WO2017039082A1 - Cleaning apparatus and cleaning method using same - Google Patents

Cleaning apparatus and cleaning method using same Download PDF

Info

Publication number
WO2017039082A1
WO2017039082A1 PCT/KR2015/014579 KR2015014579W WO2017039082A1 WO 2017039082 A1 WO2017039082 A1 WO 2017039082A1 KR 2015014579 W KR2015014579 W KR 2015014579W WO 2017039082 A1 WO2017039082 A1 WO 2017039082A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
unit
pair
distance adjustment
guide rod
Prior art date
Application number
PCT/KR2015/014579
Other languages
French (fr)
Inventor
Jongwon Kim
Taegyun Kim
Sungkeun Yoo
Youngjae Jeon
Jaehong Kim
Hwasoo KIM
Original Assignee
Seoul National University R&Db Foundation
Kyonggi University Industry & Academia Cooperation Foundation
Kyoungseo Glotech Co., Ltd.
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 Seoul National University R&Db Foundation, Kyonggi University Industry & Academia Cooperation Foundation, Kyoungseo Glotech Co., Ltd. filed Critical Seoul National University R&Db Foundation
Publication of WO2017039082A1 publication Critical patent/WO2017039082A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/002—Arrangements for cleaning building facades

Definitions

  • the present invention relates generally to a cleaning apparatus and a cleaning method using the same, and more particularly to a cleaning apparatus that is mounted on a movable robot platform and cleans the external walls of a building, and a cleaning method using the same.
  • Korean Patent Application No. 10-2010-0056213 discloses a building external wall cleaning apparatus that can move a cleaning unit through the adjustment of the length of a connection rope while supporting the cleaning unit using the connection rope.
  • the building external wall cleaning apparatus disclosed in Korean Patent Application No. 10-2010-0056213 is problematic in that it is difficult to clean an external wall while applying uniform pressure to the overall external wall and in that a cleaning effect is poor or cleaning is impossible when the state of an external wall is not smooth, but is textured.
  • At least some embodiments of the present invention are directed to the provision of a cleaning apparatus and a cleaning method using the same.
  • a cleaning apparatus including: a coupling unit detachably coupled to a movable robot platform that moves along one surface of a cleaning target; a cleaning unit configured to include one or more cleaning brushes that come into contact with the one surface of the cleaning target and clean the one surface; and a distance adjustment unit coupled to the coupling unit and the cleaning unit, and configured to adjust the relative distance and angle between the coupling unit and the cleaning unit.
  • an embodiment of the present invention can clean an overall external wall of a building under uniform pressure.
  • an embodiment of the present invention even when depressions and protrusions or a curved surface are present on an external wall of a building, can clean the external wall of the building, as in the case of cleaning a plane surface, by changing the angle of a cleaning unit.
  • an embodiment of the present invention can detect and avoid an obstacle in the direction of movement of a cleaning apparatus using distance detection sensors.
  • Fig. 1 is a perspective view schematically illustrating a cleaning apparatus according to an embodiment of the present invention
  • Fig. 2 is a perspective view schematically illustrating the cleaning unit of a cleaning apparatus according to an embodiment of the present invention
  • Fig. 3 is a perspective view schematically illustrating the distance adjustment unit of a cleaning apparatus according to an embodiment of the present invention
  • Fig. 4 is a perspective view schematically illustrating the coupling unit of a cleaning apparatus according to an embodiment of the present invention
  • Fig. 5 is a diagram illustrating operation states in which the relative distance between the coupling unit and cleaning unit of a cleaning apparatus has been differently adjusted according to an embodiment of the present invention
  • Fig. 6 is a diagram illustrating operation states in which the relative angle between the coupling unit and cleaning unit of a cleaning apparatus has been differently adjusted according to an embodiment of the present invention.
  • Fig. 7 is a flowchart sequentially illustrating a cleaning method using a cleaning apparatus according to an embodiment of the present invention.
  • Fig. 1 is a perspective view schematically illustrating a cleaning apparatus 1000 according to an embodiment of the present invention
  • Fig. 2 is a perspective view schematically illustrating the cleaning unit 100 of a cleaning apparatus 1000 according to an embodiment of the present invention
  • Fig. 3 is a perspective view schematically illustrating the distance adjustment unit 200 of a cleaning apparatus 1000 according to an embodiment of the present invention.
  • Fig. 4 is a perspective view schematically illustrating the coupling unit 300 of a cleaning apparatus 1000 according to an embodiment of the present invention.
  • the cleaning apparatus 1000 may be an apparatus that is mounted on an autonomously movable robot platform and cleans a cleaning target, such as a climbing robot platform that is configured to climb an external wall of a building.
  • the cleaning apparatus 1000 may include: a cleaning unit 100 configured to come into contact with one surface of a cleaning target and clean the one surface of the cleaning target; a coupling unit 300 detachably coupled to a movable robot platform that moves along the one surface of the cleaning target; and a distance adjustment unit 200 coupled to the coupling unit 300 and the cleaning unit 100, and configured to adjust the relative distance and angle between the coupling unit 300 and the cleaning unit 100.
  • the cleaning unit 100 shown in Fig. 2 comes into contact with the one surface of the cleaning target and cleans the one surface of the cleaning target, and may be coupled to and operated in conjunction with the distance adjustment unit 200 (which will be described later).
  • the cleaning unit 100 may include at least one cleaning brush 110 that comes into contact with the one surface of the cleaning target and cleans the one surface of the cleaning target.
  • cleaning target may refer to an external wall of a building, a transportation means, such as a vehicle, a large-sized window, a floor, or the like which the cleaning apparatus 1000 can approach.
  • one surface of a cleaning target may refer to one surface, i.e., an external wall glass of a building, an external surface of a transportation means, or the like, with which the cleaning apparatus 1000 can come into contact.
  • the cleaning unit 100 may include at least one cleaning brush 110.
  • the diameter of the cleaning brush 110 may vary with a cleaning purpose or the like.
  • the cleaning brush 110 may be configured to include a cylindrical body extended in the longitudinal direction of the cleaning brush 110, and a plurality of brushes helically arranged along the outer circumferential surface of the body. When cleaning is performed using the cleaning brush 110 having a helical structure, dust is expelled to the central portion and both ends of each of the cleaning brushes in the longitudinal direction thereof, through which dust attached to the cleaning target is removed.
  • the brushes of the cleaning brush 110 may be made of polypropylene. Since polypropylene has high restoring capability and forms sharp ends, it is suitable for the removal of dust attached to a cleaning target.
  • the cleaning unit 100 may include a central shaft 120 that extends in the longitudinal direction of the cleaning brush 110 and that protrudes through both ends of the cleaning brush 110.
  • the central shaft 120 may be coupled to the distance adjustment unit 200, as shown in Fig. 1, thereby enabling the cleaning unit 100 to be fastened to the distance adjustment unit 200.
  • the cleaning brush 110 may be coupled to the distance adjustment unit 200 so that the cleaning brush 110 is rotatable around the central shaft 120.
  • the distance adjustment unit 200 may be disposed between the cleaning unit 100 and the coupling unit 300.
  • the distance adjustment unit 200 enables cleaning to be performed by adjusting the relative distance and angle between the cleaning unit 100 and the coupling unit 300 even when a depression and protrusion or an inclination is present on a cleaning target.
  • the distance adjustment unit 200 may include a pair of fastening frames 210 and 211 each having a rectangular frame-shaped structure that are opposite each other and that is perpendicular to the longitudinal direction of the distance adjustment unit 200.
  • the length of the fastening frames 210 and 211 may approximately correspond to the overall width of the cleaning unit 100, and the height of the fastening frames 210 and 211 may approximately correspond to the overall height of the cleaning unit 100.
  • the pair of fastening frames 210 and 211 including a first fastening frame 210 and a second fastening frame 211 may be fastened at both ends of the distance adjustment unit 200 in the longitudinal direction thereof.
  • the central shaft 120 of the cleaning unit 100 may be coupled to and supported by the pair of fastening frames 210 and 211, actuators 272 and 273 (which will be described later) may be coupled to and supported by the pair of fastening frames 210 and 211, and a pair of guide rods 220 and 230 may be coupled to the pair of fastening frames 210 and 211.
  • the pair of fastening frames 210 and 211 including the first fastening frame 210 and the second fastening frame 211 function to support the overall cleaning apparatus 1000 so that the overall cleaning apparatus 1000 is prevented from being twisted, and also functions to restrain the degree of freedom so that a first connection member 240 and a second connection member 241 (which will be described later) are prevented from moving beyond the respective fastening frames 210 and 211.
  • the distance adjustment unit 200 includes at least one pair of guide rods 220 and 230.
  • the pair of guide rods 220 and 230 including a first guide rod 220 and a second guide rod 230 may be disposed between the pair of fastening frames 210 and 211. More specifically, the cleaning apparatus 1000 may include the first guide rod 220 extended from one end of the first fastening frame 210 in the longitudinal direction thereof to one end of the second fastening frame 211, and the second guide rod 230 extended from the other end of the first fastening frame 210 to the other end of the second fastening frame 211.
  • the first guide rod 220 and the second guide rod 230 may pass through the pair of connection members 240 and 241, and may guide the connection members 240 and 241 through their paths.
  • Each of the first guide rod 220 and the second guide rod 230 may include two components that are divided by a central frame 260.
  • the first guide rod 220 may include a first left guide rod 220a fastened between the first fastening frame 210 and the central frame 260, and a first right guide rod 220b fastened between the second fastening frame 211 and the central frame 260.
  • the second guide rod 230 may include a second left guide rod 230a fastened between the first fastening frame 210 and the central frame 260, and a second right guide rod 230b fastened between the second fastening frame 211 and the central frame 260.
  • the terms "left” and “right” representative of directions are used based on an example in which the distance adjustment unit is arranged in the state shown in Fig. 3 merely for ease of description, which does not mean that the corresponding components need to be arranged on the left and right sides in an actual cleaning apparatus 1000.
  • the first left guide rod 220a may guide one end of the first connection member 240 through its path
  • the first right guide rod 220b may guide one end of the second connection member 241 through its path
  • the second left guide rod 230a may guide the other end of the first connection member 240 through its path
  • the second right guide rod 230b may guide the other end of the second connection member 241 through its path.
  • the distance adjustment unit 200 includes the pair of connection members 240 and 241 including the first connection member 240 and the second connection member 241, and also includes two pairs of distance adjustment rods 250 and 251, and 252 and 253 including a first distance adjustment rod 250, a second distance adjustment rod 251, a third distance adjustment rod 252, and a fourth distance adjustment rod 253.
  • the first connection member 240 extends perpendicular to the first left guide rod 220a and the second left guide rod 230a, and both ends of the first connection member 240 may be coupled to the first left guide rod 220a and the second left guide rod 230a so that they can move along the first left guide rod 220a and the second left guide rod 230a.
  • first connection member 240 may be coupled to the first distance adjustment rod 250 and the third distance adjustment rod 252.
  • first distance adjustment rod 250 and the third distance adjustment rod 252 may be rotatably coupled to the first connection member 240.
  • the first connection member 240 may adjust the relative distance and angle between the coupling unit 300 and the cleaning unit 100 (which will be described later) while moving along the first left guide rod 220a and the second left guide rod 230a.
  • the second connection member 241 extends perpendicular to the first right guide rod 220b and the second right guide rod 230b, and both ends of the second connection member 241 may be coupled to the first right guide rod 220b and the second right guide rod 230b so that they can move along the first right guide rod 220b and the second right guide rod 230b.
  • the second connection member 241 may be coupled to the second distance adjustment rod 251 and the fourth distance adjustment rod 253.
  • the second distance adjustment rod 251 and the fourth distance adjustment rod 253 may be rotatably couple to the second connection member 240.
  • the second connection member 241 may adjust the relative distance and angle between the coupling unit 300 and the cleaning unit 100 (which will be described later) while moving along the first right guide rod 230b and the second right guide rod 231b.
  • each of the pair of connection members 240 and 241 including the first connection member 240 and the second connection member 241 may include a pair of bushes 242 and 243.
  • the bushes 242 and 243 refer to thin cylinders that are fitted into the inner surfaces of holes. Generally, the bushes 242 and 243 are each used to fasten a predetermined member and another member having passed through the predetermined member.
  • a total of two pairs of bushes 242 and 243 may include first bushes 242 that are formed through first ends of the first connection member 240 and the second connection member 241 and that receive the first guide rod 220, and second bushes 243 that are formed through second ends of the first connection member 240 and the second connection member 241 and that receive the second guide rod 230.
  • the first bushes 242 include a first left bush 242a that is formed through one end of the first connection member 240 and that receives the first left guide rod 220a.
  • the first left bush 242a allows the first left guide rod 220a to pass through and to be fastened to one end of the first connection member 240.
  • first bushes 242 include a first right bush 242b that is formed through one end of the second connection member 241 and that receives the first right guide rod 220b.
  • the first right bush 242b allows the first right guide rod 220b to pass through and to be fastened to one end of the second connection member 241.
  • the second bushes 243 include a second left bush 243a that is formed through the other end of the first connection member 240 and that receives the second left guide rod 230a.
  • the second left bush 243a allows the second left guide rod 230a to pass through and to be fastened to the other end of the first connection member 240.
  • the second bushes 243 include a second right bush 243b that is formed through the other end of the second connection member 241 and that receives the second right guide rod 230b.
  • the second right bush 243b allows the second right guide rod 230b to pass through and to be fastened to the other end of the second connection member 241.
  • the inner diameter of the bushes 242 and 243 is formed to be larger than the outer diameter of the guide rods 220 and 230 so that the connection members 240 and 241 including the bushes 242 and 243 can move along the outer circumferential surfaces of the guide rods 220 and 230.
  • connection members 240 and 241 may include through holes 246 and 247 that are each formed between a pair of bushes 242 and 243 included in each of the connection members 240 and 241.
  • the first through hole 246 may be formed in the first connection member 240 between the first left bush 242a and the second left bush 243a. Furthermore, the second through hole 247 may be formed in the second connection member 241 between the first right bush 242b and the second right bush 243b.
  • the through holes 246 and 247 receive the corresponding ball screws 270 and 271, and the inner circumferential surfaces of the through holes 246 and 247 have shapes corresponding to threads formed on the outer circumferential surfaces of the ball screws 270 and 271. Once the ball screws 270 and 271 have been screwed into the through holes 246 and 247, the ball screws 270 and 271 may transfer force to the connection members 246 and 247.
  • the first ball screw 270 is screwed into the first through hole 246, and the inner circumferential surface of the first through hole 246 has a shape corresponding to threads formed on the outer circumferential surface of the first ball screw 270, through which the first ball screw 270 may transfer force to the first through hole 246.
  • the second ball screw 271 is screwed into the second through hole 247, and the inner circumferential surface of the second through hole 247 has a shape corresponding to threads formed on the outer circumferential surface of the second ball screw 271, through which the second ball screw 271 may transfer force to the second through hole 247.
  • the lower ends of the first distance adjustment rod 250 and the third distance adjustment rod 252 may be coupled to both ends of the first connection member 240, respectively, and the upper ends thereof may be coupled to the coupling unit 300.
  • the upper ends and the lower ends may be all rotatably coupled.
  • the relative distance and angle between the coupling unit 300 and the cleaning unit 100 may be changed through the movement and rotation of the first distance adjustment rod 250 and the third distance adjustment rod 252.
  • the lower ends of the second distance adjustment rod 251 and the fourth distance adjustment rod 253 may be coupled to both ends of the second connection member 241, respectively, and the upper ends thereof may be coupled to the coupling unit 300.
  • the upper ends and the lower ends may be all rotatably coupled.
  • the relative distance and angle between the coupling unit 300 and the cleaning unit 100 may be changed through the movement and rotation of the second distance adjustment rod 251 and the fourth distance adjustment rod 253.
  • connection members 240 and 241 move along the guide rods 220 and 230, respectively, the lower ends of the distance adjustment rods 250, 251, 252 and 253 coupled to the connection members 240 and 241 move along the connection members 240 and 241.
  • both ends of each of the distance adjustment rods 250, 251, 252 and 253 are freely rotated, the angle formed between the distance adjustment rods 250, 251, 252 and 253 and the connection members 240 and 241 and the angle formed between the distance adjustment rods 250, 251, 252 and 253 and the guide rods 220 and 230 are changed by the movement of the lower ends of the distance adjustment rods 250, 251, 252 and 253.
  • both ends of the distance adjustment rods 250, 251, 252 and 253 are relatively rotated and the length of the distance adjustment rods 250, 251, 252 and 253 is constant. Accordingly, when the connection members 240 and 241 move toward the center of the distance adjustment unit 300 in the longitudinal direction thereof, the angle formed between the distance adjustment rods 250, 251, 252 and 253 and the guide rods 220 and 230 increases, and thus the distance adjustment unit 200 moves away from the connection members 240 and 241.
  • connection members 240 and 241 move to the outsides of the distance adjustment unit 200 in the longitudinal direction thereof, the angle formed between the distance adjustment rods 250, 251, 252 and 253 and the guide rods 220 and 230 decreases, and thus the distance adjustment unit 200 moves close to the coupling unit 300.
  • connection members 240 and 241 and the distance adjustment rods 250, 251, 252 and 253 are independently disposed on both sides of the distance adjustment unit 200 in the longitudinal direction thereof, the distances between both ends of the distance adjustment unit 200 and the connection members 240 and 241 and the relative angles between the distance adjustment unit 200 and the connection members 240 and 241 may be changed according to the directions of movement and distances of the connection members 240 and 241.
  • the distance adjustment unit 200 may include a central frame 260 disposed at the center of the distance adjustment unit 200 in the longitudinal direction thereof.
  • the central frame 260 may be formed in the shape of a rectangular frame disposed in a plane identical to a plane including the guide rods 220 and 230.
  • First ends of the ball screws 270 and 271 may be fastened to the central frame 260, and the guide rods 220 and 230 may be fastened to the corners of the central frame 260.
  • the distance adjustment unit 200 may include the pair of ball screws 270 and 271 that move the connection members 240 and 241.
  • the ball screws 270 and 271 are devices that convert the torque of rotation movement into force that enables another object to perform rectilinear movement.
  • the first ball screw 270 extends perpendicular from the first fastening frame 210, is fastened to the central frame 260, is arranged in parallel with the first left guide rod 220a and the second left guide rod 230a, and has threads on the outer circumferential surface thereof.
  • the first ball screw 270 is arranged in parallel with the first left guide rod 220a and the second left guide rod 230a, has threads on the outer circumferential surface thereof, and is screwed into the first through hole 246. This enables force to be applied to the first connection member 240 in parallel with the first left guide rod 220a and the second left guide rod 230a, and also enables the first connection member 240 to be moved.
  • the second ball screw 271 extends perpendicular from the second fastening frame 211, is fastened to the central frame 260, is arranged in parallel with the first right guide rod 220b and the second right guide rod 230b, and has threads on the outer circumferential surface thereof.
  • the second ball screw 271 is arranged in parallel with the first right guide rod 220b and the second right guide rod 230b, has threads on the outer circumferential surface thereof, and is screwed into the second through hole 247. This enables force to be applied to the second connection member 241 in parallel with the first right guide rod 220a and the second right guide rod 230a, and also enables the second connection member 241 to be moved.
  • the threads have a shape corresponding to the inner circumferential surfaces of the through holes 246 and 247 formed between the first bushes 242 and second bushes 243 of the pair of connection members 240 and 241, and any one of the pair of ball screws 270 and 271 may pass through any one of the pair of connection members 240 and 241.
  • the threads of the first ball screw 270 have a shape corresponding to the inner circumferential surface of the first through hole 246 formed in the first connection member 240. Accordingly, the first ball screw 270 may be coupled to the first connection member 240 through the first through hole 246 formed in the first connection member 240. When the first ball screw 270 is rotated, the inner circumferential surface of the first through hole 246 of the first connection member 240 is allowed to move along the threads of the first ball screw 270.
  • the threads of the second ball screw 271 have a shape corresponding to the inner circumferential surface of the second through hole 247 formed in the second connection member 241. Accordingly, the second ball screw 271 may be coupled to the second connection member 241 through the second through hole 247 formed in the second connection member 241. When the second ball screw 271 is rotated, the inner circumferential surface of the second through hole 247 of the second connection member 241 is allowed to move along the threads of the second ball screw 271.
  • first ends of the first ball screw 270 and the second ball screw 271 may be rotatably fastened to the central frame 260.
  • the distance adjustment unit 200 may include the pair of actuators 272 and 273 including a first actuator 272 configured to rotate the first ball screw 270 and a second actuator 273 configured to rotate the second ball screw 271.
  • the first actuator 272 when the first actuator 272 is driven, the first ball screw 270 is rotated, and the first connection member 240 is moved along the first ball screw 270 when the first ball screw 270 is rotated.
  • first actuator 272 may be secured to the first fastening frame 210
  • second actuator 273 may be secured to the second fastening frame 211.
  • the distance adjustment unit 200 may include distance detection sensors 280, 281, 282 and 283 on respective ends of the pair of fastening frames 210 and 211 in their longitudinal directions.
  • the first distance detection sensor 280 is attached to the lower portion of the first left guide rod 220a of the first fastening frame 210, and detects the distance to an obstacle located in the first direction of the directions of movement of a movable robot platform.
  • the directions of movement of the movable robot platform refer to two directions perpendicular to the longitudinal direction of the cleaning brush 110 in a plane that is formed by one surface of a cleaning target with which the cleaning brush 110 comes into contact, i.e., the transverse directions of the distance adjustment unit 200 in Fig. 1.
  • the first direction refers to a direction in which the first guide rod 220 moves forward
  • a second direction refers to a direction in which the second guide rod 230 moves forward.
  • the second distance detection sensor 281 is attached to the lower portion of the first right guide rod 220b of the second fastening frame 211, and detects the distance to an obstacle located in the first direction.
  • the third distance detection sensor 282 is attached to the lower portion of the first left guide rod 230a of the first fastening frame 210, and detects the distance to an obstacle located in the second direction.
  • the fourth distance detection sensor 283 is attached to the lower portion of the second left guide rod 230b of the second fastening frame 211, and detects the distance to an obstacle located in the second direction.
  • only some of the distance detection sensors 280, 281, 282 and 283 may be selectively operated.
  • the first and second distance detection sensors 280 and 281 may be operated.
  • the movable robot platform moves in the second direction only the third and fourth distance detection sensors 282 and 283 are operated. That is, the distance detection sensors 280, 281, 282 and 283 may detect only the distance to an obstacle in the direction of movement of the cleaning apparatus.
  • a setting may be made such that the cleaning apparatus 1000 performs obstacle avoidance mechanism.
  • the cleaning apparatus 1000 may decrease the speed of the cleaning apparatus 1000, i.e., the speed of the movable robot platform, or stop the cleaning apparatus 1000, i.e., the movable robot platform, or may space the cleaning target and the cleaning unit 100 apart from each other by decreasing the distance between the coupling unit 300 and the cleaning unit 100.
  • control unit of the cleaning apparatus 1000 may space the cleaning unit 100 apart from the cleaning target until the distance detection sensors 280, 281, 282 and 283 do not detect an obstacle within a preset distance any longer.
  • each of the distance detection sensors 280, 281, 282 and 283 may detect the distance to an obstacle in the direction of movement of the movable robot platform, and may transmit and receive data on the distance to the obstacle to and from a control unit (which will be described later).
  • the distance adjustment unit 200 may include a location limitation element 261.
  • Both ends of the location limitation element 261 in the longitudinal direction thereof may be connected to slides 330 (which will be described later) so that they can move along the slides 330. Furthermore, the center of the location limitation element 261 in the longitudinal direction thereof may be rotatably fastened to the central frame 260.
  • the degree of freedom of the cleaning unit 100 and the coupling unit 300 increases, and thus there is possibility that a twist occurs. More specifically, for example, the cleaning unit 100 may be rotated with respect to bearings 320, 321, 322 and 323. Accordingly, the degree of freedom may be limited by coupling the location limitation element 261 to the slides 330 and thus allowing movement only along the slides 330. Also, the location limitation element 261 is rotatably fastened to the central frame 260, and thus the cleaning unit 100 may be rotated around an axis that connects the centers of both ends of the cleaning unit 100 in the transverse direction of the cleaning unit 100.
  • the distance adjustment unit 200 may include a pair of load cells 290 and 291.
  • the pair of load cells 290 and 291 including a first load cell 290 and a second load cell 291 may be disposed on the pair of fastening frames 210 and 211.
  • first load cell 290 may be disposed at the longitudinal center of the first fastening frame 210 coupled to one end of the cleaning unit 100 in the longitudinal direction of the cleaning unit 100
  • second load cell 291 may be disposed at the longitudinal center of the second fastening frame 211 coupled to the other end of the cleaning unit 100 in the longitudinal direction of the cleaning unit 100.
  • the first load cell 290 may measure reaction force at one end of the cleaning unit 100, and the second load cell 291 may measure reaction force at the other end of the cleaning unit 100.
  • the cleaning apparatus 1000 may include the coupling unit 300.
  • the coupling unit 300 may be detachably coupled to the movable robot platform, and moves along one surface of a cleaning target along with the movable robot platform. This enables the cleaning apparatus 1000 to clean an external wall of a building while the cleaning apparatus 1000 is moving along with the movable robot platform.
  • the coupling unit 300 may be formed to have the shape of the rectangular frame 301.
  • a pair of clamps 310 and 311 including a first clamp 310 and a second clamp 311 configured to detachably couple the coupling unit 300 to the movable robot platform may be formed at the corners of the rectangular frame 301.
  • the clamps 310 and 311 are tools that are used to three-dimensionally support mechanisms. In the cleaning apparatus 1000, the clamps 310 and 311 function to selectively couple and separate the coupling unit 300 to and from the movable robot platform.
  • a portion of the upper surface of a containing box 340 includes a fastening pin 341 that may be coupled to the movable robot platform.
  • the movable robot platform and the coupling unit 300 are temporarily fastened to each other using the fastening pin 341.
  • the movable robot platform is coupled to the coupling unit 300 using the first clamp 310 and the second clamp 311, and then cleaning may be performed along the direction of movement of a robot.
  • the two pairs of bearings 320, 321, 322 and 323 including a first bearing 320, a second bearing 321, a third bearing 322 and a fourth bearing 323 may be formed on both sides of the rectangular frame 301 in the transverse direction thereof. More specifically, the first bearing 320 and the second bearing 321 may be formed on one side of the rectangular frame 301 in the transverse direction thereof, and the third bearing 322 and the fourth bearing 323 may be formed on the other side thereof.
  • the distance adjustment unit 200 and the cleaning unit 100 coupled to the bearings 320, 321, 322 and 323 can also move together.
  • the first bearing 320 may be rotatably coupled to the upper end of the first distance adjustment rod 250, and the second bearing 321 may be rotatably coupled to the upper end of the second distance adjustment rod 251.
  • the third bearing 322 may be rotatably coupled to the upper end of the third distance adjustment rod 252, and the fourth bearing 323 may be rotatably coupled to the upper end of the fourth distance adjustment rod 253.
  • first distance adjustment rod 250 and the second distance adjustment rod 251 coupled to the bearings are rotated without a change in the locations of the respective bearings 320, 321, 322 and 323 of the coupling unit 300.
  • the relative distance and angle between the coupling unit 300 and the cleaning unit 100 may be adjusted by the movement and relative rotation of the first connection member 240, coupled to the lower ends of the first distance adjustment rod 250 and the second distance adjustment rod 251, and the second connection member 241, coupled to the lower ends of the third distance adjustment rod 252 and the fourth distance adjustment rod 253.
  • the coupling unit 300 may further include the pair of slides 330.
  • the pair of slides 330 may extend from the centers of both sides of the rectangular frame 301 in the transverse direction thereof to the cleaning unit 100.
  • both ends of the location limitation element 261 in the longitudinal direction thereof may be coupled to the pair of slides 330.
  • the containing box 340 configured to have a predetermined containing space may be formed inside the rectangular frame 301, and a control unit (not shown) configured to control the cleaning apparatus 1000 may be contained inside the containing box 340.
  • the coupling unit 300 of the cleaning apparatus 1000 may include the control unit.
  • the control unit may adjust the relative distance and angle between the coupling unit 300 and the cleaning unit 100 using the sensing value of each of the distance detection sensors 280, 281, 282 and 283 and the measured value of each of the load cells 290 and 291, and may selectively rotate the cleaning brush 110 according to the situation.
  • control unit may control the pair of actuators 272 and 273 based on the distance to an obstacle which is detected by each of the distance detection sensors 280, 281, 282 and 283, and may drive each of the pair of actuators 272 and 273 based on reaction force on each of both ends of the cleaning unit 100 in the longitudinal direction thereof, which is measured by each of the pair of load cells 290 and 291.
  • Fig. 5 is a diagram illustrating operation states in which the relative distance between the coupling unit 300 and cleaning unit 100 of a cleaning apparatus 1000 has been differently adjusted according to an embodiment of the present invention
  • Fig. 6 is a diagram illustrating operation states in which the relative angle between the coupling unit 300 and cleaning unit 100 of a cleaning apparatus 1000 has been differently adjusted according to an embodiment of the present invention
  • Fig. 7 is a flowchart sequentially illustrating a cleaning method using a cleaning apparatus 1000 according to an embodiment of the present invention.
  • the cleaning apparatus 1000 may perform cleaning by selectively rotating the cleaning brushes. That is, the cleaning unit 100 of the cleaning apparatus 1000 may include one or more cleaning brushes and rotate the cleaning brushes, thereby improving the effect of cleaning a cleaning target.
  • the cleaning apparatus 1000 may measure reaction force at both ends of the cleaning brush 110 at step S1002.
  • the load cells 290 and 291 may be attached to the pair of fastening frames 210 and 211, respectively, and may measure reaction force at both ends of the cleaning unit 100 in the longitudinal direction thereof. Furthermore, the load cells 290 and 291 may transmit measured reaction force values to the control unit.
  • the cleaning apparatus 1000 may determine whether the measured reaction force has departed from a preset range at step S1003.
  • the force applied to the one surface of the cleaning target ranges from 4 to 6 N when normal cleaning can be performed.
  • reaction force is 2 N at one end of the cleaning unit 100 in the longitudinal direction thereof and reaction force is 5 N at the other end, it is determined that the reaction force at the one end in the longitudinal direction has departed from the preset range. That is, the control unit of the cleaning apparatus 1000 possesses set values for a normal reaction force range at each of both ends of the cleaning unit 100, which is required for the acquisition of a sufficient cleaning effect, in the form of a minimum value and a maximum value, and detects whether the measured value of each of the load cells 290 and 291 is less than the minimum value or exceeds the maximum value.
  • the cleaning apparatus 1000 may adjust the distance between both ends of the cleaning unit 100 and the coupling unit 300 by driving the actuators 272 and 273 at both ends at step S1004.
  • the control unit adjusts the locations of the connection members 240 and 241 by driving the actuators 272 and 273 at both ends until the reaction forces measured by the load cells 290 and 291 fall within the normal range.
  • the actuators 272 and 273 are driven, the ball screws 270 and 271 are rotated, though which all the connection members 240 and 241 are moved to both ends of the distance adjustment unit 200 in the longitudinal direction thereof.
  • the connection members 240 and 241 are moved, the lower ends of the distance adjustment rods 250, 251, 252 and 253 coupled to the corresponding connection members 240 and 241 are moved together.
  • the upper and lower ends of the distance adjustment rods 250, 251, 252 and 253 are freely rotated around both ends of the connection members 240 and 241 and the bearings 320, 321, 322 and 323. This allows the relative distance between the coupling unit 300 and the cleaning unit 100 to be reduced.
  • the control unit adjusts the locations of the connection members 240 and 241 by driving the actuators 272 and 273 at both ends until the reaction forces measured by the load cells 290 and 291 fall within the normal range.
  • the actuators 272 and 273 are driven, the ball screws 270 and 271 are rotated, through which the connection members 240 and 241 are all moved toward the center of the distance adjustment unit 200 in the longitudinal direction thereof.
  • the connection members 240 and 241 are moved, the lower ends of the distance adjustment rods 250, 251, 252 and 253 coupled to the corresponding connection members 240 and 241 are moved together.
  • the upper and lower ends of the distance adjustment rods 250, 251, 252 and 253 are rotated around both ends of the connection members 240 and 241 and the bearings 320, 321, 322 and 323. This allows the relative distance between the coupling unit 300 and the cleaning unit 100 to be increased.
  • the cleaning apparatus 1000 may adjust the distance between the corresponding end of the cleaning unit 100 and an external wall by driving the actuator 272 or 273 at the corresponding end.
  • the control unit drives the actuator 272 or 273 at the corresponding end.
  • the actuator 272 or 273 rotates the ball screw 270 or 271 at the corresponding end and thus the connection member 240 or 241 at the corresponding end is moved to the corresponding end of the cleaning unit 100 in the longitudinal direction thereof, the lower ends of the distance adjustment rods 250 or 251, and 252 or 253 coupled to the corresponding connection member 240 or 241 are moved to the corresponding end of the cleaning unit 100 in the longitudinal direction thereof, and one end of the cleaning unit 100 is moved toward the coupling unit 300 due to the limited length of the distance adjustment rods 250 or 251, and 252 or 253.
  • the control unit drives the actuator 272 or 273 at the corresponding end.
  • the actuator 272 or 273 rotates the ball screw 270 or 271 at the corresponding end and thus the connection member 240 or 241 at the corresponding end is moved to the center of the cleaning unit 100 in the longitudinal direction thereof, the lower ends of the distance adjustment rods 250 or 251, and 252 or 253 coupled to the corresponding connection member 240 or 241 are moved to the center of the cleaning unit 100 in the longitudinal direction thereof, and one end of the cleaning unit 100 is moved away from the coupling unit 300 due to the limited length of the distance adjustment rods 250 or 251, and 252 or 253.
  • the cleaning apparatus 1000 may determine whether cleaning has been completed at step S1005.
  • Whether cleaning has been completed may be determined based on the input of the user of the cleaning apparatus 1000, a condition previously input to the cleaning apparatus 1000, or the location of a movable robot platform (not shown) on which the cleaning apparatus 1000 has been mounted.
  • the movable robot platform may continuously move the cleaning apparatus 1000 in a preset direction while performing the above-described steps.
  • an obstacle may be detected in a direction of movement using the distance detection sensors 280, 281, 282 and 283 at step S1006.
  • the cleaning apparatus 1000 may determine whether the obstacle is present within a preset distance based on the detected distance to the obstacle in the direction of movement.
  • control unit of the cleaning apparatus 1000 may control the pair of actuators 272 and 273 in order to avoid the obstacle.
  • the cleaning apparatus 1000 may adjust the relative distance between the coupling unit 300 and the cleaning unit 100 by controlling the pair of actuators 272 and 273 at step S1007.
  • connection members 240 and 241 are moved to both ends of the distance adjustment unit 200 in the longitudinal direction thereof by driving the pair of actuators 272 and 273. This enables the cleaning apparatus 1000 to reduce the relative distance between the coupling unit 300 and the cleaning unit 100 until the cleaning apparatus 1000 does not collide with the obstacle, to continuously move, and to avoid the obstacle without coming into contact with the obstacle until the obstacle is not detected.
  • the cleaning apparatus 1000 may move in a preset direction if it is determined that there is no obstacle in the preset direction of movement at step S1008.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

A cleaning apparatus and a cleaning method using the same are disclosed herein. The cleaning apparatus includes a coupling unit, a cleaning unit, and a distance adjustment unit. The coupling unit is detachably coupled to a movable robot platform that moves along one surface of a cleaning target. The cleaning unit includes one or more cleaning brushes that come into contact with the one surface of the cleaning target and clean the one surface. The distance adjustment unit is coupled to the coupling unit and the cleaning unit, and adjusts a relative distance and angle between the coupling unit and the cleaning unit.

Description

CLEANING APPARATUS AND CLEANING METHOD USING SAME
The present invention relates generally to a cleaning apparatus and a cleaning method using the same, and more particularly to a cleaning apparatus that is mounted on a movable robot platform and cleans the external walls of a building, and a cleaning method using the same.
Conventionally, when the external walls of a tall building are cleaned, a worker directly cleans the external walls of the tall building while moving using rope. The method in which a worker directly cleans the external walls of a tall building while moving using rope is problematic in that the worker is always exposed to the risk of an accident. In order to overcome this problem, recently, the development of external wall cleaning apparatuses has been actively carried out.
Accordingly, Korean Patent Application No. 10-2010-0056213 discloses a building external wall cleaning apparatus that can move a cleaning unit through the adjustment of the length of a connection rope while supporting the cleaning unit using the connection rope.
However, the building external wall cleaning apparatus disclosed in Korean Patent Application No. 10-2010-0056213 is problematic in that it is difficult to clean an external wall while applying uniform pressure to the overall external wall and in that a cleaning effect is poor or cleaning is impossible when the state of an external wall is not smooth, but is textured.
Therefore, there is a need for a technology that is capable of overcoming the above problems.
Meanwhile, the above-described background technologies correspond to technical information that has been possessed by the present inventor in order to devise the present invention or that has been acquired in the process of devising the present invention, and cannot be necessarily viewed as well-known technology that had been disclosed to the public before the filing of the present invention.
At least some embodiments of the present invention are directed to the provision of a cleaning apparatus and a cleaning method using the same.
In order to overcome the above-described technical problem, according to an aspect of the present invention, there is provided a cleaning apparatus, including: a coupling unit detachably coupled to a movable robot platform that moves along one surface of a cleaning target; a cleaning unit configured to include one or more cleaning brushes that come into contact with the one surface of the cleaning target and clean the one surface; and a distance adjustment unit coupled to the coupling unit and the cleaning unit, and configured to adjust the relative distance and angle between the coupling unit and the cleaning unit.
According to any one of the above-described technical solutions, an embodiment of the present invention can clean an overall external wall of a building under uniform pressure.
According to any one of the above-described technical solutions, an embodiment of the present invention, even when depressions and protrusions or a curved surface are present on an external wall of a building, can clean the external wall of the building, as in the case of cleaning a plane surface, by changing the angle of a cleaning unit.
According to any one of the above-described technical solutions, an embodiment of the present invention can detect and avoid an obstacle in the direction of movement of a cleaning apparatus using distance detection sensors.
The advantageous effects achieved by the present invention are not limited to the above-described effects, and other effects that have not been described will be clearly understood by those having ordinary knowledge in the art to which the present invention pertains from the following detailed description.
The above and other objects, features and advantages of the present invention will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:
Fig. 1 is a perspective view schematically illustrating a cleaning apparatus according to an embodiment of the present invention;
Fig. 2 is a perspective view schematically illustrating the cleaning unit of a cleaning apparatus according to an embodiment of the present invention;
Fig. 3 is a perspective view schematically illustrating the distance adjustment unit of a cleaning apparatus according to an embodiment of the present invention;
Fig. 4 is a perspective view schematically illustrating the coupling unit of a cleaning apparatus according to an embodiment of the present invention;
Fig. 5 is a diagram illustrating operation states in which the relative distance between the coupling unit and cleaning unit of a cleaning apparatus has been differently adjusted according to an embodiment of the present invention;
Fig. 6 is a diagram illustrating operation states in which the relative angle between the coupling unit and cleaning unit of a cleaning apparatus has been differently adjusted according to an embodiment of the present invention; and
Fig. 7 is a flowchart sequentially illustrating a cleaning method using a cleaning apparatus according to an embodiment of the present invention.
Embodiments of the present invention will be described with reference to the accompanying drawings in order to enable those having ordinary knowledge in the technical field to which the present invention pertains to easily practice the present invention. However, the present invention may be implemented in various forms, and is not limited to embodiments described herein. Furthermore, in order to clearly illustrate the present invention in the drawings, components and portions unrelated to the following description will be omitted. Throughout the specification, similar reference symbols will be assigned to similar components.
Throughout the specification and the claims, when one component is described as being "connected" to another component, the one component may be "directly connected" to the other component or "electrically connected" to the other component via a third component. Throughout the specification and the claims, unless explicitly described to the contrary, the terms "include" and "comprise" and their variants, such as "includes," "including," "comprises" and "comprising," will be understood to imply the inclusion of described components, not the exclusion of any other components.
The present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a perspective view schematically illustrating a cleaning apparatus 1000 according to an embodiment of the present invention, Fig. 2 is a perspective view schematically illustrating the cleaning unit 100 of a cleaning apparatus 1000 according to an embodiment of the present invention, and Fig. 3 is a perspective view schematically illustrating the distance adjustment unit 200 of a cleaning apparatus 1000 according to an embodiment of the present invention.
Furthermore, Fig. 4 is a perspective view schematically illustrating the coupling unit 300 of a cleaning apparatus 1000 according to an embodiment of the present invention.
The cleaning apparatus 1000 according to the present invention may be an apparatus that is mounted on an autonomously movable robot platform and cleans a cleaning target, such as a climbing robot platform that is configured to climb an external wall of a building.
As shown in FIGS. 1 to 4, the cleaning apparatus 1000 may include: a cleaning unit 100 configured to come into contact with one surface of a cleaning target and clean the one surface of the cleaning target; a coupling unit 300 detachably coupled to a movable robot platform that moves along the one surface of the cleaning target; and a distance adjustment unit 200 coupled to the coupling unit 300 and the cleaning unit 100, and configured to adjust the relative distance and angle between the coupling unit 300 and the cleaning unit 100.
The cleaning unit 100 shown in Fig. 2 comes into contact with the one surface of the cleaning target and cleans the one surface of the cleaning target, and may be coupled to and operated in conjunction with the distance adjustment unit 200 (which will be described later).
The cleaning unit 100 may include at least one cleaning brush 110 that comes into contact with the one surface of the cleaning target and cleans the one surface of the cleaning target.
In this case, the term "cleaning target" may refer to an external wall of a building, a transportation means, such as a vehicle, a large-sized window, a floor, or the like which the cleaning apparatus 1000 can approach. Furthermore, the term "one surface" of a cleaning target may refer to one surface, i.e., an external wall glass of a building, an external surface of a transportation means, or the like, with which the cleaning apparatus 1000 can come into contact.
More specifically, the cleaning unit 100 may include at least one cleaning brush 110. The diameter of the cleaning brush 110 may vary with a cleaning purpose or the like.
The cleaning brush 110 may be configured to include a cylindrical body extended in the longitudinal direction of the cleaning brush 110, and a plurality of brushes helically arranged along the outer circumferential surface of the body. When cleaning is performed using the cleaning brush 110 having a helical structure, dust is expelled to the central portion and both ends of each of the cleaning brushes in the longitudinal direction thereof, through which dust attached to the cleaning target is removed.
The brushes of the cleaning brush 110 may be made of polypropylene. Since polypropylene has high restoring capability and forms sharp ends, it is suitable for the removal of dust attached to a cleaning target.
Meanwhile, as shown in Fig. 2, the cleaning unit 100 may include a central shaft 120 that extends in the longitudinal direction of the cleaning brush 110 and that protrudes through both ends of the cleaning brush 110.
The central shaft 120 may be coupled to the distance adjustment unit 200, as shown in Fig. 1, thereby enabling the cleaning unit 100 to be fastened to the distance adjustment unit 200.
In this case, the cleaning brush 110 may be coupled to the distance adjustment unit 200 so that the cleaning brush 110 is rotatable around the central shaft 120.
Meanwhile, as shown in Fig. 3, the distance adjustment unit 200 may be disposed between the cleaning unit 100 and the coupling unit 300. The distance adjustment unit 200 enables cleaning to be performed by adjusting the relative distance and angle between the cleaning unit 100 and the coupling unit 300 even when a depression and protrusion or an inclination is present on a cleaning target.
The distance adjustment unit 200 may include a pair of fastening frames 210 and 211 each having a rectangular frame-shaped structure that are opposite each other and that is perpendicular to the longitudinal direction of the distance adjustment unit 200.
The length of the fastening frames 210 and 211 may approximately correspond to the overall width of the cleaning unit 100, and the height of the fastening frames 210 and 211 may approximately correspond to the overall height of the cleaning unit 100.
The pair of fastening frames 210 and 211 including a first fastening frame 210 and a second fastening frame 211 may be fastened at both ends of the distance adjustment unit 200 in the longitudinal direction thereof. The central shaft 120 of the cleaning unit 100 may be coupled to and supported by the pair of fastening frames 210 and 211, actuators 272 and 273 (which will be described later) may be coupled to and supported by the pair of fastening frames 210 and 211, and a pair of guide rods 220 and 230 may be coupled to the pair of fastening frames 210 and 211.
The pair of fastening frames 210 and 211 including the first fastening frame 210 and the second fastening frame 211 function to support the overall cleaning apparatus 1000 so that the overall cleaning apparatus 1000 is prevented from being twisted, and also functions to restrain the degree of freedom so that a first connection member 240 and a second connection member 241 (which will be described later) are prevented from moving beyond the respective fastening frames 210 and 211.
Meanwhile, the distance adjustment unit 200 includes at least one pair of guide rods 220 and 230.
The pair of guide rods 220 and 230 including a first guide rod 220 and a second guide rod 230 may be disposed between the pair of fastening frames 210 and 211. More specifically, the cleaning apparatus 1000 may include the first guide rod 220 extended from one end of the first fastening frame 210 in the longitudinal direction thereof to one end of the second fastening frame 211, and the second guide rod 230 extended from the other end of the first fastening frame 210 to the other end of the second fastening frame 211.
The first guide rod 220 and the second guide rod 230 may pass through the pair of connection members 240 and 241, and may guide the connection members 240 and 241 through their paths.
Each of the first guide rod 220 and the second guide rod 230 may include two components that are divided by a central frame 260.
The first guide rod 220 may include a first left guide rod 220a fastened between the first fastening frame 210 and the central frame 260, and a first right guide rod 220b fastened between the second fastening frame 211 and the central frame 260.
The second guide rod 230 may include a second left guide rod 230a fastened between the first fastening frame 210 and the central frame 260, and a second right guide rod 230b fastened between the second fastening frame 211 and the central frame 260.
In this case, the terms "left" and "right" representative of directions are used based on an example in which the distance adjustment unit is arranged in the state shown in Fig. 3 merely for ease of description, which does not mean that the corresponding components need to be arranged on the left and right sides in an actual cleaning apparatus 1000.
The first left guide rod 220a may guide one end of the first connection member 240 through its path, and the first right guide rod 220b may guide one end of the second connection member 241 through its path. Furthermore, the second left guide rod 230a may guide the other end of the first connection member 240 through its path, and the second right guide rod 230b may guide the other end of the second connection member 241 through its path.
Meanwhile, the distance adjustment unit 200 includes the pair of connection members 240 and 241 including the first connection member 240 and the second connection member 241, and also includes two pairs of distance adjustment rods 250 and 251, and 252 and 253 including a first distance adjustment rod 250, a second distance adjustment rod 251, a third distance adjustment rod 252, and a fourth distance adjustment rod 253.
The first connection member 240 extends perpendicular to the first left guide rod 220a and the second left guide rod 230a, and both ends of the first connection member 240 may be coupled to the first left guide rod 220a and the second left guide rod 230a so that they can move along the first left guide rod 220a and the second left guide rod 230a.
Furthermore, the first connection member 240 may be coupled to the first distance adjustment rod 250 and the third distance adjustment rod 252. In this case, the first distance adjustment rod 250 and the third distance adjustment rod 252 may be rotatably coupled to the first connection member 240.
The first connection member 240 may adjust the relative distance and angle between the coupling unit 300 and the cleaning unit 100 (which will be described later) while moving along the first left guide rod 220a and the second left guide rod 230a.
The second connection member 241 extends perpendicular to the first right guide rod 220b and the second right guide rod 230b, and both ends of the second connection member 241 may be coupled to the first right guide rod 220b and the second right guide rod 230b so that they can move along the first right guide rod 220b and the second right guide rod 230b.
Furthermore, the second connection member 241 may be coupled to the second distance adjustment rod 251 and the fourth distance adjustment rod 253. In this case, the second distance adjustment rod 251 and the fourth distance adjustment rod 253 may be rotatably couple to the second connection member 240.
The second connection member 241 may adjust the relative distance and angle between the coupling unit 300 and the cleaning unit 100 (which will be described later) while moving along the first right guide rod 230b and the second right guide rod 231b.
In this case, in order to movably couple the connection members 240 and 241 to the guide rods 220 and 230, each of the pair of connection members 240 and 241 including the first connection member 240 and the second connection member 241 may include a pair of bushes 242 and 243.
The bushes 242 and 243 refer to thin cylinders that are fitted into the inner surfaces of holes. Generally, the bushes 242 and 243 are each used to fasten a predetermined member and another member having passed through the predetermined member.
A total of two pairs of bushes 242 and 243 may include first bushes 242 that are formed through first ends of the first connection member 240 and the second connection member 241 and that receive the first guide rod 220, and second bushes 243 that are formed through second ends of the first connection member 240 and the second connection member 241 and that receive the second guide rod 230.
The first bushes 242 include a first left bush 242a that is formed through one end of the first connection member 240 and that receives the first left guide rod 220a. The first left bush 242a allows the first left guide rod 220a to pass through and to be fastened to one end of the first connection member 240.
Furthermore, the first bushes 242 include a first right bush 242b that is formed through one end of the second connection member 241 and that receives the first right guide rod 220b. The first right bush 242b allows the first right guide rod 220b to pass through and to be fastened to one end of the second connection member 241.
Furthermore, the second bushes 243 include a second left bush 243a that is formed through the other end of the first connection member 240 and that receives the second left guide rod 230a. The second left bush 243a allows the second left guide rod 230a to pass through and to be fastened to the other end of the first connection member 240.
Furthermore, the second bushes 243 include a second right bush 243b that is formed through the other end of the second connection member 241 and that receives the second right guide rod 230b. The second right bush 243b allows the second right guide rod 230b to pass through and to be fastened to the other end of the second connection member 241.
In this case, the inner diameter of the bushes 242 and 243 is formed to be larger than the outer diameter of the guide rods 220 and 230 so that the connection members 240 and 241 including the bushes 242 and 243 can move along the outer circumferential surfaces of the guide rods 220 and 230.
The connection members 240 and 241 may include through holes 246 and 247 that are each formed between a pair of bushes 242 and 243 included in each of the connection members 240 and 241.
The first through hole 246 may be formed in the first connection member 240 between the first left bush 242a and the second left bush 243a. Furthermore, the second through hole 247 may be formed in the second connection member 241 between the first right bush 242b and the second right bush 243b.
The through holes 246 and 247 receive the corresponding ball screws 270 and 271, and the inner circumferential surfaces of the through holes 246 and 247 have shapes corresponding to threads formed on the outer circumferential surfaces of the ball screws 270 and 271. Once the ball screws 270 and 271 have been screwed into the through holes 246 and 247, the ball screws 270 and 271 may transfer force to the connection members 246 and 247.
The first ball screw 270 is screwed into the first through hole 246, and the inner circumferential surface of the first through hole 246 has a shape corresponding to threads formed on the outer circumferential surface of the first ball screw 270, through which the first ball screw 270 may transfer force to the first through hole 246.
The second ball screw 271 is screwed into the second through hole 247, and the inner circumferential surface of the second through hole 247 has a shape corresponding to threads formed on the outer circumferential surface of the second ball screw 271, through which the second ball screw 271 may transfer force to the second through hole 247.
Meanwhile, the lower ends of the first distance adjustment rod 250 and the third distance adjustment rod 252 may be coupled to both ends of the first connection member 240, respectively, and the upper ends thereof may be coupled to the coupling unit 300. The upper ends and the lower ends may be all rotatably coupled. The relative distance and angle between the coupling unit 300 and the cleaning unit 100 may be changed through the movement and rotation of the first distance adjustment rod 250 and the third distance adjustment rod 252.
In this case, the terms "lower end" and "upper end" representative of directions are used based on an example in which the distance adjustment unit is arranged in the state shown in Fig. 3 merely for ease of description, which does not mean that the corresponding components need to be arranged on the lower and upper ends in an actual cleaning apparatus 1000.
The lower ends of the second distance adjustment rod 251 and the fourth distance adjustment rod 253 may be coupled to both ends of the second connection member 241, respectively, and the upper ends thereof may be coupled to the coupling unit 300. The upper ends and the lower ends may be all rotatably coupled. The relative distance and angle between the coupling unit 300 and the cleaning unit 100 may be changed through the movement and rotation of the second distance adjustment rod 251 and the fourth distance adjustment rod 253.
More specifically, as the connection members 240 and 241 move along the guide rods 220 and 230, respectively, the lower ends of the distance adjustment rods 250, 251, 252 and 253 coupled to the connection members 240 and 241 move along the connection members 240 and 241. In this case, since both ends of each of the distance adjustment rods 250, 251, 252 and 253 are freely rotated, the angle formed between the distance adjustment rods 250, 251, 252 and 253 and the connection members 240 and 241 and the angle formed between the distance adjustment rods 250, 251, 252 and 253 and the guide rods 220 and 230 are changed by the movement of the lower ends of the distance adjustment rods 250, 251, 252 and 253.
That is, both ends of the distance adjustment rods 250, 251, 252 and 253 are relatively rotated and the length of the distance adjustment rods 250, 251, 252 and 253 is constant. Accordingly, when the connection members 240 and 241 move toward the center of the distance adjustment unit 300 in the longitudinal direction thereof, the angle formed between the distance adjustment rods 250, 251, 252 and 253 and the guide rods 220 and 230 increases, and thus the distance adjustment unit 200 moves away from the connection members 240 and 241. In contrast, when the connection members 240 and 241 move to the outsides of the distance adjustment unit 200 in the longitudinal direction thereof, the angle formed between the distance adjustment rods 250, 251, 252 and 253 and the guide rods 220 and 230 decreases, and thus the distance adjustment unit 200 moves close to the coupling unit 300.
In this case, since the connection members 240 and 241 and the distance adjustment rods 250, 251, 252 and 253 are independently disposed on both sides of the distance adjustment unit 200 in the longitudinal direction thereof, the distances between both ends of the distance adjustment unit 200 and the connection members 240 and 241 and the relative angles between the distance adjustment unit 200 and the connection members 240 and 241 may be changed according to the directions of movement and distances of the connection members 240 and 241.
Meanwhile, the distance adjustment unit 200 may include a central frame 260 disposed at the center of the distance adjustment unit 200 in the longitudinal direction thereof.
The central frame 260 may be formed in the shape of a rectangular frame disposed in a plane identical to a plane including the guide rods 220 and 230.
First ends of the ball screws 270 and 271 (which will be described later) may be fastened to the central frame 260, and the guide rods 220 and 230 may be fastened to the corners of the central frame 260.
The mechanism of the ball screws 270 and 271 and the central frame 260 that are coupled together will be described later.
Meanwhile, as shown in Fig. 3, the distance adjustment unit 200 may include the pair of ball screws 270 and 271 that move the connection members 240 and 241.
The ball screws 270 and 271 are devices that convert the torque of rotation movement into force that enables another object to perform rectilinear movement.
The first ball screw 270 extends perpendicular from the first fastening frame 210, is fastened to the central frame 260, is arranged in parallel with the first left guide rod 220a and the second left guide rod 230a, and has threads on the outer circumferential surface thereof. The first ball screw 270 is arranged in parallel with the first left guide rod 220a and the second left guide rod 230a, has threads on the outer circumferential surface thereof, and is screwed into the first through hole 246. This enables force to be applied to the first connection member 240 in parallel with the first left guide rod 220a and the second left guide rod 230a, and also enables the first connection member 240 to be moved.
The second ball screw 271 extends perpendicular from the second fastening frame 211, is fastened to the central frame 260, is arranged in parallel with the first right guide rod 220b and the second right guide rod 230b, and has threads on the outer circumferential surface thereof. The second ball screw 271 is arranged in parallel with the first right guide rod 220b and the second right guide rod 230b, has threads on the outer circumferential surface thereof, and is screwed into the second through hole 247. This enables force to be applied to the second connection member 241 in parallel with the first right guide rod 220a and the second right guide rod 230a, and also enables the second connection member 241 to be moved.
The threads have a shape corresponding to the inner circumferential surfaces of the through holes 246 and 247 formed between the first bushes 242 and second bushes 243 of the pair of connection members 240 and 241, and any one of the pair of ball screws 270 and 271 may pass through any one of the pair of connection members 240 and 241.
More specifically, the threads of the first ball screw 270 have a shape corresponding to the inner circumferential surface of the first through hole 246 formed in the first connection member 240. Accordingly, the first ball screw 270 may be coupled to the first connection member 240 through the first through hole 246 formed in the first connection member 240. When the first ball screw 270 is rotated, the inner circumferential surface of the first through hole 246 of the first connection member 240 is allowed to move along the threads of the first ball screw 270.
Furthermore, the threads of the second ball screw 271 have a shape corresponding to the inner circumferential surface of the second through hole 247 formed in the second connection member 241. Accordingly, the second ball screw 271 may be coupled to the second connection member 241 through the second through hole 247 formed in the second connection member 241. When the second ball screw 271 is rotated, the inner circumferential surface of the second through hole 247 of the second connection member 241 is allowed to move along the threads of the second ball screw 271.
Furthermore, the first ends of the first ball screw 270 and the second ball screw 271 may be rotatably fastened to the central frame 260.
When the first ball screw 270 is rotated, only the first connection member 240 is moved. In the same manner, when the second ball screw 271 is rotated, only the second connection member 241 is rotated.
Meanwhile, the distance adjustment unit 200 may include the pair of actuators 272 and 273 including a first actuator 272 configured to rotate the first ball screw 270 and a second actuator 273 configured to rotate the second ball screw 271.
More specifically, when the first actuator 272 is driven, the first ball screw 270 is rotated, and the first connection member 240 is moved along the first ball screw 270 when the first ball screw 270 is rotated.
Furthermore, when the second actuator 273 is driven, the second ball screw 271 is rotated, and the second connection member 241 is moved along the second ball screw 271 when the second ball screw 271 is rotated.
In this case, the first actuator 272 may be secured to the first fastening frame 210, and the second actuator 273 may be secured to the second fastening frame 211.
Meanwhile, the distance adjustment unit 200 may include distance detection sensors 280, 281, 282 and 283 on respective ends of the pair of fastening frames 210 and 211 in their longitudinal directions.
The first distance detection sensor 280 is attached to the lower portion of the first left guide rod 220a of the first fastening frame 210, and detects the distance to an obstacle located in the first direction of the directions of movement of a movable robot platform. In this case, the directions of movement of the movable robot platform refer to two directions perpendicular to the longitudinal direction of the cleaning brush 110 in a plane that is formed by one surface of a cleaning target with which the cleaning brush 110 comes into contact, i.e., the transverse directions of the distance adjustment unit 200 in Fig. 1. Of these directions, the first direction refers to a direction in which the first guide rod 220 moves forward, and a second direction refers to a direction in which the second guide rod 230 moves forward.
The second distance detection sensor 281 is attached to the lower portion of the first right guide rod 220b of the second fastening frame 211, and detects the distance to an obstacle located in the first direction.
The third distance detection sensor 282 is attached to the lower portion of the first left guide rod 230a of the first fastening frame 210, and detects the distance to an obstacle located in the second direction.
The fourth distance detection sensor 283 is attached to the lower portion of the second left guide rod 230b of the second fastening frame 211, and detects the distance to an obstacle located in the second direction.
In this case, in an embodiment, only some of the distance detection sensors 280, 281, 282 and 283 may be selectively operated. When the movable robot platform moves in the first direction, only the first and second distance detection sensors 280 and 281 may be operated. When the movable robot platform moves in the second direction, only the third and fourth distance detection sensors 282 and 283 are operated. That is, the distance detection sensors 280, 281, 282 and 283 may detect only the distance to an obstacle in the direction of movement of the cleaning apparatus.
For example, when any one of the distance detection sensors 280, 281, 282 and 283 detects the distance between an obstacle and the cleaning apparatus 1000 which is equal to or less than a preset value, a setting may be made such that the cleaning apparatus 1000 performs obstacle avoidance mechanism.
More specifically, when the distance to an obstacle is equal to or less than a preset value, the cleaning apparatus 1000 may decrease the speed of the cleaning apparatus 1000, i.e., the speed of the movable robot platform, or stop the cleaning apparatus 1000, i.e., the movable robot platform, or may space the cleaning target and the cleaning unit 100 apart from each other by decreasing the distance between the coupling unit 300 and the cleaning unit 100.
In this case, the control unit of the cleaning apparatus 1000 may space the cleaning unit 100 apart from the cleaning target until the distance detection sensors 280, 281, 282 and 283 do not detect an obstacle within a preset distance any longer.
In order to perform an obstacle avoidance mechanism, each of the distance detection sensors 280, 281, 282 and 283 may detect the distance to an obstacle in the direction of movement of the movable robot platform, and may transmit and receive data on the distance to the obstacle to and from a control unit (which will be described later).
Furthermore, the distance adjustment unit 200 may include a location limitation element 261.
Both ends of the location limitation element 261 in the longitudinal direction thereof may be connected to slides 330 (which will be described later) so that they can move along the slides 330. Furthermore, the center of the location limitation element 261 in the longitudinal direction thereof may be rotatably fastened to the central frame 260.
When the relative distance and angle between the cleaning unit 100 and the coupling unit 300 are changed by the distance adjustment unit 200, the degree of freedom of the cleaning unit 100 and the coupling unit 300 increases, and thus there is possibility that a twist occurs. More specifically, for example, the cleaning unit 100 may be rotated with respect to bearings 320, 321, 322 and 323. Accordingly, the degree of freedom may be limited by coupling the location limitation element 261 to the slides 330 and thus allowing movement only along the slides 330. Also, the location limitation element 261 is rotatably fastened to the central frame 260, and thus the cleaning unit 100 may be rotated around an axis that connects the centers of both ends of the cleaning unit 100 in the transverse direction of the cleaning unit 100.
Furthermore, the distance adjustment unit 200 may include a pair of load cells 290 and 291.
The pair of load cells 290 and 291 including a first load cell 290 and a second load cell 291 may be disposed on the pair of fastening frames 210 and 211.
More specifically, the first load cell 290 may be disposed at the longitudinal center of the first fastening frame 210 coupled to one end of the cleaning unit 100 in the longitudinal direction of the cleaning unit 100, and the second load cell 291 may be disposed at the longitudinal center of the second fastening frame 211 coupled to the other end of the cleaning unit 100 in the longitudinal direction of the cleaning unit 100.
The first load cell 290 may measure reaction force at one end of the cleaning unit 100, and the second load cell 291 may measure reaction force at the other end of the cleaning unit 100.
As shown in Fig. 4, the cleaning apparatus 1000 may include the coupling unit 300.
The coupling unit 300 may be detachably coupled to the movable robot platform, and moves along one surface of a cleaning target along with the movable robot platform. This enables the cleaning apparatus 1000 to clean an external wall of a building while the cleaning apparatus 1000 is moving along with the movable robot platform.
The coupling unit 300 may be formed to have the shape of the rectangular frame 301.
A pair of clamps 310 and 311 including a first clamp 310 and a second clamp 311 configured to detachably couple the coupling unit 300 to the movable robot platform may be formed at the corners of the rectangular frame 301.
The clamps 310 and 311 are tools that are used to three-dimensionally support mechanisms. In the cleaning apparatus 1000, the clamps 310 and 311 function to selectively couple and separate the coupling unit 300 to and from the movable robot platform.
A portion of the upper surface of a containing box 340 includes a fastening pin 341 that may be coupled to the movable robot platform. The movable robot platform and the coupling unit 300 are temporarily fastened to each other using the fastening pin 341.
After the cleaning apparatus 1000 has been temporarily coupled to the movable robot platform using the fastening pin 341, the movable robot platform is coupled to the coupling unit 300 using the first clamp 310 and the second clamp 311, and then cleaning may be performed along the direction of movement of a robot.
Meanwhile, the two pairs of bearings 320, 321, 322 and 323 including a first bearing 320, a second bearing 321, a third bearing 322 and a fourth bearing 323 may be formed on both sides of the rectangular frame 301 in the transverse direction thereof. More specifically, the first bearing 320 and the second bearing 321 may be formed on one side of the rectangular frame 301 in the transverse direction thereof, and the third bearing 322 and the fourth bearing 323 may be formed on the other side thereof.
Since the rectangular frame 301 coupled to the movable robot platform can move only when the movable robot platform moves and also the bearings 320, 321, 322 and 323 can move only when the rectangular frame 301 moves, the distance adjustment unit 200 and the cleaning unit 100 coupled to the bearings 320, 321, 322 and 323 can also move together.
The first bearing 320 may be rotatably coupled to the upper end of the first distance adjustment rod 250, and the second bearing 321 may be rotatably coupled to the upper end of the second distance adjustment rod 251. The third bearing 322 may be rotatably coupled to the upper end of the third distance adjustment rod 252, and the fourth bearing 323 may be rotatably coupled to the upper end of the fourth distance adjustment rod 253.
That is, only the upper ends of the first distance adjustment rod 250 and the second distance adjustment rod 251 coupled to the bearings are rotated without a change in the locations of the respective bearings 320, 321, 322 and 323 of the coupling unit 300. The relative distance and angle between the coupling unit 300 and the cleaning unit 100 may be adjusted by the movement and relative rotation of the first connection member 240, coupled to the lower ends of the first distance adjustment rod 250 and the second distance adjustment rod 251, and the second connection member 241, coupled to the lower ends of the third distance adjustment rod 252 and the fourth distance adjustment rod 253.
Meanwhile, the coupling unit 300 may further include the pair of slides 330.
The pair of slides 330 may extend from the centers of both sides of the rectangular frame 301 in the transverse direction thereof to the cleaning unit 100.
Furthermore, both ends of the location limitation element 261 in the longitudinal direction thereof may be coupled to the pair of slides 330.
Furthermore, the containing box 340 configured to have a predetermined containing space may be formed inside the rectangular frame 301, and a control unit (not shown) configured to control the cleaning apparatus 1000 may be contained inside the containing box 340.
More specifically, the coupling unit 300 of the cleaning apparatus 1000 may include the control unit. The control unit may adjust the relative distance and angle between the coupling unit 300 and the cleaning unit 100 using the sensing value of each of the distance detection sensors 280, 281, 282 and 283 and the measured value of each of the load cells 290 and 291, and may selectively rotate the cleaning brush 110 according to the situation.
For example, the control unit may control the pair of actuators 272 and 273 based on the distance to an obstacle which is detected by each of the distance detection sensors 280, 281, 282 and 283, and may drive each of the pair of actuators 272 and 273 based on reaction force on each of both ends of the cleaning unit 100 in the longitudinal direction thereof, which is measured by each of the pair of load cells 290 and 291.
The sequence of the cleaning of the cleaning apparatus 1000 is described in detail below.
Fig. 5 is a diagram illustrating operation states in which the relative distance between the coupling unit 300 and cleaning unit 100 of a cleaning apparatus 1000 has been differently adjusted according to an embodiment of the present invention, Fig. 6 is a diagram illustrating operation states in which the relative angle between the coupling unit 300 and cleaning unit 100 of a cleaning apparatus 1000 has been differently adjusted according to an embodiment of the present invention, and Fig. 7 is a flowchart sequentially illustrating a cleaning method using a cleaning apparatus 1000 according to an embodiment of the present invention.
As shown in Fig. 7, when the cleaning apparatus 1000 starts to be driven at step S1001, the cleaning apparatus 1000 may perform cleaning by selectively rotating the cleaning brushes. That is, the cleaning unit 100 of the cleaning apparatus 1000 may include one or more cleaning brushes and rotate the cleaning brushes, thereby improving the effect of cleaning a cleaning target.
While performing cleaning by rotating the cleaning brush 110, the cleaning apparatus 1000 may measure reaction force at both ends of the cleaning brush 110 at step S1002.
The load cells 290 and 291 may be attached to the pair of fastening frames 210 and 211, respectively, and may measure reaction force at both ends of the cleaning unit 100 in the longitudinal direction thereof. Furthermore, the load cells 290 and 291 may transmit measured reaction force values to the control unit.
Once the reaction force has been measured, the cleaning apparatus 1000 may determine whether the measured reaction force has departed from a preset range at step S1003.
For example, it is assumed that the force applied to the one surface of the cleaning target ranges from 4 to 6 N when normal cleaning can be performed. When reaction force is 2 N at one end of the cleaning unit 100 in the longitudinal direction thereof and reaction force is 5 N at the other end, it is determined that the reaction force at the one end in the longitudinal direction has departed from the preset range. That is, the control unit of the cleaning apparatus 1000 possesses set values for a normal reaction force range at each of both ends of the cleaning unit 100, which is required for the acquisition of a sufficient cleaning effect, in the form of a minimum value and a maximum value, and detects whether the measured value of each of the load cells 290 and 291 is less than the minimum value or exceeds the maximum value.
As shown in Fig. 5, if the reaction forces at both ends of the cleaning unit 100 in the longitudinal direction thereof have departed from the preset range, the cleaning apparatus 1000 may adjust the distance between both ends of the cleaning unit 100 and the coupling unit 300 by driving the actuators 272 and 273 at both ends at step S1004.
For example, as shown in Fig. 5, if the reaction forces at both ends of the cleaning unit 100 in the longitudinal direction thereof exceed the maximum value, the control unit adjusts the locations of the connection members 240 and 241 by driving the actuators 272 and 273 at both ends until the reaction forces measured by the load cells 290 and 291 fall within the normal range. When the actuators 272 and 273 are driven, the ball screws 270 and 271 are rotated, though which all the connection members 240 and 241 are moved to both ends of the distance adjustment unit 200 in the longitudinal direction thereof. Furthermore, when the connection members 240 and 241 are moved, the lower ends of the distance adjustment rods 250, 251, 252 and 253 coupled to the corresponding connection members 240 and 241 are moved together. In this case, the upper and lower ends of the distance adjustment rods 250, 251, 252 and 253 are freely rotated around both ends of the connection members 240 and 241 and the bearings 320, 321, 322 and 323. This allows the relative distance between the coupling unit 300 and the cleaning unit 100 to be reduced.
As another example, if the reaction forces at both ends of the cleaning unit 100 in the longitudinal direction thereof are all less than the minimum value, the control unit adjusts the locations of the connection members 240 and 241 by driving the actuators 272 and 273 at both ends until the reaction forces measured by the load cells 290 and 291 fall within the normal range. When the actuators 272 and 273 are driven, the ball screws 270 and 271 are rotated, through which the connection members 240 and 241 are all moved toward the center of the distance adjustment unit 200 in the longitudinal direction thereof. Furthermore, when the connection members 240 and 241 are moved, the lower ends of the distance adjustment rods 250, 251, 252 and 253 coupled to the corresponding connection members 240 and 241 are moved together. In this case, the upper and lower ends of the distance adjustment rods 250, 251, 252 and 253 are rotated around both ends of the connection members 240 and 241 and the bearings 320, 321, 322 and 323. This allows the relative distance between the coupling unit 300 and the cleaning unit 100 to be increased.
Furthermore, as shown in Fig. 6, if the reaction force on one of both ends of the cleaning unit 100 in the longitudinal direction thereof has departed from the preset range, the cleaning apparatus 1000 may adjust the distance between the corresponding end of the cleaning unit 100 and an external wall by driving the actuator 272 or 273 at the corresponding end.
For example, if the reaction force at one of both ends of the cleaning unit 100 in the longitudinal direction thereof exceeds the maximum value, the control unit drives the actuator 272 or 273 at the corresponding end. When the actuator 272 or 273 rotates the ball screw 270 or 271 at the corresponding end and thus the connection member 240 or 241 at the corresponding end is moved to the corresponding end of the cleaning unit 100 in the longitudinal direction thereof, the lower ends of the distance adjustment rods 250 or 251, and 252 or 253 coupled to the corresponding connection member 240 or 241 are moved to the corresponding end of the cleaning unit 100 in the longitudinal direction thereof, and one end of the cleaning unit 100 is moved toward the coupling unit 300 due to the limited length of the distance adjustment rods 250 or 251, and 252 or 253.
For example, if the reaction force at one of both ends of the cleaning unit 100 in the longitudinal direction thereof is less than the minimum value, the control unit drives the actuator 272 or 273 at the corresponding end. When the actuator 272 or 273 rotates the ball screw 270 or 271 at the corresponding end and thus the connection member 240 or 241 at the corresponding end is moved to the center of the cleaning unit 100 in the longitudinal direction thereof, the lower ends of the distance adjustment rods 250 or 251, and 252 or 253 coupled to the corresponding connection member 240 or 241 are moved to the center of the cleaning unit 100 in the longitudinal direction thereof, and one end of the cleaning unit 100 is moved away from the coupling unit 300 due to the limited length of the distance adjustment rods 250 or 251, and 252 or 253.
When cleaning has been performed for a predetermined period of time by continuously measuring reaction forces at both ends of the cleaning apparatus 1000 and continuously controlling both ends of the cleaning unit 100 based on the measured reaction forces as described above, the cleaning apparatus 1000 may determine whether cleaning has been completed at step S1005.
Whether cleaning has been completed may be determined based on the input of the user of the cleaning apparatus 1000, a condition previously input to the cleaning apparatus 1000, or the location of a movable robot platform (not shown) on which the cleaning apparatus 1000 has been mounted.
Furthermore, before cleaning is completed, the movable robot platform may continuously move the cleaning apparatus 1000 in a preset direction while performing the above-described steps. In this case, an obstacle may be detected in a direction of movement using the distance detection sensors 280, 281, 282 and 283 at step S1006.
More specifically, if the distance detection sensors 280, 281, 282 and 283 detect the distance between the obstacle and the cleaning apparatus 1000, the cleaning apparatus 1000 may determine whether the obstacle is present within a preset distance based on the detected distance to the obstacle in the direction of movement.
That is, if the detected distance to the obstacle is shorter than a preset range in the direction of movement of the movable robot platform, the control unit of the cleaning apparatus 1000 may control the pair of actuators 272 and 273 in order to avoid the obstacle.
More specifically, the cleaning apparatus 1000 may adjust the relative distance between the coupling unit 300 and the cleaning unit 100 by controlling the pair of actuators 272 and 273 at step S1007.
More specifically, when the distance between the cleaning apparatus 1000 and the obstacle is shorter than a preset distance, the connection members 240 and 241 are moved to both ends of the distance adjustment unit 200 in the longitudinal direction thereof by driving the pair of actuators 272 and 273. This enables the cleaning apparatus 1000 to reduce the relative distance between the coupling unit 300 and the cleaning unit 100 until the cleaning apparatus 1000 does not collide with the obstacle, to continuously move, and to avoid the obstacle without coming into contact with the obstacle until the obstacle is not detected.
Thereafter, the cleaning apparatus 1000 may move in a preset direction if it is determined that there is no obstacle in the preset direction of movement at step S1008.
The above description of the present invention is intended merely for the purpose of illustration. It will be apparent to those having ordinary knowledge in the art to which the present invention pertains that the present invention can be easily modified in other specific forms without changing the technical spirit and essential features of the present invention. Accordingly, the above-described embodiments are should be understood as being illustrates and not limitative in every aspect. For example, each component described as being in a single form may be practiced in a distributed form and, in the same manner, components described as being in a distributed form may be practiced in an integrated form.
The range of the present invention is defined by the following claims, rather than the detailed description. All variations and modifications derived from the meaning and scope of the claims and concepts equivalent thereto should be construed as being included in the range of the present invention.

Claims (18)

  1. A cleaning apparatus, comprising:
    a coupling unit detachably coupled to a movable robot platform that moves along one surface of a cleaning target;
    a cleaning unit configured to include one or more cleaning brushes that come into contact with the one surface of the cleaning target and clean the one surface; and
    a distance adjustment unit coupled to the coupling unit and the cleaning unit, and configured to adjust a relative distance and angle between the coupling unit and the cleaning unit.
  2. The cleaning apparatus of claim 1, wherein the distance adjustment unit comprises:
    a pair of fastening frames fastened to both ends of the cleaning unit, respectively, in a longitudinal direction of the cleaning unit;
    at least one pair of guide rods including, between the pair of fastening frames, a first guide rod extended from one end of any one of the pair of fastening frames in a longitudinal direction of the fastening frames to one end of a remaining one of the pair of fastening frames in the longitudinal direction of the fastening frames, and a second guide rod extended from a remaining end of the any one of the pair of fastening frames to a remaining end of the remaining one of the pair of fastening frames;
    a pair of connection members extended perpendicular to the at least one pair of guide rods, wherein both ends of each of the pair of connection members are movably coupled to the first guide rod and the second guide rod, respectively; and
    two pairs of distance adjustment rods configured such that first ends thereof are relatively rotatably coupled to ends of the pair of connection members and seconds ends thereof are relatively rotatably coupled to the coupling unit.
  3. The cleaning apparatus of claim 2, wherein each of the pair of connection members comprises:
    a first bush formed through one end of the connection member, and configured to receive the first guide rod; and
    a second bush formed through a remaining end of the connection member, and configured to receive the second guide rod.
  4. The cleaning apparatus of claim 2, wherein:
    the coupling unit comprises a rectangular frame extended in a longitudinal direction of the cleaning unit;
    clamps configured to selectively couple and separate the coupling unit to and from the movable robot platform are disposed at corners of the rectangular frame; and
    two pairs of bearings to which upper ends of the two pairs of distance adjustment rods are rotatably coupled are disposed on both sides of the rectangular frame in a transverse direction of the rectangular frame.
  5. The cleaning apparatus of claim 3, wherein:
    the distance adjustment unit further comprises:
    a pair of ball screws extended perpendicular from the pair of fastening frames between the first guide rod and the second guide rod, arranged in parallel with the first guide rod and the second guide rod, and configured to have threads on outer circumferential surfaces thereof; and
    a pair of actuators fastened to the pair of fastening frames, respectively, and configured to rotate the pair of ball screws, respectively; and
    wherein a through hole through which any one of the pair of ball screws passes and whose inner circumferential surface has a shape corresponding to threads formed on an outer circumferential surface of the any one of the pair of ball screws is formed between the first and second bushes of each of the pair of connection members and, thus, when the ball screw is rotated by driving the corresponding actuator, the corresponding connection member is moved along the ball screw.
  6. The cleaning apparatus of claim 5, further comprising a control unit configured to drive the pair of actuators.
  7. The cleaning apparatus of claim 6, wherein:
    the distance adjustment unit further comprises a pair of load cells disposed on the pair of fastening frames, respectively, and configured to measure reaction forces at both ends of the cleaning unit, respectively, in a longitudinal direction of the cleaning unit; and
    the control unit drives the pair of actuators based on the reaction forces at both ends of the cleaning unit in a longitudinal direction of the cleaning unit, which are measured by the pair of load cells.
  8. The cleaning apparatus of claim 4, wherein:
    the distance adjustment unit further comprises a central frame at a center of the distance adjustment unit in a longitudinal direction of the distance adjustment unit;
    the first guide rod comprises:
    a first left guide rod fastened between any one of the pair of fastening frames and the central frame; and
    a first right guide rod fastened between a remaining one of the pair of fastening frames and the central frame; and
    the second guide rod comprises:
    a second left guide rod fastened between any one of the pair of fastening frames and the central frame; and
    a second right guide rod between a remaining one of the pair of fastening frames and the central frame.
  9. The cleaning apparatus of claim 8, wherein:
    the coupling unit further comprises a pair of slides extended from centers of both sides of the rectangular frame in a transverse direction of the rectangular frame to the cleaning unit; and
    the distance adjustment unit further comprises a location limitation element configured such that both ends thereof in a longitudinal direction of the location limitation element are coupled to be movable along the slides and a center thereof in the longitudinal direction is rotatably fastened to the central frame.
  10. The cleaning apparatus of claim 6, wherein:
    the distance adjustment unit further comprises distance detection sensors disposed at both ends of the pair of fastening frames in a longitudinal direction of the fastening frames and configured to detect a distance to an obstacle in a direction of movement of the movable robot platform; and
    the control unit controls the pair of actuators based on the distance to the obstacle detected in the direction of movement of the movable robot platform.
  11. The cleaning apparatus of claim 7, wherein the control unit selectively rotates the cleaning brushes.
  12. A cleaning method using a cleaning apparatus, the cleaning apparatus including a coupling unit detachably coupled to a movable robot platform that moves along one surface of a cleaning target, a cleaning unit configured to include one or more cleaning brushes that come into contact with the one surface of the cleaning target and clean the one surface, and a distance adjustment unit coupled to the coupling unit and the cleaning unit, and configured to adjust a relative distance and angle between the coupling unit and the cleaning unit, the cleaning method comprising:
    measuring a reaction force at each of both ends of the cleaning unit in a longitudinal direction of the cleaning unit; and
    adjusting a relative distance and angle between each of both ends of the coupling unit and a corresponding one of both ends of the cleaning unit based on the measured reaction force.
  13. The cleaning method of claim 12, wherein:
    the distance adjustment unit further comprises:
    a pair of connection members disposed on both sides of the distance adjustment unit in a longitudinal direction of the distance adjustment unit, and configured to move along the longitudinal direction of the distance adjustment unit; and
    at least one pair of distance adjustment rods configured such that first ends thereof are relatively rotatably coupled to the coupling unit and second ends thereof are relatively rotatably coupled to the connection members of the distance adjustment unit; and
    adjusting the relative distance and angle between each of both ends of the coupling unit and the corresponding one of both ends of the cleaning unit comprises:
    determining whether a reaction force measured at at least one of both ends of the cleaning unit in a longitudinal direction of the cleaning unit has departed from a preset range; and
    if it is determined that the measured reaction force has departed from the preset range, adjusting locations of the remaining ends of the distance adjustment rods, coupled to the connection member at the at least one end at which the reaction force has departed from the preset range, by moving a location of the connection member.
  14. The cleaning method of claim 13, wherein:
    the distance adjustment unit further comprises:
    a pair of actuators disposed at both ends of the distance adjustment unit in a longitudinal direction of the distance adjustment unit; and
    ball screws arranged perpendicular to the connection members, and configured to pass through the connection members and to include threads formed on outer circumferential surfaces of the ball screws; and
    determining whether the measured reaction force has departed from the preset range comprises adjusting the location of the connection member by driving the actuator at the corresponding end at which the measured reaction force has departed from the preset range.
  15. The cleaning method of claim 14, further comprising:
    determining whether cleaning has been completed; and
    if cleaning has not been completed, moving the cleaning apparatus.
  16. The cleaning method of claim 15, wherein moving the cleaning apparatus comprises detecting an obstacle in a direction of movement.
  17. The cleaning method of claim 16, wherein detecting the obstacle comprises, if the obstacle is detected, stopping the movement of the cleaning apparatus and reducing a relative distance between the coupling unit and the cleaning unit.
  18. The cleaning method of claim 16, wherein detecting the obstacle comprises, if the obstacle is not detected, moving the cleaning apparatus in a preset direction.
PCT/KR2015/014579 2015-08-31 2015-12-31 Cleaning apparatus and cleaning method using same WO2017039082A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2015-0122809 2015-08-31
KR1020150122809A KR101709606B1 (en) 2015-08-31 2015-08-31 Cleaning apparatus and cleaning method for using the same

Publications (1)

Publication Number Publication Date
WO2017039082A1 true WO2017039082A1 (en) 2017-03-09

Family

ID=58187665

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2015/014579 WO2017039082A1 (en) 2015-08-31 2015-12-31 Cleaning apparatus and cleaning method using same

Country Status (2)

Country Link
KR (1) KR101709606B1 (en)
WO (1) WO2017039082A1 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101994393B1 (en) * 2017-04-28 2019-06-28 금오공과대학교 산학협력단 Apparatus for cleaning exterior wall of building and driving method for the same
CN110076754B (en) * 2019-04-29 2022-08-09 上海工程技术大学 Mobile parallel mechanism with multiple motion modes and control method thereof
KR102326213B1 (en) * 2020-02-17 2021-11-16 서울대학교산학협력단 Cleaning Robot Manipulator
CN113133729A (en) * 2021-04-15 2021-07-20 中原动力智能机器人有限公司 Curtain wall cleaning robot
CN115306172A (en) * 2022-08-29 2022-11-08 重庆大学 Double-roller clamping mechanism, outer wall cleaning machine fixing device and outer wall cleaning machine

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080295265A1 (en) * 2007-05-29 2008-12-04 Gorman Daniel J Remote controlled apparatus for cleaning of outer window surfaces of high rise buildings and building facades
US20110180098A1 (en) * 2004-11-05 2011-07-28 Lange Michael R Apparatus and method for cleaning surfaces
KR20120086537A (en) * 2011-01-26 2012-08-03 주식회사 대화산기 Cleaning apparatus for building outer wall cleaning
KR20120105807A (en) * 2011-03-16 2012-09-26 주식회사 대화산기 Bi-direction cleaning apparatus of robot for building outer wall cleaning
KR101414503B1 (en) * 2013-04-17 2014-08-06 주식회사 대화산기 Building outer wall cleaning apparatus

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110180098A1 (en) * 2004-11-05 2011-07-28 Lange Michael R Apparatus and method for cleaning surfaces
US20080295265A1 (en) * 2007-05-29 2008-12-04 Gorman Daniel J Remote controlled apparatus for cleaning of outer window surfaces of high rise buildings and building facades
KR20120086537A (en) * 2011-01-26 2012-08-03 주식회사 대화산기 Cleaning apparatus for building outer wall cleaning
KR20120105807A (en) * 2011-03-16 2012-09-26 주식회사 대화산기 Bi-direction cleaning apparatus of robot for building outer wall cleaning
KR101414503B1 (en) * 2013-04-17 2014-08-06 주식회사 대화산기 Building outer wall cleaning apparatus

Also Published As

Publication number Publication date
KR101709606B1 (en) 2017-02-28

Similar Documents

Publication Publication Date Title
WO2017039082A1 (en) Cleaning apparatus and cleaning method using same
AU2018209865B2 (en) Moving robot and method of controlling the same
WO2013009118A2 (en) Apparatus and method for inspecting pipelines
WO2020004792A1 (en) Flipper apparatus and object inspection method using same
WO2013039281A1 (en) Manipulator with weight compensation mechanism and face robot using the same
WO2017052265A1 (en) Non-destructive pipe inspection apparatus
WO2014115130A2 (en) Multi-axis universal material testing system
WO2012005397A1 (en) Automatic cleaner
WO2016080767A1 (en) Robot system and three-dimensional printer having same
WO2018038334A1 (en) Tilting stage system
WO2019168335A1 (en) Solar cell panel cleaning apparatus
WO2017171303A1 (en) Passive stiffness gripper
WO2019088649A1 (en) Robot system for adjusting processing load according to wear of tool and method for adjusting processing load by using same
WO2023158104A1 (en) Multi-axis motion stage
WO2016195176A1 (en) Delta robot calibration method and delta robot calibration apparatus
WO2023008706A1 (en) Tensioner module and stent driving device comprising same
WO2017018592A1 (en) Hybrid alignment
WO2017065476A1 (en) Actuator and structure comprising same
WO2018174428A1 (en) Series elastic actuator device, series elastic actuator control method, and system using same
WO2019035508A1 (en) Linear module
WO2015099370A1 (en) Curved panel display defect repair device
WO2023128583A1 (en) Robot hand
WO2022019518A1 (en) Grip device and robot device comprising same
WO2019004619A1 (en) Apparatus for removing sludge
WO2017039304A1 (en) Cleaning device

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15903143

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15903143

Country of ref document: EP

Kind code of ref document: A1