CN104887159A - Aerial cleaning robot and cleaning method - Google Patents
Aerial cleaning robot and cleaning method Download PDFInfo
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- CN104887159A CN104887159A CN201510352945.4A CN201510352945A CN104887159A CN 104887159 A CN104887159 A CN 104887159A CN 201510352945 A CN201510352945 A CN 201510352945A CN 104887159 A CN104887159 A CN 104887159A
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Abstract
The invention discloses an aerial cleaning robot and a cleaning method. The aerial cleaning robot is used for cleaning a high-rise wall/glass face and comprises a propelling balance frame and a cleaning mechanism, wherein the cleaning mechanism is arranged on the propelling balance frame and comprises a roller brush, a shaft and a roller brush motor connected with the roller brush through the shaft and controlling rotation of the roller brush, at least one propelling fan is arranged on the propelling balance frame, each propelling fan is provided with a fan motor controlling the propelling fan to rotate, the roller brush motor and the fan motors are variable-frequency motors, a camera, a monitor, a controller and an executor are arranged on the propelling balance frame, the camera and the monitor are respectively and electrically connected with the controller, and the controller comprises a memorizer, a measurer and a comparator. The aerial cleaning robot can perform cleaning according to the size of actual dirt particles on the high-rise wall/glass face.
Description
Technical field
The present invention relates to a kind of cleaning equipment and cleaning method of high building wall/glass surface, particularly relate to a kind of high-altitude cleaning machine people and cleaning method.
Background technology
Be 2013.12.04 at authorized announcement date, Authorization Notice No. is in the Chinese utility model patent of CN203314876U, disclose a kind of high building glass curtain wall automatic cleaning system, the lifting rope that cleaning robot is released by hoist engine hangs on outside body of wall by bracing frame, automatic cleaning system comprises wireless communication control system, described cleaning robot framework and in the cleaning support established, controller, the top of framework is provided with camera, cleaning support in the face of body of wall is equipped with the spiral brush roll of cleaning showers pipe and horizontally disposed more than two or two on vertical cleaning surface, described spiral brush roll is provided with spiral cleaning brush, described cleaning brush is divided into two sections of symmetrically arranged mutual reverse acting spiral.Although this utility model can complete automatic cleaning process fast, Rapid Cleaning while guarantee cleaning performance, and reclaim sewage simultaneously; Integral device compact, compact conformation, cleaning efficiency is high, and use wireless remote control, the cleaning state of real-time Transmission metope, water-saving result is good, makes control operation simply efficient.But or there is some deficiency following: the frequency-invariant of cleaning brush motor, but dirt particles or little either large or small on high building wall/glass surface, be directed to some short grained or that adhesive force is not strong dirt particles, only need low-frequency motor, without the need to using high-frequency cleaning brush motor, so comparatively wastes power; Be directed to some dirt particles larger, if this constant frequency cannot clean this spot, then this spot also exists on high building wall/glass surface, cannot reach very favourable cleaning.
Summary of the invention
For overcoming above-mentioned shortcoming, the object of the present invention is to provide a kind of can carry out cleaning according to dirt particles size actual on high building wall/glass surface high-altitude cleaning machine people and cleaning method.
In order to reach above object, the technical solution used in the present invention is: a kind of high-altitude cleaning machine people, for cleaning high building wall/glass surface, comprise propelling equalization frame, wiper mechanism, described wiper mechanism is arranged on and advances on equalization frame, described wiper mechanism comprises roller brush, axle and being connected with roller brush by axle and the roller brush motor that rotates of control roll brush, described propelling equalization frame is provided with at least one fan propeller, described each fan propeller has the fan electromotor controlling fan propeller and rotate, described roller brush motor, fan electromotor is variable-frequency motor, described propelling equalization frame is provided with camera, watch-dog, controller and actuator, described camera, watch-dog is electrically connected with controller respectively, described controller is electrically connected with actuator, described actuator respectively with roller brush motor, fan electromotor electrically connects, described controller comprises memory, measuring appliance and comparator.Roller brush motor, fan electromotor all adopt variable-frequency motor, the dirt particles image feedback collected by camera, watch-dog is to controller, controller compares dirt particles size by comparator again, again by the rotating speed of actuator control roll brush motor, fan electromotor, can clean according to dirt particles size actual on high building wall/glass surface, adaptability is stronger.
Further, described high-altitude cleaning machine people also comprises manipulator, described manipulator comprises at least two joint base joints, connected by rotary electric machine between described every two base joints, the top of described propelling equalization frame is provided with vibrations cylinder, described vibrations cylinder is connected with the lower end in the base joint of bottom, the upper end in the base joint of described the top is provided with promotion cylinder, the end of the piston rod of described promotion cylinder is provided with shovel board, and described vibrations cylinder, promotion cylinder, rotary electric machine are connected with actuator respectively.Coordinated with controller respectively by actuator by manipulator, rotary electric machine, vibrations cylinder, promotion cylinder, ensure when Fouling Cleaning cannot be fallen by roller brush, dirt stronger for adhesion can be carried out vibration type and root out by shovel board, and dirty removal capacities is stronger.
Further, being unfavorable for that cleaning has rough metope, causing the frictional force of spiral brush sifter and metope less to solve spiral brush sifter, then the one side that described propelling equalization frame and high building wall/glass surface are close to is concave surface or convex surface or faces directly.Can concave surface or convex surface be selected according to the arc of actual high-altitude metope or glass surface or face directly, especially when making to advance equalization frame can better be close to high blank wall/glass surface, applicability is strong, when being arranged to concave surface or convex surface, solve and advance at present equalization frame cannot be close to some throwing faces or U-shapedly wait arc height blank wall/glass surface, the thrust then causing fan propeller to produce cannot push the problem of wall/glass surface to by propelling equalization frame completely.
Further, described roller brush comprises roller, roller shell, multiple bristle, described roller shell by least two to the raised line cooperatively interacted and draw-in groove is dismountable is set on roller, described multiple bristle is arranged on the outer wall of roller shell uniformly, described each bristle is flat, and the broadside that the bristle of described multiple flat contacts with roller shell all arranges along the axis of roller shell or all arranges along the circumference of roller shell.Roller and roller shell removably connect, and are convenient to clean hairbrush, and compared to the roller shell and the roller that need cleaning one, cleaning more for convenience; Originally the bristle in fine columnar is arranged to flat, and when cleaning the spot that on wall/glass surface, adhesive force is stronger, compared with existing bristle, bristle is bending not easily, is easy to dispel the larger spot of adhesive force; In addition, because bristle is flat, compared to existing bristle, service life is stronger; When the broadside that the bristle of multiple flat contacts with roller shell is all arranged along the axis of roller shell, when wiper mechanism rotates, the bristle of each flat can clean with bristle broadside metope, and the length namely along bristle is cleaned, the spot that areas more capable of washing are larger; When the broadside that the bristle of multiple flat contacts with roller shell is all arranged along the circumference of roller shell, the bristle of each flat can clean with the narrow limit of bristle metope, namely the thickness along bristle cleans, and areas more capable of washing are less, as metope has the spot that the adhesive force in many gaps is larger.
Preferably, described each bristle is made up of waterproof foam material.After ensureing that bristle gets wet further, not easily bending, ensure that the intensity of its decontamination;
Further, described axle is two first axles, the two ends one_to_one corresponding of described two first axles and roller, and every root first axle is arranged on one end of the roller corresponding with it; Or described axle is second axle, and described roller is provided with axially extending bore, described second axle is through axially extending bore, and the two ends of described second axle all pass roller.
Further, the both sides of the one side that described propelling equalization frame and high building wall/glass surface are close to are provided with at least one pneumatic rubber wheel, and on described every root first axle or every one end of the second axle is provided with at least one pneumatic rubber wheel; Or the both sides of one side that described propelling equalization frame and high building wall/glass surface are close to are provided with at least one pneumatic rubber wheel, on one of them first axle described or wherein one end of the second axle is provided with a side brush.Pneumatic rubber wheel itself has stronger elasticity and softer, to the metope of high building, especially the injury of glass is less, and propelling equalization frame can be bumped against glass and get on by the thrust preventing fan propeller from producing, then break glass, propelling equalization frame can be broken what is more; In addition, the setting of pneumatic rubber wheel can also make to advance equalization frame can be close on throwing face or the arc height blank wall/glass surface such as U-shaped and walks; Side brush the dead angle spot can cleaned some and be made up of right angle or the metope that is similar to right angle is set.
Further, the side of described roller shell is provided with water fender in parallel, the two ends of described water fender are respectively arranged with perpendicular side shield, described two side shields are fixedly installed on and advance on equalization frame, described two side shields and two first axle one_to_one corresponding or the two ends one_to_one corresponding with the second axle, described each side shield to be sleeved on the first axle corresponding with it or with one end of its second corresponding axle, described each side shield can be corresponding with it the first axle or produce relative rotation with the one end with its second corresponding axle, described water fender semicircular in shape, described water fender can envelope the bristle of half.Water fender can prevent in high-altitude cleaning machine people operation process, and bristle is by the water stain equipment spilling rearward staff or rear on wall/glass surface; Two side shields can prevent because of improper use, and the water stain meeting on bristle is spilt to both sides, even can spill to cleaned wall/glass surface, avoid repetition operation.
A kind of cleaning method, described cleaning method uses above-mentioned high-altitude cleaning machine people, comprise the steps: step, wiper mechanism presets m kind pattern, m is natural number, be followed successively by pattern one, pattern two ... mode m, the rotating speed of the fan variable-frequency motor in described pattern one is X1a, and the rotating speed of roller brush variable-frequency motor is X1b; The rotating speed of the fan variable-frequency motor in pattern two is X2a, and the rotating speed of roller brush variable-frequency motor is X2b ... the rotating speed of the fan variable-frequency motor in mode m is Xma, and the rotating speed of roller brush variable-frequency motor is Xmb; Wherein, X1a<X2a< ... <Xma, X1b<X2b< ... <Xmb; In addition, on the memory of controller, pre-set two dirt particles sizes values, are followed successively by Y1, Y2 ... Y (m-1), Y1<Y2< ... <Y (m-1); Step 2, controller controls fan variable-frequency motor by actuator and starts with the rotating speed of X1a, and fan propeller rotates, and produces thrust and is attached on metope by propelling equalization frame; Step 3, the picture signal of the dirt particles size on camera collection high building wall/glass surface, and this picture signal is sent to watch-dog, watch-dog sends image information to controller, picture signal is measured by measuring appliance, draws measured value Z, by comparator by Z respectively with Y1, Y2 ... Y (m-1) comparative analysis, when analyze through comparator Z<Y1 time, controller is by actuator start-up mode one; As Y1<Z<Y2 or after start-up mode one, camera, watch-dog also collect the picture signal of dirt particles on high building wall/glass surface, controller is then by actuator start-up mode two ... as Z>Y2 or after start-up mode m-1, if camera, watch-dog also collect the picture signal of dirt particles on high building wall/glass surface, controller is by actuator start-up mode m.There is m kind pattern, which kind of can carry out pattern according to dirt particles size actual on high building wall/glass surface to clean, even and if pattern one can not remove this dirt particles, controller selectable modes two ... if mode m-1 still fails to remove this dirt, mode m then can be selected to carry out scrubbing, and applicability is strong.
Further, described cleaning method also comprises ultimate pattern, when after start-up mode m, if camera, watch-dog also collect the picture signal of dirt particles on high building wall/glass surface, controller controls rotary electric machine by actuator and starts, the base joint of manipulator the top is near high building wall/glass surface, the promotion cylinder of the upper end, base joint of the top is started by actuator, shovel board pushes away forward, simultaneously, controller controls vibrations cylinder by actuator and starts, and shakes back and forth, root out dirt particles about whole manipulator.Shovel board in ultimate pattern roots out mode by vibration-type, can root out the dirt particles that mode m fails to root out.
Accompanying drawing explanation
Fig. 1 is the top view of embodiment one high-altitude cleaning machine people;
Fig. 2 is the front view of embodiment one high-altitude cleaning machine people;
Fig. 3 is the upward view of embodiment one high-altitude cleaning machine people;
Fig. 4 is the rearview not installing the equalization frame of wiper mechanism in embodiment one high-altitude cleaning machine people;
Fig. 5 is the sectional view of wiper mechanism in embodiment one high-altitude cleaning machine people;
Fig. 6 is the structural representation in embodiment one high-altitude cleaning machine people, one of them first axle installing side brush additional;
Fig. 7 is the top view of equalization frame in embodiment one high-altitude cleaning machine people;
Fig. 8 is the system block diagram of cleaning method in embodiment one;
Fig. 9 is the sectional view of wiper mechanism in embodiment two high-altitude cleaning machine people;
Figure 10 is that wherein one end of the second axle in embodiment two high-altitude cleaning machine people installs the structural representation brushed side additional;
Figure 11 is the top view of equalization frame in embodiment two high-altitude cleaning machine people;
Figure 12 is the left side view of embodiment three high-altitude cleaning machine people;
Figure 13 is the right side view of embodiment three high-altitude cleaning machine people;
Figure 14 is the side view of embodiment three high-altitude cleaning machine people central roll brush;
Figure 15 is the sectional view of roller shell in embodiment three high-altitude cleaning machine people;
Figure 16 is the side view of embodiment four high-altitude cleaning machine people central roll brush.
In figure:
1-equalization frame; 11-fan propeller; 12-fan electromotor; 13a-concave surface; 13b-convex surface; 14-pneumatic rubber wheel; 15-universal caster wheel; 2-wiper mechanism; 21-roller brush; 21a-roller; 21b-roller shell; 21c-bristle; 22-axle; 22a-first axle; 22b-second axle; 23-roller brush motor, roller brush variable-frequency motor; 24-raised line; 25-draw-in groove; 26-axially extending bore; 27-water fender; 28-side shield; 29-bearing; 210-connecting plate; 211-side is brushed; The cylindric connector of 211a-; 211b-side bristle; 3-camera; 4-watch-dog; 5-controller; 51-memory; 52-measuring appliance; 53-comparator; 6-manipulator; 61-rotary electric machine; 62-rotary electric machine; 63-shakes cylinder; 64-promotes cylinder; 641-piston rod; 65-shovel board; 7-actuator; S1-axially; S2-circumference; W-broadside; The narrow limit of n-.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
Embodiment one, see a kind of high-altitude cleaning machine people shown in accompanying drawing 1 to Fig. 8, for cleaning high building wall/glass surface, comprise and advance equalization frame 1, wiper mechanism 2, wiper mechanism 2 is arranged on and advances on equalization frame 1, wiper mechanism 2 is comprised roller brush 21, axle 22 and to be connected with roller brush 21 by axle 22 and the roller brush motor 23 that rotates of control roll brush 21, advance on equalization frame 1 and be provided with at least one fan propeller 11, concrete, advance the length of equalization frame 1 for being less than 4 meters, fan propeller 11 is provided with 1-3; The length advancing equalization frame 1 is 4-8 rice, and fan propeller 11 is provided with 4-6.Advance the length of equalization frame 1 can select in 1-8 rice, as when advancing equalization frame 1 meter, can 1 or 3 fan propellers 11 be set on this propelling equalization frame 1, when the length advancing equalization frame 1 is 4 meters, also 1 or 3 or 4 or 6 fan propeller 11 can be set on this propelling equalization frame 1, when the length advancing equalization frame 1 is 8 meters, also 4 or 6 fan propellers 11 can be set on this propelling equalization frame 1, specifically determine according to the actual requirements, fan propeller 11 is ducted fan or aerofoil fan, ensure that propelling equalization frame 1 can be attached on throwing face or the arc height blank wall/glass surface such as U-shaped by thrust that fan propeller 11 produces steadily also uniformly, existing propelling equalization frame 1 can be solved because advancing equalization frame 1 overweight, fan propeller 11 cannot produce enough thrust and be attached to problem on throwing face or the arc height blank wall/glass surface such as U-shaped by advancing equalization frame 1, each fan propeller 11 has the fan electromotor 12 and multiple flabellum that control fan propeller 11 rotation, roller brush motor 23, fan electromotor 12 is variable-frequency motor, roller brush motor 23 adopts variable-frequency motor, roller brush motor 23 is made to have different rotational frequencies, spot in various degree can be removed, fan electromotor 12 adopts variable-frequency motor, changes the thrust that fan propeller produces, guarantees that high-altitude equalization frame system steadily operates in high-altitude varying environment, the outward flange of multiple flabellum is combined into an external diameter circle, external diameter diameter of a circle is 40-80cm, fan propeller 11 has discharge pipe, discharge pipe is less than the internal diameter near flabellum one end away from the internal diameter of flabellum one end, the length of discharge pipe is less than 30cm, advance on equalization frame 1 and be provided with camera 3, watch-dog 4, controller 5 and actuator 7, camera 3, watch-dog 4 is electrically connected with controller 5 respectively, controller 5 and actuator 7 electrically connect, actuator 7 respectively with roller brush motor, fan electromotor electrically connects, controller 5 comprises memory 51, measuring appliance 52 and comparator 53.Camera 3, watch-dog 4 by the dirt particles image feedback that collects to controller 5, controller 5 is compared by comparator 53 and the dirt particles sizes values pre-depositing memory 51 again, after comparative analysis, controller changes the rotating speed of roller brush motor 23 and fan electromotor 12 again by actuator 7.
High-altitude cleaning machine people also comprises manipulator 6, manipulator 6 comprises at least two joint base joints 61, connected by rotary electric machine 62 between every two base joints 61, the top of equalization frame 1 is advanced to be provided with vibrations cylinder 63, vibrations cylinder 63 is connected with the lower end in the base joint 61 of bottom, the upper end in the base joint 61 of the top is provided with and promotes cylinder 64, the end promoting the piston rod 641 of cylinder 64 is provided with shovel board 65, and vibrations cylinder 63, promotion cylinder 64, rotary electric machine 62 are connected with actuator 7 respectively.When roller brush 21 cannot take out stains particle, controller controls rotary electric machine 62, vibrations cylinder 63 and promotes cylinder 64 to start by actuator 7, the base joint 61 of the top is close to metope/glass surface, promotion cylinder 64 controls shovel board 65 and upwards roots out dirt, shake about cylinder 63 drives whole manipulator then by the base joint 61 controlling bottom simultaneously and shake, then dirt thoroughly can be removed.
When the shape of high building wall/glass surface is throwing face, as shown in Figure 7, the one side advancing equalization frame 1 and high building wall/glass surface to be close to is concave surface 13a, solve when carrying out cleaning on some arc high buildings, the problem that the thrust that fan propeller 11 produces cannot will advance equalization frame 1 to push wall/glass surface completely to; When the shape of high building wall/glass surface is plane, the one side that propelling equalization frame 1 and high building wall/glass surface are close to is for facing directly.
Advance the bottom of equalization frame 1 to be provided with at least four lift cylinders, the lower end of each lift cylinder is provided with connected universal caster wheel 15, and each universal caster wheel 15 all can lower than the bottom advancing equalization frame, and each lift cylinder is connected with actuator 7.When ground handling, universal caster wheel drops to lower than advancing the bottom of equalization frame to use by lift cylinder, be convenient to high-altitude and advance the carrying of equalization frame on ground, reduce labour, when not in use, controller controls lift cylinder by actuator and is raised to higher than the bottom advancing equalization frame, hides this universal caster wheel, saves space.Concrete, the lower end of each lift cylinder has the piston rod that can move up and down, each universal caster wheel 15 is arranged on the end of the piston rod of the lift cylinder corresponding with it, after high-altitude cleaning machine people completes work high above the ground, controller 5 controls at least four lift cylinders by actuator 7 and starts, the piston rod of each lift cylinder stretches out, and at least four universal caster wheels 15 drop to the bottom lower than advancing equalization frame 1; When high-altitude cleaning machine people departs from bottom surface, when carry out work high above the ground, controller 5 again controls at least four lift cylinders by actuator 7 and starts, and the piston rod of each lift cylinder is retracted, then at least four universal caster wheels 15 are hidden.
Roller brush 21 comprises roller 21a, roller shell 21b, multiple height is the bristle 21c of 20cm-80cm, according to the concavo-convex situation of metope, the bristle 21c of same wiper mechanism 2 highly has drop, if metope or glass surface are plane, then can select the bristle 21c with same height, roller shell 21b by least two to the raised line 24 cooperatively interacted and draw-in groove 25 is dismountable is set on roller 21a, concrete, as Figure 14, shown in 15, draw-in groove 25 is provided with four, four draw-in grooves 25 are arranged on the inwall of roller shell 21b, accordingly, raised line 24 is also provided with four, four raised lines 24 are arranged on the outer wall of roller 21a, certainly, also the position of four draw-in grooves 25 and four raised lines 24 can be inverted, also (not shown) can be realized, multiple bristle 21c is arranged on the outer wall of roller shell 21b uniformly, each bristle 21c is flat, the broadside W that the bristle 21c of multiple flat contacts with roller shell 21b is all arranged along the axial S1 of roller shell 21b, when wiper mechanism rotates along S3, the bristle 21c of each flat can clean with bristle 21c broadside W metope, namely the length along bristle 21c is cleaned, the spot that areas more capable of washing are larger, in this embodiment, each bristle is the flat of bar shaped, the end face that each bristle contacts with spot is larger, relatively large but the spot that adhesive force is relatively weak of some areas can be dispelled.Wherein, what bristle 21 was concrete can be arranged to bar shaped flat or trapezoidal flat, when the broadside that the bristle 21c of multiple flat contacts with roller shell 21b is all arranged along the axis of roller shell 21b, the bristle 21c of the flat in bar shaped is compared with the bristle 21c in trapezoidal flat, bristle 21c and the spot contact surface of the flat of bar shaped are relatively large, the dirt that area is larger can be removed, and the bristle 21c of trapezoidal flat and spot contact surface less, when constant pressure, its pressure is larger, has the advantage can dispelling the larger spot of some adhesive force; When the broadside that the bristle 21c of multiple flat contacts with roller shell 21b is all arranged along the circumference of roller shell 21b, the bristle 21c of the flat in bar shaped is compared with the bristle 21c in trapezoidal flat, bristle 21c and the spot contact surface of the flat of bar shaped are relatively little, when constant pressure, its pressure is larger, there is the advantage can dispelling the larger spot of some adhesive force, and the bristle 21c of trapezoidal flat and spot contact surface are comparatively large, can remove the dirt that area is larger.
Each bristle 21c is made up of waterproof foam material.Concrete one in PE or EVA these two kinds can be adopted as waterproof foam material, after bristle 21c is got wet, also not easily bending, further ensures the intensity of its decontamination.
Axle 22 is two first axle 22a, the two ends one_to_one corresponding of two first axle 22a and roller 21a, every root first axle 22a is arranged on one end of the roller 21a corresponding with it, concrete, the two ends of roller 21a realize the connection with the first axle 22a respectively by connecting plate 210, axial vertical respectively with two first axle 22a of two pieces of connecting plates 210, first the two ends of roller 21a are fixed respectively by screw and two pieces of connecting plates 210 during installation, again connecting plate 210 is fixed by screw and the first axle 22a, every root first axle 22a is provided with bearing 29, arranging of bearing 29 can realize the first axle 22a band action roller 21a rotation, then the rotation that roller 21a overlaps is realized.
Wherein, as shown in Figure 4,5, the both sides of the one side advancing equalization frame 1 and high building wall/glass surface to be close to, every root first axle 22a are provided with at least one pneumatic rubber wheel 14, are applicable to some without right angle or the high building wall/glass being similar to the dead angle that right angle is formed; As shown in Fig. 4,6, if run on some high building walls and there is dead angle, the both sides of the one side then advancing equalization frame 1 and high building wall/glass surface to be close to are provided with at least one pneumatic rubber wheel 14, and two first axle 22a do not install pneumatic rubber wheel 14, then one of them first axle 22a is provided with one in order to clean the side brush 211 at dead angle, concrete, roller brush variable-frequency motor 23 is arranged on another first axle 22a.Side brush 211 has a cylindric connector 211a, the circumferential wall of cylindric connector 211a, lateral wall and the junction between circumferential wall and lateral wall are provided with side bristle 211b, the diameter that side bristle 211b in cylindric connector 211a circumferential wall is formed equals the diameter that multiple bristle 21c is formed, cylindric connector 211a is arranged on one of them first axle 22a, and roller brush variable-frequency motor 23 is arranged on another first axle 22a.
The side of roller shell 21b is provided with water fender 27 in parallel, the two ends of water fender 27 are respectively arranged with perpendicular side shield 28, two side shields 28 are fixedly installed on and advance on equalization frame 1, two side shields 28 and two first axle 22a mono-a pair, each side shield 28 is sleeved on the first axle 22a corresponding with it, each side shield 28 can be corresponding with it the first axle 22a, concrete, the hole that an aperture is greater than the first axle 22a can be offered on every block side shield 28, such both guarantees can produce relative rotation, water fender 27 semicircular in shape in the present embodiment, water fender 27 can envelope the bristle 21c of half, good dash can be realized.
A kind of cleaning method, cleaning method uses above-mentioned high-altitude cleaning machine people, wherein, m can be 2,3,4 ..., and the m in the present embodiment is 3, comprises the steps: step one, wiper mechanism 2 presets Three models, be followed successively by pattern one, pattern two, pattern three, the rotating speed of the fan variable-frequency motor 12 in pattern one is X1a, and the rotating speed of roller brush variable-frequency motor 23 is X1b; The rotating speed of the fan variable-frequency motor 12 in pattern two is X2a, and the rotating speed of roller brush variable-frequency motor 23 is X2b; The rotating speed of the fan variable-frequency motor 12 in pattern three is X3a, and the rotating speed of roller brush variable-frequency motor 23 is X3b; Wherein, X1a<X2a<X3a, X1b<X2b<X3b; In addition, on the memory 51 of controller 5, pre-set two dirt particles sizes values, are followed successively by Y1, Y2, Y1<Y2; Step 2, controller 5 notifies that actuator 7 controls fan variable-frequency motor 12 and starts with the rotating speed of X1a, and fan propeller 11 rotates, and produces thrust and is attached on metope/glass surface by propelling equalization frame 1; Step 3, camera 3 gathers the picture signal of the dirt particles size on high building wall/glass surface, and this picture signal is sent to watch-dog 4, watch-dog 4 sends image information to controller 5, picture signal is measured by measuring appliance 52, draws measured value Z, by comparator 53 by Z respectively with Y1, Y2 comparative analysis, when analyze through comparator 53 Z<Y1 time, controller 5 is by actuator 7 start-up mode one; As Y1<Z<Y2 or after start-up mode one, camera 3, watch-dog 4 also collect the picture signal of dirt particles on high building wall/glass surface, and controller 5 is by actuator 7 start-up mode two; As Z>Y2 or after start-up mode two, if camera 3, watch-dog 4 also collect the picture signal of dirt particles on high building wall/glass surface, controller 5 is by actuator 7 start-up mode three.
Wherein, also comprise ultimate pattern, when after start-up mode three, if camera 3, watch-dog 4 also collect the picture signal of dirt particles on high building wall/glass surface, controller 5 controls rotary electric machine 62 by actuator 7 and starts, the base joint 61 of manipulator 6 the top is near high building wall/glass surface, the promotion cylinder 64 of the upper end, base joint 61 of the top is started by actuator 7, shovel board 65 pushes away forward, simultaneously, controller 5 controls vibrations cylinder 63 by actuator 7 and starts, and whole manipulator about 6 shakes back and forth, roots out dirt particles.
Embodiment two, as shown in figs. 9-11, with embodiment one unlike, each bristle is each bristle is trapezoidal flat, end and the spot contact surface of each bristle are less, and its pressure is larger, can for some areas the relatively little but spot that adhesive force is relatively strong; The one side advancing equalization frame 1 and high building wall/glass surface to be close to is convex surface 13b, and the shape being applicable to high building wall/glass surface is U-shaped metope.Axle 22 is a second axle 22b, roller 21a is provided with axially extending bore 26, second axle 22b is through axially extending bore 26, the two ends of the second axle 22b all pass roller 21a, every one end of second axle 22b is or/and the both sides of the one side be close to high building wall/glass surface are provided with at least one pneumatic rubber wheel 14, the two ends one_to_one corresponding of two side shields 28 and the second axle 22b, each side shield 28 is sleeved on one end of the second axle 22b corresponding with it, each side shield 28 can be corresponding with it one end of the second axle 22b produce relative rotation, concrete, every block side shield 28 offers the hole that an aperture is greater than the second axle 22b, can realize relatively rotating.Equally, as shown in Fig. 9,11, the both sides of one side advancing equalization frame 1 and high building wall/glass surface to be close to, every one end of the second axle 22b are provided with at least one pneumatic rubber wheel 14, are applicable to some without right angle or the high building wall/glass being similar to the dead angle that right angle is formed; As shown in Figure 10,11, the both sides of the one side then advancing equalization frame 1 and high building wall/glass surface to be close to are provided with at least one pneumatic rubber wheel 14, if run on some high building walls and there is dead angle, second axle 22b does not install pneumatic rubber wheel 14, wherein one end of second axle 22b is installed the side brush 211 cleaning dead angle, cylindric connector 211a is arranged on wherein one end of the second axle 22b, and roller brush variable-frequency motor 23 is arranged on the other end of the second axle 22b.
Embodiment three, as shown in figs. 12-15, with embodiment one unlike, the broadside W that the bristle 21c of multiple flat contacts with roller shell 21b is all arranged along the circumferential S2 of roller shell 21b, the bristle 21c of each flat can clean with the narrow limit n of bristle 21c metope, namely the thickness along bristle 21c cleans, areas more capable of washing are relatively little, as having the metope in many vertical gaps, because the bristle 21c of each flat can clean with the narrow limit n of bristle 21c metope, then its pressure is comparatively large, can remove the spot that adhesive force is larger.Although the bristle 21c in the present embodiment is with embodiment one, flat in bar shaped, but effect is different, owing to being strip, the two ends of the end face that each bristle 21c contacts with spot have a right angle respectively, then the wiper mechanism 2 of high building is along in S3 rotation process, and one of them right angle first contacts with spot, and then another right angle contacts with spot again, can dispel the spot that some adhesive force are stronger.
Embodiment four, as shown in figure 16, with embodiment three unlike, each bristle 21c is trapezoidal flat, then the formation obtuse angle, two ends of end face that contacts with spot of each bristle 21c, can dispel the spot that some adhesive force are more weak relative to embodiment three.
Above embodiment is only for illustrating technical conceive of the present invention and feature; its object is to allow person skilled in the art understand content of the present invention and to be implemented; can not limit the scope of the invention with this; all equivalences done according to Spirit Essence of the present invention change or modify, and all should be encompassed in protection scope of the present invention.
Claims (10)
1. a high-altitude cleaning machine people, for cleaning high building wall/glass surface, comprise and advance equalization frame (1), wiper mechanism (2), described wiper mechanism (2) is arranged on and advances on equalization frame (1), described wiper mechanism (2) comprises roller brush (21), axle (22) and be connected the roller brush motor (23) that also control roll brush (21) rotates with roller brush (21) by axle (22), described propelling equalization frame (1) is provided with at least one fan propeller (11), described each fan propeller (11) has the fan electromotor (12) that control fan propeller (11) rotates, it is characterized in that: described roller brush motor (23), fan electromotor (12) is variable-frequency motor, described propelling equalization frame (1) is provided with camera (3), watch-dog (4), controller (5) and actuator (7), described camera (3), watch-dog (4) electrically connects with controller (5) respectively, described controller (5) is electrically connected with actuator (7), described actuator (7) respectively with roller brush motor (23), fan electromotor (12) electrically connects, described controller (5) comprises memory (51), measuring appliance (52) and comparator (53).
2. high-altitude cleaning machine people according to claim 1, it is characterized in that: also comprise manipulator (6), described manipulator (6) comprises at least two joints base joint (61), connected by rotary electric machine (62) between described every two base joints (61), the top of described propelling equalization frame (1) is provided with vibrations cylinder (63), described vibrations cylinder (63) is connected with the lower end in the base joint (61) of bottom, the upper end in the base joint (61) of described the top is provided with and promotes cylinder (64), the end of the piston rod (641) of described promotion cylinder (64) is provided with shovel board (65), described vibrations cylinder (63), promote cylinder (64), rotary electric machine (62) is connected with actuator (7) respectively.
3. high-altitude cleaning machine people according to claim 1 and 2, is characterized in that: the one side that described propelling equalization frame (1) and high building wall/glass surface are close to is concave surface (13a) or convex surface (13b) or faces directly.
4. high-altitude cleaning machine people according to claim 1 and 2, it is characterized in that: described roller brush (21) comprises roller (21a), roller shell (21b), multiple bristle (21c), described roller shell (21b) is set in roller (21a) on to the raised line cooperatively interacted (24) with draw-in groove (25) is dismountable by least two, described multiple bristle (21c) is arranged on the outer wall of roller shell (21b) uniformly, described each bristle (21c) is in flat, the broadside (W) that the bristle (21c) of described multiple flat contacts with roller shell (21b) all arranges along the axis (S1) of roller shell (21b) or all arranges along the circumference (S2) of roller shell (21b).
5. high-altitude cleaning machine people according to claim 4, is characterized in that: described each bristle (21c) is made up of waterproof foam material.
6. the high-altitude cleaning machine people according to claim 1 or 2 or 5, it is characterized in that: described axle (22) is two first axles (22a), the two ends one_to_one corresponding of described two first axles (22a) and roller (21a), every root first axle (22a) is arranged on one end of the roller (21a) corresponding with it; Or
Described axle (22) is second axle (22b), described roller (21a) is provided with axially extending bore (26), described second axle (22b) is through axially extending bore (26), and the two ends of described second axle (22b) all pass roller (21a).
7. high-altitude cleaning machine people according to claim 6, it is characterized in that: the both sides of the one side that described propelling equalization frame (1) and high building wall/glass surface are close to are provided with at least one pneumatic rubber wheel (14), described every root first axle (22a) every one end that is upper or the second axle (22b) is provided with at least one pneumatic rubber wheel (14); Or
The both sides of the one side that described propelling equalization frame (1) and high building wall/glass surface are close to are provided with at least one pneumatic rubber wheel (14), and one of them first axle (22a) described wherein one end that is upper or the second axle (22b) is provided with side brush (211).
8. high-altitude cleaning machine people according to claim 7, it is characterized in that: the side of described roller shell (21b) is provided with water fender (27) in parallel, the two ends of described water fender (27) are respectively arranged with perpendicular side shield (28), described two side shields (28) are fixedly installed on and advance on equalization frame (1), described two side shields (28) and two first axle (22a) one_to_one corresponding or the two ends one_to_one corresponding with the second axle (22b), described each side shield (28) be sleeved on first axle (22a) corresponding with it upper or with one end of its corresponding the second axle (22b), described each side shield (28) can be corresponding with it the first axle (22a) or produce relative rotation with the one end with its corresponding the second axle (22b), described water fender (27) semicircular in shape, described water fender (27) can envelope the bristle (21c) of half.
9. a cleaning method, described cleaning method uses the high-altitude cleaning machine people in power 1-8, it is characterized in that, comprises the steps:
Step one, wiper mechanism (2) presets m kind pattern, and m is natural number, is followed successively by pattern one, pattern two ... mode m, the rotating speed of the fan variable-frequency motor (12) in described pattern one is X1a, and the rotating speed of roller brush variable-frequency motor (23) is X1b; The rotating speed of the fan variable-frequency motor (12) in pattern two is X2a, the rotating speed of roller brush variable-frequency motor (23) is X2b ... the rotating speed of the fan variable-frequency motor (12) in mode m is Xma, and the rotating speed of roller brush variable-frequency motor (23) is Xmb; Wherein, X1a<X2a< ... <Xma, X1b<X2b< ... <Xmb; In addition, in upper pre-set two the dirt particles sizes values of the memory (51) of controller (5), be followed successively by Y1, Y2 ... Y (m-1), Y1<Y2< ... <Y (m-1);
Step 2, controller (5) controls fan variable-frequency motor (12) by actuator (7) and starts with the rotating speed of X1a, fan propeller (11) rotates, and produces thrust and equalization frame (1) will be advanced to be attached on metope/glass surface;
Step 3, camera (3) gathers the picture signal of the dirt particles size on high building wall/glass surface, and this picture signal is sent to watch-dog (4), image information is sent to controller (5) by watch-dog (4), picture signal is measured by measuring appliance (52), draw measured value Z, by comparator (53) by Z respectively with Y1, Y2 ... Y (m-1) comparative analysis, when analyze through comparator (53) Z<Y1 time, controller (5) is by actuator (7) start-up mode one; As Y1<Z<Y2 or after start-up mode one, camera (3), watch-dog (4) also collect the picture signal of dirt particles on high building wall/glass surface, controller (5) is then by actuator (7) start-up mode two ... as Z>Y2 or after start-up mode m-1, if camera (3), watch-dog (4) also collect the picture signal of dirt particles on high building wall/glass surface, controller (5) is by actuator (7) start-up mode m.
10. cleaning method according to claim 9, it is characterized in that, also comprise ultimate pattern, when after start-up mode m, if camera (3), watch-dog (4) also collects the picture signal of dirt particles on high building wall/glass surface, controller (5) controls rotary electric machine (62) by actuator (7) and starts, the base joint (61) of manipulator (6) the top is near high building wall/glass surface, the promotion cylinder (64) of base joint (61) upper end of the top is started by actuator (7), shovel board (65) pushes away forward, simultaneously, controller (5) controls vibrations cylinder (63) by actuator (7) and starts, whole manipulator (6) left and right is shaken back and forth, root out dirt particles.
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| CN105438456A (en) * | 2015-11-30 | 2016-03-30 | 无锡觅睿恪科技有限公司 | Cleaning unmanned aerial vehicle with dye brushing function |
| CN107280589A (en) * | 2017-08-03 | 2017-10-24 | 深圳市银星智能科技股份有限公司 | Cleaning equipment |
| TWI603701B (en) * | 2016-11-09 | 2017-11-01 | Chien Wen Kao | Wash the wall of the brush wheel depth control methods and devices |
| CN107605169A (en) * | 2017-10-31 | 2018-01-19 | 无锡市湖昌机械制造有限公司 | The house outer surface cleaning equipment of jointing plate is installed |
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| CN107791250B (en) * | 2017-10-17 | 2018-11-02 | 上海霄卓机器人有限公司 | Working at height robot system and its control method |
| CN107791250A (en) * | 2017-10-17 | 2018-03-13 | 上海霄卓机器人有限公司 | Work high above the ground robot system and its control method |
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| CN109599078A (en) * | 2018-12-20 | 2019-04-09 | 余姚市荣大塑业有限公司 | Fingerboard greasy dirt cleaning systems |
| WO2021072804A1 (en) * | 2019-10-14 | 2021-04-22 | 丁柳朋 | Sweeping mode switching system of sweeping robot and use method for system |
| WO2021082623A1 (en) * | 2019-10-28 | 2021-05-06 | 南京中科特检机器人有限公司 | Curtain wall cleaning robot |
| CN110614242A (en) * | 2019-10-29 | 2019-12-27 | 河北机电职业技术学院 | Automatic cleaning equipment for multi-model rollers |
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