wherein the cleaning mechanism (60) in a second embodiment, consists of a rotating brush (98), where the cylindrical spongy rubber brush (98) is to be installed at the extreme end of the mechanism, opposite to the window glass (34), the brush (98) has an axle (99) fixed along its center, penetrating its edges, and extending out to be supported on a beam (100) of a sub- frame (101), with carrier bearings in-between a bore in the beam (100), and the axle (99) ends from both sides, installed on the axle (99) in- between the bearing and the brush (98) one gear (102) from both sides, depending on a monitored 2-way motor (103), installed inside the frame (101), and via a toothed belt (104), this gear (102) is rotated, as a result, the brush (98) is rotated by the small two-way electric motor (103), which permits rotation of the brush (98) in either direction as desired.
38- The aerobotic cleaner (20) according to claim 37, wherein the water supply for the rotating mechanism, is provided from the water supply hose (51), to pass from inside the telescopic shafts (75) open ends, then through the frame center beam (105), towards each of the side beams (100), wherein it enters from the ends of the brush axle (99), which has nozzles releasing the water out to inside the spongy rubber material of the brush (98).
39- The aerobotic cleaner (20) according to claims 1, 37, wherein the cleaning mechanism (60) in a third embodiment consists of a a rotatable brush (106), with flaps (107) surrounding its center, along its width is used, this brush (106) is rotated via the same mechanism provided in for the second embodiment, further the fluid supply for it is in the same way like that in the second embodiment, wherein the flaps (107) are wetted from their bases towards their surfaces, furthermore the brush (106) is surrounded by a curved plate (108), from all sides, except from the glass (34) side, herein it is opened, and having at its upper and lower edges a rubber blades (109), the curved plate (108) is welded to the carrier frame (101) from its rear side edges, and collecting the splashing water in its bottom side, and sending it down through its drain hole, toward a connected drainage hose (57).
40- The aerobotic cleaner (20) according to claim 1, wherein the cleaning mechanism (60) consists of other embodiments of brushes shapes, such that a brush curved to outside (110), to clean vertical parts of facades (25) that are curved in, a brush curved to inside (111) to clean vertical parts of facades (25) that are curved out, and an L shaped brush (112), for front and right or left sides vertical protrusions in the facade (25), and a U-shaped brush (114) for cleaning front, right, and left surfaces. 41- The aerobotic cleaner according to claim 1, wherein the Compact motorized mechanism, comprises one motor (115) driving the three inner mechanisms, inside the mini helicopter (21), which are the propeller (27), the hydraulic fluid circuit, and the double-cams shaft (76).
42- A method of installing and setting the apparatus (20) into operation, comprising:
three mini helicopters (21) are to be removed from inside the cabover truck (23) and located facing the facade (25), with a separation distance in-between them;
the suspending mechanism (22) is to be removed and taken by one laborer to be installed at the top roof edge (42), who will start releasing the suspending ropes (24) downward (note: this labored will stay over the building for the whole time while the apparatuses (20) are in operation for monitoring the cleaning process);
the fluid distribution block (50), fluid hoses (49), (51), (57), and electrical
cable (54) are removed out from the cabover truck (23);
the fluid main hose (49) is connected from one side to the fluid pump
(31) outlet and from another side to the fluid distribution block (50); the electrical cable (54) is connected in-between the batteries (32) poles and the fluid distribution block (50) with the bottom 2 -way motor
(53);
the fluid supply hoses (51), the electrical cables (54), and the fluid drainage hoses (57) (three pieces) are connected in-between the fluid distribution block (50) and each of the three mini helicopters (21); the suspending ropes (24) are connected to each mini helicopter (21) separately;
the control panel is started, and a diagnosis check is runned to assure that all devices are ready for operation;
the apparatus (20) is started, wherein the 2-way motor (53) at the ground is synchronized with the top mounted motor (38) via the cable (54), and the mini helicopters (21) reposition themselves and their cleaning heads (60) opposite to the bottom of their target part of the facade to (25) be cleaned;
a laborer at the ground checks visually the right positioning of the mini helicopters (21) and their cleaning heads (60);
the laborer return to the control cabin (48) to join another laborer in monitoring and controlling the operation, wherein they start the mini helicopters (21) toward upper ascending with the washing head (60) reciprocating cleaning;
once the three helicopters (21) reach near the roof top; then through telecommunication the top laborer inform the two cabin controllers to stop the cleaning, so that he can shift the U-shape frame (41) sideward, wherein he will reposition it so that the mini helicopters (21) are repositioned opposite to next target vertical part of the facade (25).
43- A method of stopping and disassembling the aeropotic apparatus (20) for storage, comprising:
stopping the apparatus (20) power supply via the control panel; the three mini helicopters (21) are to be located on the ground; the apparatus (20) is switched off;
the two laborers at the ground disconnect from the top side of the mini helicopters (21) the safety suspending ropes (24), and disconnect from its lower side of the mini helicopters (21) the fluid supply and drainage hoses (51), (57), and the power supply cables (54);
the laborer at the top starts the 2-way motor (38) on its reversible mode, to roll back the hanging ropes (24) around the pulleys (36), (37);
the ground laborers disconnect the power supply cable (54) and water supply hoses (51) from the block (50) to mini helicopter (21) side; the ground laborers discconnet the power supply cable (54), and the fluid supply main hose (49) that are located in-between the block (50) and the truck (23);
the top laborer carries the suspending mechanism (22) down the building;
all the laborers return to the truck (23) the mini helicopters (21), the suspending mechanism (22), the cables (54), the hoses (49), (51), and the fluid distribution block (50).
PCT/IB2013/000323 2013-03-07 2013-03-07 Aerobotic glass cleaner WO2013076711A2 (en)

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