WO2019172700A1 - Drone for cleaning window glass of high-rise building - Google Patents

Drone for cleaning window glass of high-rise building Download PDF

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Publication number
WO2019172700A1
WO2019172700A1 PCT/KR2019/002699 KR2019002699W WO2019172700A1 WO 2019172700 A1 WO2019172700 A1 WO 2019172700A1 KR 2019002699 W KR2019002699 W KR 2019002699W WO 2019172700 A1 WO2019172700 A1 WO 2019172700A1
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WO
WIPO (PCT)
Prior art keywords
main body
rise building
glass window
adsorption
glass
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PCT/KR2019/002699
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French (fr)
Korean (ko)
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이해곤
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이해곤
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Publication of WO2019172700A1 publication Critical patent/WO2019172700A1/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
    • B64U2101/29—UAVs specially adapted for particular uses or applications for manufacturing or servicing for cleaning

Definitions

  • the present invention relates to a drone for high-rise glass-wiping, and more specifically, to a water-removing dust remover sprayed from a spray nozzle in a state in which a main body provided with a propeller is in close contact with a glass window of a high-rise building by an adsorption unit operating as an electric cylinder.
  • the present invention relates to a high-rise building glass drone for cleaning a building exterior wall and glass by operating a cleaner module that a push rod cleans.
  • the death from the crash in the construction industry accounts for 48.9% of the total, the highest rate.
  • the development of a cleaning device for automatically cleaning the outer wall of a high-rise building is poor, and the research on this is insignificant.
  • the work of cleaning the exterior walls of a building in Korea is to clean the exterior walls by a worker hanging on a rope fixed on the roof of the building.
  • the cleaning of the outer wall of a high-rise building is a method in which a manpower directly rides on the platform of the gondola connected to the upper part of the building.
  • the use of gondola may be limited due to the atypical form and the aesthetic structure of the upper part of the building, which is constructed with design elements.
  • various structures such as window frames on the outer wall of the building, which makes it difficult to fully automate the cleaning operation.
  • the Republic of Korea Patent No. 10-1818195 'Drone and cleaning drone flying vehicle comprising the same' when looking at, the propeller, the support, the main body, the energy regeneration unit, the power generating unit, the upper extension rod and lower
  • a configuration includes an extension rod including an extension rod, at least one brush support extending from the circumferential surface of the lower extension rod, and a plurality of cleaning tools disposed at the ends of the brush support.
  • the present invention is to solve the problems of the prior art as described above is to wipe the dust remover sprayed from the spray nozzle in a state in which the main body provided with the propeller is in close contact with the glass window of the high-rise building by the adsorption unit operating as an electric cylinder. It is to provide a drone for the new high-rise glass-cleaning drone to operate the cleaner module to clean the building exterior walls and glass.
  • the present invention to solve the above problems
  • Main body is provided with a plurality of propellers for generating a thrust for flight to the target point of the high-rise building
  • Adsorption unit disposed on the lower side of the main body so that the main body is in close contact with one surface of the high-rise building glass window
  • a cleaner module disposed at the other lower side of the main body and in contact with one surface of the glass window;
  • a controller configured to sense a distance that the main body approaches a target point of a high-rise building, and include a control unit controlling the operation of the suction unit and the cleaner module when the main body is adjacent to the target point of the high-rise building.
  • the adsorption portion extends in the longitudinal direction and the inside of the casing having a hollow enclosure shape, connected to the hinge shaft and the main body to the right angle from one side of the main body Rotating portion for rotating around the hinge axis to achieve, a tubular suction tube formed in two pairs on both sides of the casing, a suction port through one surface to communicate with one end of the suction tube is formed to be in close contact with one surface of the glass window And an electric cylinder connected to an electric motor inside the adsorption plate and the casing to move the air of the adsorption plate through the suction port to maintain the adsorption plate in a vacuum state, wherein the electric cylinder has the adsorption plate spaced apart from one surface of the glass window.
  • the cleaner module is formed in a box-shaped body part with an electronic circuit therein, and formed on one side of the body part to spray a dust remover toward one surface of the glass window.
  • a spray nozzle an accommodating part accommodating the dust remover in a liquid form inside the body part, a water stick disposed on an upper side of the spray nozzle to wipe off the dust remover on the glass window, and the spray nozzle is in the longitudinal direction of the body part. It may include a sliding portion formed with a rail to move left and right along.
  • the adsorption portion As the adsorption portion is rotated in a direction perpendicular to one surface of the main body by using the rotating portion, the adsorption portion is easy to adhere to one surface of the high-rise glass window, the adsorption portion is in close contact with the glass window By not changing the axis in which the body is flying in the process, it can have the effect of maintaining a stable flight.
  • the adsorption plate by suctioning the air of the adsorption plate using the electric cylinder provided in the adsorption unit, the adsorption plate is in close contact with one surface of the high-rise building glass window in a vacuum state, the main body is fixed to the high-rise building. It may have an effect of being positioned in a state, thereby having an effect of preventing the body from being blown away from the work position or even in strong winds.
  • the high-rise glass-wiping drone by using a water rod, by removing the dust remover sprayed from the injection nozzle from one side of the glass window, it is possible to remove the contaminants of the glass window clean, low cost The economical savings of parts can be expected by using the water rod.
  • FIG. 1 is a front view showing a high-rise building glass drone according to an embodiment of the present invention.
  • FIG. 2 is a side view of FIG. 1 viewed from another direction.
  • FIG. 2 is a side view of FIG. 1 viewed from another direction.
  • 3 and 4 are enlarged configuration diagrams for the adsorption unit of the present invention.
  • FIG. 5 is an operating state diagram illustrating an operating state of FIG. 2.
  • FIG. 6 is an enlarged configuration diagram of the cleaner module of the present invention.
  • FIG. 7 is a conceptual diagram illustrating a concept of cleaning a glass window of a building using a high-rise building glass drone according to an embodiment of the present invention.
  • FIG. 1 is a front view showing a high-rise glass-wiping drone according to an embodiment of the present invention
  • Figure 2 is a side view of Figure 1 viewed from another direction
  • Figure 3 and Figure 4 is an enlarged configuration of the adsorption portion of the present invention
  • 5 is an operating state diagram showing the operating state of Figure 2
  • Figure 6 is an enlarged configuration diagram for a cleaner module of the present invention
  • the high-rise building glass drone 10 is the main body 100, the adsorption unit 200, the cleaner module 300 and the control unit 400 Include.
  • the high-rise glass-wiping drone 10 is a plurality of propellers for generating a thrust for flight to the target point of the high-rise building ( 110, the main body 100 is provided, the suction unit 200 is disposed on the lower side of the main body so that the main body is in close contact with one surface of the high-rise glass window, the cleaner module is disposed on the other side of the lower lower portion of the main body to contact the one surface of the high-rise glass window And a control unit 400 for controlling the operation of the adsorption unit and the cleaner module when the main body is adjacent to the target point of the high rise building, including a sensor unit for sensing a distance approaching the target point of the high rise building. .
  • the main body 100 is provided with a plurality of propellers 110 for generating thrust for flight to a target point of a high-rise building, and a port that can be charged on one side may be formed.
  • the main body 100 may have a shape partitioned so that the adsorption unit 200 and the cleaner module 300 to be described later are located on one side and the other side, respectively.
  • the main body 100 may include a cover having a charging port formed at an outer side thereof, a battery connected to the charging port therein, and a cover capable of opening and closing the main body corresponding to the position of the battery so as to replace the battery. (Not shown)
  • main body 100 is illustrated in the schematic diagram form in the drawings herein, it is possible to be formed in various shapes that are not limited to the shape of the figure, such as a disk shape, a square plate shape and a rectangular plate shape.
  • the propeller 110 is connected to the main body 100 is formed in a plurality.
  • the propeller 110 is provided with four dogs facing each other radially on the outside of the main body 100, which is just one example, it may be provided with a large number, such as five, six.
  • the propeller 110 includes a propeller body, a motor, a rotating shaft, and a blade to generate thrust so that the main body 100 can fly.
  • the propeller body is provided radially on the outer side of the main body 100 is provided with a motor so that the main body 100 can be stably flying without biasing to one side.
  • the motor is embedded in the propeller body and serves to transfer power through the battery.
  • One end of the rotating shaft is connected to the motor and the other end is connected to the blade, which will be described later, to provide the blade with the rotational force of the motor.
  • the blade rotates in one direction through the rotational force of the motor to generate a thrust for the flight of the main body 100.
  • the adsorption part 200 is disposed at one lower side of the main body so that the main body 100 is in close contact with the glass window.
  • the adsorption part 200 is disposed on one side of a portion partitioned below the main body 100, and serves to fix the main body 100 to one surface of the glass window.
  • the adsorption unit 200 includes a casing 210, a rotating unit 220, an adsorption tube 230, an adsorption plate 240, and an electric cylinder 250.
  • the casing 210 extends in the longitudinal direction and has an empty enclosure shape.
  • the casing 210 may be operated through a control unit 400 to be described later is built in the electric cylinder 250 and the motor to be described later.
  • the rotating part 220 is connected to the main body 100 and the hinge shaft 221 to center the hinge shaft 221 so that the casing 210 forms a right angle from one surface of the main body 100. Rotate to
  • the rotating part 220 connects the main body 100 and the casing 210 to the hinge shaft 221, but connects the lower one side of the main body 100 and one side of the casing 210.
  • the rotating unit 221 rotates the casing 210 around the hinge shaft 221 at a right angle from the lower surface of the main body 100 according to a signal from the control unit 400.
  • a gear 222 connected to the hinge shaft 221 is provided, and the gear 222 is connected to a motor for transmitting rotational force, although not shown in the drawing.
  • the suction tube 230 is formed in a tubular shape formed in two pairs on both sides of the casing 210. That is, the suction tube 230 is formed by extending the tube from the inside of the casing 210, it is connected to the electric cylinder 250 provided in the casing 210. In addition, the adsorption tube 230 is formed in a direction in which the casing 210 rotates to face one surface of the high-rise building glass window.
  • the adsorption tube 230 is preferably made of a length in contact with one surface of the high-rise glass window from the outside of the casing (210).
  • the adsorption tube 230 may be formed in a structure that is adjustable in length as needed. For example, when the casing 210 is rotated about the hinge shaft 221 to be in close contact with the high-rise glass window, if the length of the adsorption tube 230 is long or short, the main body 100 cannot be fixed. Occurs. In order to solve this problem, it is preferable that the length of the adsorption tube 230 is elastically adjusted.
  • Suction plate 240, the suction port 241 through one surface is formed so as to communicate with one end of the suction tube 230 is in close contact with one surface of the glass window.
  • the suction plate 240 may be made of a funnel or hemispherical shape.
  • the suction port 241 passes through one surface of the central portion of the suction plate 240 to communicate with one end of the suction tube 230.
  • the suction port 241 strongly pushes the suction tube 240 in one direction of the glass window according to the adjustment of the main body 100. And the air remaining in the inside of the suction plate 240 by the operation of the electric cylinder 250 is moved to the suction tube 240 through the suction port 241, one surface of the suction plate 240 and the glass window is in a vacuum state. For this reason, the adsorption pipe 240 can support the main body 100.
  • the electric cylinder 250 is connected to the electric motor inside the casing 210 to move the air of the suction plate 240 through the suction port 241 to maintain the suction plate 240 in a vacuum state.
  • the electric cylinder 250 serves to release the vacuum compression formed on the adsorption plate 240 by moving the air to the suction port 241 through the adsorption tube 230 when the adsorption plate 240 is spaced apart from one surface of the glass window. .
  • the cleaner module 300 is disposed on the other lower side of the main body 100 to be in contact with one surface of the glass window. And it cleans one side of the glass window.
  • the cleaner module 300 includes a body 310, the injection nozzle 320, the receiving portion 330, the water stick 340 and the sliding portion 350.
  • the body 310 is formed in a box shape in which an electronic circuit is embedded therein.
  • the electronic circuit embedded in the body 310 receives a signal from the controller 400 and operates a spray nozzle 320 to be described later.
  • the spray nozzle 320 is formed on one side of the body 310 to spray the dust remover toward one surface of the glass window.
  • the spray nozzle 320 is connected to the liquid type dust remover and serves to spray in accordance with a predetermined dust remover injection amount.
  • the accommodating part 330 is a space in which the dust remover is stored in a liquid form inside the body part 310.
  • the water stick 340 is disposed above the spray nozzle 320 to wipe off the dust remover on the glass window.
  • the water push rod 340 is a common one that is easy to purchase on the market, the part in contact with one surface of the glass window is made of rubber and silicon material.
  • the sliding unit 350 is formed with a rail 353 so that the injection nozzle 320 moves from side to side in the longitudinal direction of the body 310.
  • the sliding part 350 is formed in the lower portion of the body 310 in the longitudinal direction so that the injection nozzle 320 is exposed to move left and right.
  • the sliding portion 350 includes a fastening member 351 and the wheel 352.
  • the fastening member 351 is coupled to one side of the outer circumferential surface of the injection nozzle 320 and the other side is coupled to the wheel 352 which will be described later.
  • the fastening member 351 is coupled to the motor and the belt to be able to move from side to side in the longitudinal direction. That is, the belt rotates by the rotation of the motor, and the fastening member 351 connected to the belt can move in the rotational direction of rotation in one or the other direction of the belt.
  • the wheel 352 is coupled to the lower side of the fastening member 351 and moves along the rail 353.
  • the control unit 400 includes a sensor unit 410 for detecting a distance that the main body 100 approaches the target point of the high-rise building, so that when the main body 100 is adjacent to the target point of the high-rise building, the adsorption unit 200 and It serves to control the operation of the cleaner module 300.
  • the high-rise building glass drone 10 cleans the outer wall or the glass window of the building using the cleaner module 300 while flying, as shown in FIG. 7.
  • control unit 400 includes a sensor unit 410 for sensing a distance, and when the main body 100 is adjacent to a target point of a high-rise building, the controller 400 calculates a predetermined distance value to obtain a distance value from the sensor unit 410.
  • the adsorption unit 200 and the cleaner module 300 are operated through the arithmetic processing unit to receive and execute them.
  • the adsorption part 200 is the main body 100 is rotated in a direction perpendicular to the lower one surface so that the adsorption tube 230 faces one surface of the glass window of the high-rise building.
  • the adsorption plate 240 comes into contact with one surface of the glass window, the adsorption plate 240 is formed in a vacuum state through the electric cylinder 250 so that the main body 100 is temporarily fixed to one surface of the glass window of the high-rise building.
  • the propeller 110 to lower the rotational speed to prevent the main body 100 from flying away from the outer wall of the high-rise building.
  • the water stick 340 cleans the surface of the glass window by wiping one surface thereof.
  • the adsorption unit 200 provides the air to the adsorption plate 240 by the electric cylinder 250 through any one of the pair of adsorption tubes of the two pairs of adsorption tubes 230. To be separated from one side of the window. Thereafter, the other pair of adsorption tubes are also separated from one surface of the glass window in the manner described above, so that the main body 100 can move to another glass window.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)

Abstract

The present invention relates to a drone for cleaning the window glass of a high-rise building and, more specifically, to a drone for cleaning the window glass of a high-rise building, comprising: a main body having a plurality of propellers for generating thrust for flight to a target point of a high-rise building; an adsorption unit arranged at one side of the lower part of the main body such that the main body comes into close contact with one surface of the window glass of the high-rise building; a cleaner module, which is arranged at the other side of the lower part of the main body so as to come into contact with one surface of the glass window; and a control unit including a sensor unit, which senses the approaching distance to the target point of the high-rise building, and controlling operations of the adsorption unit and the cleaner module when the main body is close to the target point of the high-rise building.

Description

고층건물 유리닦이용 드론Skyscraper drones for glass polishing
본 발명은 고층건물 유리닦이용 드론에 관한 것으로, 보다 상세하게는 프로펠러가 구비된 본체가 전기실린더로 작동하는 흡착부에 의해 고층건물의 유리창에 밀착된 상태로 분사 노즐에서 분사된 먼지제거제를 물 밀대가 닦는 청소기 모듈을 작동하여 빌딩 외벽 및 유리를 청소하는 고층건물 유리닦이용 드론에 관한 것이다.The present invention relates to a drone for high-rise glass-wiping, and more specifically, to a water-removing dust remover sprayed from a spray nozzle in a state in which a main body provided with a propeller is in close contact with a glass window of a high-rise building by an adsorption unit operating as an electric cylinder. The present invention relates to a high-rise building glass drone for cleaning a building exterior wall and glass by operating a cleaner module that a push rod cleans.
건축 기술의 발전과 함께 현대 건축물은 고층화 및 대형화되고 있으며, 미적인 요소가 가미된 비정형 형태의 건물도 급격하게 증가하고 있다. 도시의 미관을 화려하게 만드는 고층 건물의 브랜드 가치와 외부 전망을 중요하게 생각하는 건물주의 경향에 따라 이런 추세는 앞으로도 계속될 것이다. 이와 같은 고층 건축물은 건설뿐만 아니라 유지보수를 위한 비용의 증가도 예상된다. 하지만 건물 외벽의 유지 보수 및 청소 작업은 그 특성상 여전히 노동집약적이며 다양한 근로자에 의해 위험한 작업들이 수행되고 있다. 현재 국내에서 수행되는 고층 건물의 유리창 청소 및 유지 보수 작업은 재래식 로프 및 곤돌라를 이용한 방법이 대부분이며 이는 잦은 안전사고의 발생과 생산성 저하의 원인이 된다. 또한 고층 건물이 증가함에 따라 건물 외벽 및 유리창의 유지 보수 작업에 대한 안전 사고율이 매년 증가하고 있으며 사고의 상당부분이 사망사고로 이어지고 있다. 한국산업안전보건공단의 2008년 산업재해 통계에 따르면 전체 건설산업의 사망재해에서 추락에 의한 사망이 전체의 48.9%를 차지하며 가장 높은 비율을 나타내고 있다. 현재 국내에서는 고층 건물의 외벽을 자동으로 청소하기 위한 세정장치의 개발이 열악하며 이와 관련한 연구도 미미한 실정이다. 일반적으로 국내에서 수행되는 건물의 외벽을 청소하는 작업은 작업 인력이 건물의 옥상에 고정된 줄에 매달려 외벽을 청소하고 있다. 특히 높은 고층 건물의 외벽의 청소작업은 건물 상부에 연결된 곤돌라의 플랫폼에 인력이 직접 탑승하여 작업을 수행하는 방법이 있다.With the development of building technology, modern buildings are getting higher and larger, and atypical buildings with aesthetic elements are increasing rapidly. This trend will continue as the trend of building owners to value the brand value and outlook of high-rise buildings that make the city's aesthetic look gorgeous. Such high-rise buildings are expected to increase in cost for maintenance as well as construction. However, the maintenance and cleaning of the exterior walls of buildings is still labor-intensive and dangerous work is carried out by various workers. Currently, domestic window cleaning and maintenance of high-rise buildings is performed using conventional ropes and gondola, which causes frequent safety accidents and reduced productivity. In addition, as the number of high-rise buildings increases, the safety accident rate for maintenance work on the exterior walls and windows of the building increases every year, and a significant part of the accidents are leading to death. According to the 2008 industrial accident statistics of the Korea Occupational Safety and Health Agency, the death from the crash in the construction industry accounts for 48.9% of the total, the highest rate. Currently, the development of a cleaning device for automatically cleaning the outer wall of a high-rise building is poor, and the research on this is insignificant. In general, the work of cleaning the exterior walls of a building in Korea is to clean the exterior walls by a worker hanging on a rope fixed on the roof of the building. In particular, the cleaning of the outer wall of a high-rise building is a method in which a manpower directly rides on the platform of the gondola connected to the upper part of the building.
그러나, 청소작업 인력의 안전 문제는 차치하고서라도, 디자인적인 요소가 가미되어 건설되는 현대 건축물의 경우에는 비정형적 형태와 건물 상부의 미학적 구조로 인하여 곤돌라의 사용이 제한되는 경우도 있다. 또한, 건물의 외벽에는 창문 틀과 같은 다양한 구조물이 존재하는데 이러한 구조물로 인하여 청소 작업을 완전히 자동화하는 것이 쉽지는 않다. 이외에도 터널의 내부 벽면의 청소 작업에도 하부에 상승 엘리베이터를 설치하여 작업을 수행함에 있어서 도로의 차선을 차단한 채 작업을 수행해야 하고, 상당한 높이에서 작업이 이루어져야 하므로 작업자의 안전에 많은 문제가 있었다. 뿐만 아니라, 쉽게 청소 작업 인력이 도달하기 쉽지 않은 높이를 가진 문화재나 접근이 쉽지 않은 곳, 청소 대상물의 형상 자체가 거대하면서도 비정형적인 경우 이러한 구조물에 대한 청소를 수행함에 있어서 청소를 위한 접근 설비를 설치하고 사후 이를 다시 제거하는 것은 많은 비용과 시간이 소요되는 문제가 있었다.However, apart from the safety issues of the cleaning workforce, the use of gondola may be limited due to the atypical form and the aesthetic structure of the upper part of the building, which is constructed with design elements. In addition, there are various structures such as window frames on the outer wall of the building, which makes it difficult to fully automate the cleaning operation. In addition to the work of cleaning the inner wall of the tunnel in the installation of the elevator in the lower part of the work to perform the work while blocking the lane of the road, and the work must be performed at a significant height, there was a lot of problems for the safety of the worker. In addition, installation of access facilities for cleaning in performing the cleaning of such structures when the cultural property having a height that is not easily reached by the cleaning personnel, or where it is difficult to access, or the shape of the object to be cleaned is huge and atypical. And then removing it again after the problem was costly and time-consuming.
이러한 문제점을 극복하기 위해, 대한민국 등록특허 제10-1818195호인 '드론 및 이를 포함하는 청소용 드론 비행체'를 살펴보면, 프로펠러, 지지대, 본체, 에너지 재생부, 전력을 생성하는 발전부, 상부 연장로드 및 하부 연장로드를 포함하는 연장로드, 하부 연장로드의 원주면에서 연장되는 적어도 하나의 브러쉬 지지대 및 브러쉬 지지대의 단부에 배치되는 다수의 청소도구를 구비하는 구성이 개시되어 있다.In order to overcome this problem, the Republic of Korea Patent No. 10-1818195 'Drone and cleaning drone flying vehicle comprising the same' when looking at, the propeller, the support, the main body, the energy regeneration unit, the power generating unit, the upper extension rod and lower A configuration is disclosed that includes an extension rod including an extension rod, at least one brush support extending from the circumferential surface of the lower extension rod, and a plurality of cleaning tools disposed at the ends of the brush support.
그러나, 이러한 종래기술은 구조가 복잡하고, 본체를 지지하는 지지대의 외주면에 브러쉬가 형성되고, 브러쉬의 외주면에 흡착판이 형성되어, 고층건물의 외벽에 발생하는 강품에 날아가거나 자체 무게에 의하여 흡착판이 제 역할을 못하는 문제점이 발생할 수 있다.However, this conventional technology is complicated in structure, the brush is formed on the outer circumferential surface of the support for supporting the main body, the suction plate is formed on the outer circumferential surface of the brush, so as to fly to the steel generated on the outer wall of the high-rise building or the suction plate by its own weight Problems that do not work properly can occur.
본 발명은 상기와 같은 종래기술의 문제점을 해결하기 위하여 프로펠러가 구비된 본체가 전기실린더로 작동하는 흡착부에 의해 고층건물의 유리창에 밀착된 상태로 분사 노즐에서 분사된 먼지제거제를 물 밀대가 닦는 청소기 모듈을 작동하여 빌딩 외벽 및 유리를 청소하는 새로운 구조의 고층건물 유리닦이용 드론을 제공하는 것이다.The present invention is to solve the problems of the prior art as described above is to wipe the dust remover sprayed from the spray nozzle in a state in which the main body provided with the propeller is in close contact with the glass window of the high-rise building by the adsorption unit operating as an electric cylinder. It is to provide a drone for the new high-rise glass-cleaning drone to operate the cleaner module to clean the building exterior walls and glass.
본 발명은 상기와 같은 과제를 해결하기 위하여The present invention to solve the above problems
고층건물의 목표지점까지 비행을 위한 추력을 발생시키는 복수의 프로펠러가 구비된 본체,Main body is provided with a plurality of propellers for generating a thrust for flight to the target point of the high-rise building
상기 본체가 고층건물 유리창의 일면에 밀착 되도록 상기 본체의 하부 일측에 배치되는 흡착부,Adsorption unit disposed on the lower side of the main body so that the main body is in close contact with one surface of the high-rise building glass window,
상기 본체의 하부 타측에 배치되어 상기 유리창의 일면에 접촉되는 청소기 모듈 및A cleaner module disposed at the other lower side of the main body and in contact with one surface of the glass window;
상기 본체가 고층건물의 목표지점까지 접근하는 거리를 감지하는 센서부를 구비하여 상기 본체가 고층건물의 목표지점에 인접 시, 상기 흡착부 및 상기 청소기 모듈의 작동을 제어하는 제어부를 포함하는And a controller configured to sense a distance that the main body approaches a target point of a high-rise building, and include a control unit controlling the operation of the suction unit and the cleaner module when the main body is adjacent to the target point of the high-rise building.
고층건물 유리닦이용 드론을 제공한다.Provides high-rise building glass drones.
본 발명의 실시예에 따른 고층건물 유리닦이용 드론에 있어서, 상기 흡착부는 길이방향으로 연장되며 내부가 빈 함체 형상인 케이싱, 상기 본체와 힌지축으로 연결되어 상기 케이싱을 상기 본체의 일면으로부터 직각을 이루도록 상기 힌지축을 중심으로 회동시키는 회동부, 상기 케이싱의 양측에 두 쌍으로 형성되는 관 형상의 흡착관, 상기 흡착관의 일단에 연통하도록 일면이 관통된 흡입구가 형성되어 상기 유리창의 일면에 밀착되는 흡착판 및 상기 케이싱의 내부에 전기 모터와 연결되어 상기 흡착판을 진공상태로 유지하도록 상기 흡착판의 공기를 상기 흡입구를 통해 이동시키는 전기실린더를 포함하고, 상기 전기실린더는 상기 흡착판이 상기 유리창의 일면과 이격 시, 공기를 상기 흡착관을 통해 상기 흡입구로 이동시켜 상기 흡착판에 형성된 진공압축을 해제시키는 것을 특징으로 할 수 있다.In the high-rise building glass drone according to an embodiment of the present invention, the adsorption portion extends in the longitudinal direction and the inside of the casing having a hollow enclosure shape, connected to the hinge shaft and the main body to the right angle from one side of the main body Rotating portion for rotating around the hinge axis to achieve, a tubular suction tube formed in two pairs on both sides of the casing, a suction port through one surface to communicate with one end of the suction tube is formed to be in close contact with one surface of the glass window And an electric cylinder connected to an electric motor inside the adsorption plate and the casing to move the air of the adsorption plate through the suction port to maintain the adsorption plate in a vacuum state, wherein the electric cylinder has the adsorption plate spaced apart from one surface of the glass window. When the air is moved to the suction port through the suction pipe formed on the suction plate It may be characterized in that the vacuum compression is released.
본 발명의 실시예에 따른 고층건물 유리닦이용 드론에 있어서, 상기 청소기 모듈은 내부에 전자회로가 내장된 박스형상의 바디부, 상기 바디부의 일측에 형성되어 상기 유리창의 일면을 향하여 먼지제거제를 분사하는 분사 노즐, 상기 바디부의 내부에 상기 먼지제거제가 리퀴드 형태로 수납되는 수용부, 상기 분사 노즐의 상측에 배치되어 상기 유리창에 묻은 먼지제거제를 닦아내는 물 밀대 및 상기 분사 노즐이 상기 바디부의 길이방향을 따라 좌우로 이동하도록 레일이 형성된 슬라이딩부를 포함할 수 있다.In the high-rise building glass drone according to an embodiment of the present invention, the cleaner module is formed in a box-shaped body part with an electronic circuit therein, and formed on one side of the body part to spray a dust remover toward one surface of the glass window. A spray nozzle, an accommodating part accommodating the dust remover in a liquid form inside the body part, a water stick disposed on an upper side of the spray nozzle to wipe off the dust remover on the glass window, and the spray nozzle is in the longitudinal direction of the body part. It may include a sliding portion formed with a rail to move left and right along.
본 발명에 따른 고층건물 유리닦이용 드론에 있어서, 회동부를 이용하여 흡착부가 본체의 일면으로부터 직각방향으로 회동함에 따라, 흡착부가 고층건물 유리창의 일면에 밀착이 용이하며, 흡착부가 유리창에 밀착되는 과정에서 본체가 비행하는 축이 바뀌지 않음으로써, 안정적인 비행을 유지하는 효과를 가질 수 있다.In the high-rise glass-wiping drone according to the present invention, as the adsorption portion is rotated in a direction perpendicular to one surface of the main body by using the rotating portion, the adsorption portion is easy to adhere to one surface of the high-rise glass window, the adsorption portion is in close contact with the glass window By not changing the axis in which the body is flying in the process, it can have the effect of maintaining a stable flight.
또한, 본 발명에 따른 고층건물 유리닦이용 드론에 있어서, 흡착부에 구비된 전기실린더를 이용하여 흡착판의 공기를 흡입함으로써, 흡착판이 진공상태로 고층건물 유리창 일면에 밀착되어 본체가 고층건물에 고정된 상태로 위치하는 효과를 가질 수 있으며, 이로 인해 강풍에도 본체가 날아가거나 작업위치로부터 이탈되는 것을 방지하는 효과를 가질 수 있다.In addition, in the drone for high-rise glass-wiping according to the present invention, by suctioning the air of the adsorption plate using the electric cylinder provided in the adsorption unit, the adsorption plate is in close contact with one surface of the high-rise building glass window in a vacuum state, the main body is fixed to the high-rise building. It may have an effect of being positioned in a state, thereby having an effect of preventing the body from being blown away from the work position or even in strong winds.
또한, 본 발명에 따른 고층건물 유리닦이용 드론에 있어서, 먼지제거제를 리퀴드 형태로 수납한 수용부와 연결된 분사 노즐을 이용하여 고층건물 유리창의 일면에 분사하여 깨끗한 청소를 할 수 있는 효과를 가질 수 있다.In addition, in the drone for high-rise glass-wiping according to the present invention, by using a spray nozzle connected to the receiving unit accommodated in the liquid form of the dust remover to spray on one side of the high-rise glass window can have an effect that can be cleaned clean. have.
또한, 본 발명에 따른 고층건물 유리닦이용 드론에 있어서, 물 밀대를 이용하여, 분사 노즐에서 분사된 먼지제거제를 유리창의 일면으로부터 제거하는 작업을 통해 유리창의 오염물질을 깨끗하게 제거할 수 있으며, 저가의 물 밀대를 사용함에 따라 부품의 경제적 절감효과를 기대할 수 있다.In addition, in the high-rise glass-wiping drone according to the present invention, by using a water rod, by removing the dust remover sprayed from the injection nozzle from one side of the glass window, it is possible to remove the contaminants of the glass window clean, low cost The economical savings of parts can be expected by using the water rod.
도 1은 본 발명의 실시예에 따른 고층건물 유리닦이용 드론을 나타낸 정면도이다.1 is a front view showing a high-rise building glass drone according to an embodiment of the present invention.
도 2는 도 1을 다른 방향에서 바라본 측면도이다.FIG. 2 is a side view of FIG. 1 viewed from another direction. FIG.
도 3 및 도 4는 본 발명의 흡착부에 대한 확대 구성도이다.3 and 4 are enlarged configuration diagrams for the adsorption unit of the present invention.
도 5는 도 2의 작동 상태를 나타낸 작동상태도이다.5 is an operating state diagram illustrating an operating state of FIG. 2.
도 6은 본 발명의 청소기 모듈에 대한 확대 구성도이다.6 is an enlarged configuration diagram of the cleaner module of the present invention.
도 7은 본 발명의 실시예에 따른 고층건물 유리닦이용 드론을 이용하여 건물의 유리창을 청소하는 개념을 나타낸 개념도이다.7 is a conceptual diagram illustrating a concept of cleaning a glass window of a building using a high-rise building glass drone according to an embodiment of the present invention.
이하, 첨부된 도면을 참조하여 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자가 본 발명을 용이하게 실시할 수 있는 바람직한 실시 예를 상세히 설명한다. 다만, 본 발명의 바람직한 실시 예에 대한 동작 원리를 상세하게 설명함에 있어 관련된 공지 기능 또는 구성에 대한 구체적인 설명이 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 경우에는 그 상세한 설명을 생략한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. However, in describing in detail the operating principle of the preferred embodiment of the present invention, if it is determined that the detailed description of the related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.
또한, 도면 전체에 걸쳐 유사한 기능 및 작용을 하는 부분에 대해서는 동일한 도면 부호를 사용한다.In addition, the same reference numerals are used for parts having similar functions and functions throughout the drawings.
덧붙여, 명세서 전체에서 어떤 부분이 다른 부분과 '연결'되어 있다고 할 때 이는 직접적으로 연결되어 있는 경우뿐만 아니라 그 중간에 다른 구성요소를 사이에 두고 간접적으로 연결되어 있는 경우도 포함한다. 또한, 어떤 구성요소를 '포함'한다는 것은 특별히 반대되는 기재가 없는 한 다른 구성요소를 제외하는 것이 아니라 다른 구성요소를 더 포함할 수 있는 것을 의미한다.In addition, when a part of the specification is said to be 'connected' to another part, it includes not only the case where the direct connection, but also indirectly connected between the other components in the middle. In addition, the term 'comprising' a certain component means that the component may further include other components, except for the case where there is no contrary description.
이하, 첨부한 도면을 참조하여 본 발명의 바람직한 실시예에 따른 고층건물 유리닦이용 드론에 대하여 상세히 설명한다.Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the high-rise building glass drone according to an embodiment of the present invention.
도 1은 본 발명의 실시예에 따른 고층건물 유리닦이용 드론을 나타낸 정면도이고, 도 2는 도 1을 다른 방향에서 바라본 측면도이고, 도 3 및 도 4는 본 발명의 흡착부에 대한 확대 구성도이고, 도 5는 도 2의 작동 상태를 나타낸 작동상태도이고, 도 6은 본 발명의 청소기 모듈에 대한 확대 구성도이고, 도 7은 본 발명의 실시예에 따른 고층건물 유리닦이용 드론을 이용하여 건물의 유리창을 청소하는 개념을 나타낸 개념도이다.1 is a front view showing a high-rise glass-wiping drone according to an embodiment of the present invention, Figure 2 is a side view of Figure 1 viewed from another direction, Figure 3 and Figure 4 is an enlarged configuration of the adsorption portion of the present invention 5 is an operating state diagram showing the operating state of Figure 2, Figure 6 is an enlarged configuration diagram for a cleaner module of the present invention, Figure 7 using a high-rise building glass drone according to an embodiment of the present invention A conceptual diagram showing the concept of cleaning the windows of a building.
도 1 및 도 2에 도시된 바와 같이, 본 발명의 실시예에 따른 고층건물 유리닦이용 드론(10)은 본체(100), 흡착부(200), 청소기 모듈(300) 및 제어부(400)를 포함한다.1 and 2, the high-rise building glass drone 10 according to an embodiment of the present invention is the main body 100, the adsorption unit 200, the cleaner module 300 and the control unit 400 Include.
보다 상세하게는, 도 1 및 도 2에 도시된 바와 같이, 본 발명의 실시예에 따른 고층건물 유리닦이용 드론(10)은 고층건물의 목표지점까지 비행을 위한 추력을 발생시키는 복수의 프로펠러(110)가 구비된 본체(100), 본체가 고층건물 유리창의 일면에 밀착 되도록 본체의 하부 일측에 배치되는 흡착부(200), 본체의 하부 타측에 배치되어 고층건물 유리창의 일면에 접촉되는 청소기 모듈(300) 및 본체가 고층건물의 목표지점까지 접근하는 거리를 감지하는 센서부를 구비하여 본체가 고층건물의 목표지점에 인접 시, 흡착부 및 청소기 모듈의 작동을 제어하는 제어부(400)를 포함한다.More specifically, as shown in Figures 1 and 2, the high-rise glass-wiping drone 10 according to an embodiment of the present invention is a plurality of propellers for generating a thrust for flight to the target point of the high-rise building ( 110, the main body 100 is provided, the suction unit 200 is disposed on the lower side of the main body so that the main body is in close contact with one surface of the high-rise glass window, the cleaner module is disposed on the other side of the lower lower portion of the main body to contact the one surface of the high-rise glass window And a control unit 400 for controlling the operation of the adsorption unit and the cleaner module when the main body is adjacent to the target point of the high rise building, including a sensor unit for sensing a distance approaching the target point of the high rise building. .
본체(100)는 고층건물의 목표지점까지 비행을 위한 추력을 발생시키는 복수의 프로펠러(110)가 구비된 것으로, 일측에 충전할 수 있는 포트가 형성될 수 있다.The main body 100 is provided with a plurality of propellers 110 for generating thrust for flight to a target point of a high-rise building, and a port that can be charged on one side may be formed.
또한, 도 1 및 도 6에 도시된 바와 같이, 본체(100)는 후술하는 흡착부(200) 및 청소기 모듈(300)이 각각 일측 및 타측에 위치하도록 구획된 형상을 가질 수 있다. 그리고 본체(100)는 외측에 충전포트가 형성되고 내부에 충전포트와 연결되는 배터리가 내장되며, 배터리를 교체할 수 있도록 배터리의 위치와 대응하여 본체를 개폐할 수 있는 커버를 구비할 수 있다.(미도시)In addition, as shown in Figures 1 and 6, the main body 100 may have a shape partitioned so that the adsorption unit 200 and the cleaner module 300 to be described later are located on one side and the other side, respectively. The main body 100 may include a cover having a charging port formed at an outer side thereof, a battery connected to the charging port therein, and a cover capable of opening and closing the main body corresponding to the position of the battery so as to replace the battery. (Not shown)
또한, 본체(100)는 여기 명세서의 도면에서는 모식도 형태의 개념도로 도시되어 있으나, 원판형, 사각판형 및 직사각판형 등 도형의 형상에 제한되지 않는 다양한 형상으로 형성되는 것이 가능하다.In addition, although the main body 100 is illustrated in the schematic diagram form in the drawings herein, it is possible to be formed in various shapes that are not limited to the shape of the figure, such as a disk shape, a square plate shape and a rectangular plate shape.
도 3을 참조하면, 프로펠러(110)는 본체(100)와 연결되어 복수개로 형성된다.Referring to Figure 3, the propeller 110 is connected to the main body 100 is formed in a plurality.
즉, 프로펠러(110)는 본체(100)의 외측에 방사상으로 서로 마주보며 네 개로 구비되어 있으나, 이는 하나의 예시일 뿐이며, 다섯 개, 여섯 개 등 많은 수로 구비되는 것도 가능하다.That is, the propeller 110 is provided with four dogs facing each other radially on the outside of the main body 100, which is just one example, it may be provided with a large number, such as five, six.
이러한 프로펠러(110)는 본체(100)가 비행할 수 있도록 추력을 발생시키기 위해 프로펠러 바디, 모터, 회전축 및 블레이드를 포함한다.The propeller 110 includes a propeller body, a motor, a rotating shaft, and a blade to generate thrust so that the main body 100 can fly.
여기서, 프로펠러 바디는 본체(100)의 외측에 방사상으로 위치하여 본체(100)가 일측으로 치우치지 않고 안정적으로 비행 할 수 있도록 모터를 구비한다.Here, the propeller body is provided radially on the outer side of the main body 100 is provided with a motor so that the main body 100 can be stably flying without biasing to one side.
모터는 전술한 바와 같이, 프로펠러 바디에 내장되어 배터리를 통해 동력을 전달하는 역할을 한다.As described above, the motor is embedded in the propeller body and serves to transfer power through the battery.
회전축은 일단이 모터와 연결되고 타단이 후술하는 블레이드와 연결되어 모터의 회전력을 블레이드에 제공한다.One end of the rotating shaft is connected to the motor and the other end is connected to the blade, which will be described later, to provide the blade with the rotational force of the motor.
블레이드는 모터의 회전력을 통해 일방향으로 회전하여 본체(100)의 비행을 위한 추력을 발생하는 역할을 한다.The blade rotates in one direction through the rotational force of the motor to generate a thrust for the flight of the main body 100.
도 3을 참조하면, 흡착부(200)는 본체(100)가 유리창에 밀착되도록 본체의 하부 일측에 배치된다. 다시 설명하면, 흡착부(200)는 본체(100)의 하부에 구획된 부분 중 일측에 배치되며, 본체(100)를 유리창의 일면에 고정 시키는 역할을 한다. 이를 위해, 흡착부(200)는 케이싱(210), 회동부(220), 흡착관(230), 흡착판(240) 및 전기실린더(250)를 포함한다.Referring to FIG. 3, the adsorption part 200 is disposed at one lower side of the main body so that the main body 100 is in close contact with the glass window. In other words, the adsorption part 200 is disposed on one side of a portion partitioned below the main body 100, and serves to fix the main body 100 to one surface of the glass window. To this end, the adsorption unit 200 includes a casing 210, a rotating unit 220, an adsorption tube 230, an adsorption plate 240, and an electric cylinder 250.
케이싱(210)은 길이방향으로 연장되며 내부가 빈 함체 형상이다. 이러한 케이싱(210)은 내부에 후술하는 전기실린더(250) 및 모터가 내장되어 후술하는 제어부(400)를 통해 작동할 수 있게 된다.The casing 210 extends in the longitudinal direction and has an empty enclosure shape. The casing 210 may be operated through a control unit 400 to be described later is built in the electric cylinder 250 and the motor to be described later.
도 2 및 도 5를 참조하면, 회동부(220)는 본체(100)와 힌지축(221)으로 연결되어 케이싱(210)을 본체(100)의 일면으로부터 직각을 이루도록 힌지축(221)을 중심으로 회동시킨다.2 and 5, the rotating part 220 is connected to the main body 100 and the hinge shaft 221 to center the hinge shaft 221 so that the casing 210 forms a right angle from one surface of the main body 100. Rotate to
다시 설명하면, 회동부(220)는 본체(100)와 케이싱(210)을 힌지축(221)으로 연결하되, 본체(100)의 하부 일측과 케이싱(210)의 일측을 연결한다. 그리고 회동부(221)는 제어부(400)의 신호에 따라 케이싱(210)을 본체(100)의 하부 일면으로부터 직각을 이루도록 힌지축(221)을 중심으로 회동시킨다.In other words, the rotating part 220 connects the main body 100 and the casing 210 to the hinge shaft 221, but connects the lower one side of the main body 100 and one side of the casing 210. The rotating unit 221 rotates the casing 210 around the hinge shaft 221 at a right angle from the lower surface of the main body 100 according to a signal from the control unit 400.
이때, 힌지축(221)과 연결되는 기어(222)가 구비되고, 기어(222)는 비록 도면에 도시하지 않았지만 회전력을 전달하는 모터와 연결된다.In this case, a gear 222 connected to the hinge shaft 221 is provided, and the gear 222 is connected to a motor for transmitting rotational force, although not shown in the drawing.
도 2 내지 도 5를 참조하면, 흡착관(230)은 케이싱(210)의 양측에 두 쌍으로 형성된 관 형상으로 형성된다. 즉, 흡착관(230)은 케이싱(210)의 내부로부터 관이 연장되어 형성되며, 케이싱(210)에 구비된 전기실린더(250)와 연결된다. 그리고 흡착관(230)은 케이싱(210)이 회동하여 고층건물 유리창의 일면에 마주보는 방향으로 형성된다.2 to 5, the suction tube 230 is formed in a tubular shape formed in two pairs on both sides of the casing 210. That is, the suction tube 230 is formed by extending the tube from the inside of the casing 210, it is connected to the electric cylinder 250 provided in the casing 210. In addition, the adsorption tube 230 is formed in a direction in which the casing 210 rotates to face one surface of the high-rise building glass window.
또한, 흡착관(230)은 케이싱(210)의 외측에서 고층건물 유리창의 일면에 접촉되는 길이로 제작되는 것이 바람직하다.In addition, the adsorption tube 230 is preferably made of a length in contact with one surface of the high-rise glass window from the outside of the casing (210).
또한, 흡착관(230)은 필요에 따라 신축가능하게 길이조절이 되는 구조로 형성될 수도 있다. 일례로, 케이싱(210)이 힌지축(221)을 중심으로 회동하여 고층건물 유리창에 밀착되는 경우, 흡착관(230)의 길이가 길거나 짧게 형성되면, 본체(100)를 고정시킬 수 없는 문제점이 발생한다. 이러한 문제점을 해결하기 위해, 흡착관(230)의 길이가 신축가능하게 길이 조절되는 것이 바람직하다.In addition, the adsorption tube 230 may be formed in a structure that is adjustable in length as needed. For example, when the casing 210 is rotated about the hinge shaft 221 to be in close contact with the high-rise glass window, if the length of the adsorption tube 230 is long or short, the main body 100 cannot be fixed. Occurs. In order to solve this problem, it is preferable that the length of the adsorption tube 230 is elastically adjusted.
흡착판(240) 흡착관(230)의 일단에 연통하도록 일면이 관통된 흡입구(241)가 형성되어 유리창의 일면에 밀착된다. Suction plate 240, the suction port 241 through one surface is formed so as to communicate with one end of the suction tube 230 is in close contact with one surface of the glass window.
여기서, 흡착판(240)은 깔떼기 또는 반구형상으로 이루어질 수 있다.Here, the suction plate 240 may be made of a funnel or hemispherical shape.
흡입구(241)는 흡착판(240)의 중앙부 일면이 관통되어 흡착관(230)의 일단과 연통한다.The suction port 241 passes through one surface of the central portion of the suction plate 240 to communicate with one end of the suction tube 230.
이러한 흡입구(241)는 흡착판(240)이 유리창의 일면방향으로 접촉하게 되면, 본체(100)의 조정에 따라 흡착관(240)을 유리창의 일면방향으로 강하게 밀게 된다. 그리고 전기실린더(250)의 작동으로 흡착판(240)의 내부에 잔류하는 공기가 흡입구(241)를 통해 흡착관(240)으로 이동하면서 흡착판(240)과 유리창의 일면이 진공상태가 된다. 이로 인해, 흡착관(240)은 본체(100)를 지지하게 되는 것이 가능해진다.When the suction plate 240 is in contact with one side of the glass window, the suction port 241 strongly pushes the suction tube 240 in one direction of the glass window according to the adjustment of the main body 100. And the air remaining in the inside of the suction plate 240 by the operation of the electric cylinder 250 is moved to the suction tube 240 through the suction port 241, one surface of the suction plate 240 and the glass window is in a vacuum state. For this reason, the adsorption pipe 240 can support the main body 100.
전기실린더(250)는 케이싱(210)의 내부에 전기 모터와 연결되어 흡착판(240)을 진공상태로 유지하도록 흡착판(240)의 공기를 흡입구(241)를 통해 이동시킨다.The electric cylinder 250 is connected to the electric motor inside the casing 210 to move the air of the suction plate 240 through the suction port 241 to maintain the suction plate 240 in a vacuum state.
또한, 전기실린더(250)는 흡착판(240)이 유리창의 일면과 이격 시, 공기를 흡착관(230)을 통해 흡입구(241)로 이동시켜 흡착판(240)에 형성된 진공압축을 해제시키는 역할을 한다.In addition, the electric cylinder 250 serves to release the vacuum compression formed on the adsorption plate 240 by moving the air to the suction port 241 through the adsorption tube 230 when the adsorption plate 240 is spaced apart from one surface of the glass window. .
도 6을 참조하면, 청소기 모듈(300)은 본체(100)의 하부 타측에 배치되어 유리창의 일면에 접촉된다. 그리고 유리창의 일면을 청소하는 역할을 한다. 이를 위해, 청소기 모듈(300)은 바디부(310), 분사 노즐(320), 수용부(330), 물 밀대(340) 및 슬라이딩부(350)를 포함한다.Referring to FIG. 6, the cleaner module 300 is disposed on the other lower side of the main body 100 to be in contact with one surface of the glass window. And it cleans one side of the glass window. To this end, the cleaner module 300 includes a body 310, the injection nozzle 320, the receiving portion 330, the water stick 340 and the sliding portion 350.
바디부(310)는 내부에 전자회로가 내장된 박스형상으로 이루어진다. 그리고 바디부(310)에 내장된 전자회로는 제어부(400)로부터 신호를 수신 받아 후술하는 분사 노즐(320)을 작동시키는 역할을 한다.The body 310 is formed in a box shape in which an electronic circuit is embedded therein. The electronic circuit embedded in the body 310 receives a signal from the controller 400 and operates a spray nozzle 320 to be described later.
분사 노즐(320)은 바디부(310)의 일측에 형성되어 유리창의 일면을 향하여 먼지제거제를 분사한다. 특히, 분사 노즐(320)은 리퀴드 형태의 먼지제거제와 연결되어 미리 정해진 먼지제거제 분사량에 맞춰 분사시키는 역할을 한다.The spray nozzle 320 is formed on one side of the body 310 to spray the dust remover toward one surface of the glass window. In particular, the spray nozzle 320 is connected to the liquid type dust remover and serves to spray in accordance with a predetermined dust remover injection amount.
수용부(330)는 바디부(310)의 내측에 먼지제거제가 리퀴드 형태로 수납되는 공간이다.The accommodating part 330 is a space in which the dust remover is stored in a liquid form inside the body part 310.
물 밀대(340)는 분사 노즐(320)의 상측에 배치되어 유리창에 묻은 먼지제거제를 닦아내도록 한다. 이러한 물 밀대(340)는 시중에서 구입하기 용이한 일반적인 것으로, 유리창의 일면에 접촉되는 부분이 고무 및 실리콘 재질로 이루어진다.The water stick 340 is disposed above the spray nozzle 320 to wipe off the dust remover on the glass window. The water push rod 340 is a common one that is easy to purchase on the market, the part in contact with one surface of the glass window is made of rubber and silicon material.
슬라이딩부(350)는 분사 노즐(320)이 바디부(310)의 길이방향을 따라 좌우로 이동하도록 레일(353)이 형성된다.The sliding unit 350 is formed with a rail 353 so that the injection nozzle 320 moves from side to side in the longitudinal direction of the body 310.
즉, 슬라이딩부(350)는 바디부(310)의 하부에 길이방향으로 관통 형성되어 분사 노즐(320)이 노출되어 좌우로 이동할 수 있게 해준다. 이를 위해, 슬라이딩부(350)는 체결부재(351) 및 바퀴(352)를 포함한다.That is, the sliding part 350 is formed in the lower portion of the body 310 in the longitudinal direction so that the injection nozzle 320 is exposed to move left and right. To this end, the sliding portion 350 includes a fastening member 351 and the wheel 352.
체결부재(351)는 분사 노즐(320)의 외주면 일측에 결합되고, 타측이 후술하는 바퀴(352)와 결합된다.The fastening member 351 is coupled to one side of the outer circumferential surface of the injection nozzle 320 and the other side is coupled to the wheel 352 which will be described later.
또한, 체결부재(351)는 비록 여기 명세서의 도면에 도시하지 않았지만, 길이방향을 따라 좌우로 이동할 수 있도록 모터 및 벨트와 결합된다. 즉, 모터의 회전에 의해 벨트가 회전하고, 벨트와 연결된 체결부재(351)는 벨트의 일방향 또는 타방향으로 회전하는 회전방향에 따라 이동하는 것이 가능해진다.Further, although not shown in the drawings herein, the fastening member 351 is coupled to the motor and the belt to be able to move from side to side in the longitudinal direction. That is, the belt rotates by the rotation of the motor, and the fastening member 351 connected to the belt can move in the rotational direction of rotation in one or the other direction of the belt.
바퀴(352)는 체결부재(351)의 하측에 결합되며, 레일(353)을 따라 이동한다.The wheel 352 is coupled to the lower side of the fastening member 351 and moves along the rail 353.
제어부(400)는 본체(100)가 고층건물의 목표지점까지 접근하는 거리를 감지하는 센서부(410)를 구비하여 본체(100)가 고층건물의 목표지점에 인접 시, 흡착부(200) 및 청소기 모듈(300)의 작동을 제어하는 역할을 한다.The control unit 400 includes a sensor unit 410 for detecting a distance that the main body 100 approaches the target point of the high-rise building, so that when the main body 100 is adjacent to the target point of the high-rise building, the adsorption unit 200 and It serves to control the operation of the cleaner module 300.
이와 같이, 본 발명의 실시예에 따른 고층건물 유리닦이용 드론(10)은 도 7에 도시된 바와 같이, 비행을 하면서 청소기 모듈(300)을 이용하여 빌딩의 외벽 또는 유리창을 청소하게 된다.As such, the high-rise building glass drone 10 according to the embodiment of the present invention cleans the outer wall or the glass window of the building using the cleaner module 300 while flying, as shown in FIG. 7.
특히, 제어부(400)는 거리를 감지하는 센서부(410)를 구비하여 본체(100)가 고층건물의 목표지점에 인접하는 경우, 미리 정해진 거리 값을 계산하여 센서부(410)로부터 거리 값을 전달 받고 이를 실행하도록 연산처리부를 통해 흡착부(200) 및 청소기 모듈(300)을 작동시킨다.In particular, the control unit 400 includes a sensor unit 410 for sensing a distance, and when the main body 100 is adjacent to a target point of a high-rise building, the controller 400 calculates a predetermined distance value to obtain a distance value from the sensor unit 410. The adsorption unit 200 and the cleaner module 300 are operated through the arithmetic processing unit to receive and execute them.
여기서, 흡착부(200)는 본체(100)이 하부 일면으로부터 직각방향으로 회동하여 흡착관(230)이 고층건물의 유리창의 일면과 마주보게 된다. 그리고 흡착판(240)이 유리창의 일면에 접촉하게 되면, 전기실린더(250)를 통해 흡착판(240)을 진공상태로 형성하여 본체(100)가 고층건물의 유리창의 일면에 일시적으로 고정되게 된다.Here, the adsorption part 200 is the main body 100 is rotated in a direction perpendicular to the lower one surface so that the adsorption tube 230 faces one surface of the glass window of the high-rise building. When the adsorption plate 240 comes into contact with one surface of the glass window, the adsorption plate 240 is formed in a vacuum state through the electric cylinder 250 so that the main body 100 is temporarily fixed to one surface of the glass window of the high-rise building.
이때, 프로펠러(110)는 회전수를 낮추도록 하여 본체(100)가 고층건물의 외벽으로부터 이탈하여 날아가는 것을 방지한다.At this time, the propeller 110 to lower the rotational speed to prevent the main body 100 from flying away from the outer wall of the high-rise building.
이후, 분사 노즐(320)이 먼지제거제를 분사하면, 물 밀대(340)가 유리창의 일면을 닦아내는 방식으로 청소를 한다.Thereafter, when the spray nozzle 320 sprays the dust remover, the water stick 340 cleans the surface of the glass window by wiping one surface thereof.
한편, 목적지 유리창의 청소가 완료되면, 흡착부(200)는 두 쌍의 흡착관(230)관 중 어느 하나의 한 쌍의 흡착관을 통해 전기실린더(250)가 공기를 흡착판(240)에 제공하여 유리창의 일면과 분리되게 한다. 이후, 다른 한 쌍의 흡착관도 전술한 방식으로 유리창의 일면과 분리되어 본체(100)가 다른 유리창으로 이동하는 것이 가능해진다.On the other hand, when the cleaning of the destination glass window is completed, the adsorption unit 200 provides the air to the adsorption plate 240 by the electric cylinder 250 through any one of the pair of adsorption tubes of the two pairs of adsorption tubes 230. To be separated from one side of the window. Thereafter, the other pair of adsorption tubes are also separated from one surface of the glass window in the manner described above, so that the main body 100 can move to another glass window.
또한, 본 발명의 실시예에 따른 고층건물 유리닦이용 드론(10)이 강풍에 날아가는 것을 방지하기위해, 로프 또는 와이어와 연결시키는 것도 가능하다.In addition, in order to prevent the high-rise building glass drone 10 according to the embodiment of the present invention from flying in the strong wind, it is also possible to connect with a rope or wire.
이상에서 설명한 바와 같이, 본 발명의 상세한 설명에서는 본 발명의 바람직한 실시 예에 관해서 설명하였으나, 이는 본 발명의 가장 양호한 실시 예를 예시적으로 설명한 것이지 본 발명을 한정하는 것은 아니다. 또한, 본 발명이 속하는 기술분야의 통상의 지식을 가진 자라면 누구나 본 발명의 기술사상의 범주를 벗어나지 않는 범위 내에서 다양한 변형 및 모방이 가능함은 물론이다.As described above, in the detailed description of the present invention, a preferred embodiment of the present invention has been described, but this is only illustrative of the best embodiment of the present invention and not intended to limit the present invention. In addition, any person having ordinary skill in the art to which the present invention pertains may make various modifications and imitations without departing from the scope of the technical idea of the present invention.
따라서, 본 발명의 권리범위는 상술한 실시 예에 한정되는 것이 아니라 첨부된 특허청구범위 내에서 다양한 형태의 실시 예로 구현될 수 있다. 그리고 특허청구범위에서 청구하는 본 발명의 요지를 벗어남이 없이 당해 발명이 속하는 기술분야에서 통상의 지식을 가진 자자라면 누구든지 변형 가능한 다양한 범위까지 본 발명의 청구범위 기재의 범위 내에 있는 것으로 본다.Accordingly, the scope of the present invention is not limited to the above-described embodiments, but can be implemented in various forms of embodiments within the appended claims. And without departing from the gist of the invention claimed in the claims, any person of ordinary skill in the art is considered to be within the scope of the claims described in the scope of the present invention to various modifications.

Claims (2)

  1. 고층건물의 목표지점까지 비행을 위한 추력을 발생시키는 복수의 프로펠러가 구비된 본체;A main body provided with a plurality of propellers for generating thrust for flight to a target point of a high-rise building;
    상기 본체가 고층건물 유리창의 일면에 밀착 되도록 상기 본체의 하부 일측에 배치되는 흡착부;An adsorption unit disposed at one lower side of the main body such that the main body is in close contact with one surface of the high-rise building glass window;
    상기 본체의 하부 타측에 배치되어 상기 유리창의 일면에 접촉되는 청소기 모듈; 및A cleaner module disposed at the other lower side of the main body and in contact with one surface of the glass window; And
    상기 본체가 고층건물의 목표지점까지 접근하는 거리를 감지하는 센서부를 구비하여 상기 본체가 고층건물의 목표지점에 인접 시, 상기 흡착부 및 상기 청소기 모듈의 작동을 제어하는 제어부를 포함하고,And a controller configured to sense a distance that the main body approaches a target point of a high rise building, and to control the operation of the suction unit and the cleaner module when the main body is adjacent to the target point of the high rise building.
    상기 흡착부는The adsorption unit
    길이방향으로 연장되며 내부가 빈 함체 형상인 케이싱;A casing extending in the longitudinal direction and having an empty enclosure shape therein;
    상기 본체와 힌지축으로 연결되어 상기 케이싱을 상기 본체의 일면으로부터 직각을 이루도록 상기 힌지축을 중심으로 회동시키는 회동부;A rotating part connected to the main body and a hinge axis to rotate the casing about the hinge axis to form a right angle with one surface of the main body;
    상기 케이싱의 양측에 두 쌍으로 형성되는 관 형상의 흡착관;Tubular adsorption tubes formed in two pairs on both sides of the casing;
    상기 흡착관의 일단에 연통하도록 일면이 관통된 흡입구가 형성되어 상기 유리창의 일면에 밀착되는 흡착판; 및An adsorption plate having one surface penetrated so as to be in communication with one end of the adsorption tube, and is in close contact with one surface of the glass window; And
    상기 케이싱의 내부에 전기 모터와 연결되어 상기 흡착판을 진공상태로 유지하도록 상기 흡착판의 공기를 상기 흡입구를 통해 이동시키는 전기실린더를 포함하고,An electric cylinder connected to an electric motor inside the casing to move air of the adsorption plate through the intake port to maintain the adsorption plate in a vacuum state,
    상기 전기실린더는 상기 흡착판이 상기 유리창의 일면과 이격 시, 공기를 상기 흡착관을 통해 상기 흡입구로 이동시켜 상기 흡착판에 형성된 진공압축을 해제시키는 것을 특징으로 하는The electric cylinder is characterized in that when the suction plate is spaced apart from one surface of the glass window, by moving the air through the suction tube to the suction port to release the vacuum compression formed on the suction plate
    고층건물 유리닦이용 드론.A high-rise glass-wiping drone.
  2. 제 1 항에 있어서,The method of claim 1,
    상기 청소기 모듈은The cleaner module is
    내부에 전자회로가 내장된 박스형상의 바디부;A box-shaped body part having an electronic circuit built therein;
    상기 바디부의 일측에 형성되어 상기 유리창의 일면을 향하여 먼지제거제를 분사하는 분사 노즐;An injection nozzle formed on one side of the body part and spraying a dust remover toward one surface of the glass window;
    상기 바디부의 내부에 상기 먼지제거제가 리퀴드 형태로 수납되는 수용부;An accommodation part accommodating the dust removing agent in a liquid form inside the body part;
    상기 분사 노즐의 상측에 배치되어 상기 유리창에 묻은 먼지제거제를 닦아내는 물 밀대; 및A water stick disposed on an upper side of the spray nozzle to wipe off the dust remover on the glass window; And
    상기 분사 노즐이 상기 바디부의 길이방향을 따라 좌우로 이동하도록 레일이 형성된 슬라이딩부를 포함하는The sliding nozzle comprises a sliding portion formed with a rail so as to move from side to side in the longitudinal direction of the body portion
    고층건물 유리닦이용 드론.A high-rise glass-wiping drone.
PCT/KR2019/002699 2018-03-09 2019-03-08 Drone for cleaning window glass of high-rise building WO2019172700A1 (en)

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US20220267002A1 (en) * 2019-08-19 2022-08-25 Ivesky Co., Ltd. Drone for cleaning outer wall of high-rise building
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CN113086198A (en) * 2021-04-26 2021-07-09 安徽工业大学 Portable unmanned aerial vehicle for cleaning high-rise building outer wall glass
WO2022261691A1 (en) * 2021-06-17 2022-12-22 Lilleg Staudenherz Ronald Aircraft and method for cleaning surfaces
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