CN114458036A - High-altitude cleaning robot and high-altitude cleaning method - Google Patents
High-altitude cleaning robot and high-altitude cleaning method Download PDFInfo
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- CN114458036A CN114458036A CN202210019898.1A CN202210019898A CN114458036A CN 114458036 A CN114458036 A CN 114458036A CN 202210019898 A CN202210019898 A CN 202210019898A CN 114458036 A CN114458036 A CN 114458036A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 179
- 238000000034 method Methods 0.000 title claims abstract description 28
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 111
- 230000009194 climbing Effects 0.000 claims abstract description 106
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 239000003599 detergent Substances 0.000 claims abstract description 25
- 238000005507 spraying Methods 0.000 claims description 79
- 239000012459 cleaning agent Substances 0.000 claims description 67
- 238000005096 rolling process Methods 0.000 claims description 65
- 239000007921 spray Substances 0.000 claims description 65
- 230000001680 brushing effect Effects 0.000 claims description 20
- 238000009991 scouring Methods 0.000 claims description 12
- 238000005201 scrubbing Methods 0.000 claims description 7
- 241000252254 Catostomidae Species 0.000 claims description 6
- 238000005406 washing Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000010801 machine learning Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 4
- 238000001179 sorption measurement Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005202 decontamination Methods 0.000 description 1
- 230000003588 decontaminative effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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Abstract
The invention discloses a high-altitude cleaning robot and a high-altitude cleaning method, wherein the high-altitude cleaning robot comprises a top-building auxiliary control system, a climbing and traversing mechanism and a cleaning robot; the top-building auxiliary control system comprises a hanging mechanism, a water tank, a detergent tank and a control system, wherein the hanging mechanism, the water tank and the detergent tank are arranged on the top building of the building, and the control system is used for controlling the whole high-altitude cleaning robot to move; the invention aims to provide a high-altitude cleaning robot and a high-altitude cleaning method, which can quickly and effectively clean the outer wall of a building.
Description
Technical Field
The invention relates to the technical field of high-altitude cleaning, in particular to a high-altitude cleaning robot and a high-altitude cleaning method.
Background
Along with the development of city construction, more and more high buildings are arranged in urban areas, and a beautiful landscape is added for cities. The high wall of the building is often polluted by pollutants after being blown by wind and rain to form dirt and stripes, and the surface deposition of the high building after long-term use seriously affects the beauty and urban image of the high building.
The cleaning of high-wall buildings has extremely high safety risk and technical difficulty, but for a long time, because of the complex and various working environments and the limitation of technical conditions, the cleaning of the high-rise buildings mainly depends on manual operation suspended by a crane or cleaning machine operation suspended by the crane, so that the high-altitude operation has high danger, low efficiency, high cost and incomplete cleaning effect. And the work is very easy to cause secondary damage to ground personnel. With the rapid increase of the number of high-rise buildings, a wall-climbing equipment carrying working module capable of automatically walking on a high wall is urgently needed to replace the work.
The self-moving type robot is a robot capable of realizing adsorption and movement on a vertical wall surface of a high wall. At present, various wall-climbing robots and spraying, cleaning and window-cleaning robots developed based on the wall-climbing robots appear at home and abroad, and generally the wall-climbing robots can be divided into two types, namely self-moving robots and wall-climbing robots dragged by external cables, wherein the self-moving robots mainly comprise wall surface adsorption and moving capacity, and the self-moving robots comprise four types, namely a multi-foot sucker type robot, a single-body walking type robot, a peristaltic adsorption type robot and a two-body robot. The latter is to rely on the top to draw the ability, rely on the wall adsorption ability at the same time, realize the fast movement in the vertical direction, but realize the fast moving work on the wall still is the key bottleneck limiting development and application of this field. The existing wall climbing robot does not have the capability of fast moving and is not enough in stability, but the wall climbing robot dragged by an external cable can only work on one surface in the vertical direction and cannot work on a reverse inclined surface or a wall surface with a complex high-rise wall structure, and because the robot can generate a complete suspension state when an obstacle is crossed, the side wind common to the wall surface of the high-rise building easily enables the robot to swing to impact the wall surface of the building to cause major safety accidents, so that the wall climbing robot cannot be popularized and applied.
Disclosure of Invention
According to the defects of the prior art, the invention aims to provide the high-altitude cleaning robot and the high-altitude cleaning method, which can complete the task of cleaning the high wall of the building more efficiently, safely and stably.
In order to solve the technical problems, the invention adopts the technical scheme that:
a high-altitude cleaning robot comprises a top-building auxiliary control system, a climbing and traversing mechanism and a cleaning robot;
the top-building auxiliary control system comprises a hanging mechanism, a water tank, a detergent tank and a control system, wherein the hanging mechanism, the water tank and the detergent tank are arranged on the top building of the building, the water tank is used for conveying water, the detergent tank is used for conveying detergent, and the control system is used for controlling the whole high-altitude cleaning robot to move;
the climbing and traversing mechanism is driven by the hanging mechanism to move in the vertical direction, the climbing and traversing mechanism comprises a transverse sliding rod and longitudinal climbing components, the transverse sliding rod is arranged in the horizontal and transverse direction, the two longitudinal climbing components are respectively arranged on two sides of the transverse sliding rod, each longitudinal climbing component comprises a climbing trunk and two groups of climbing feet, the two groups of climbing feet are symmetrically arranged on two sides of the climbing trunk, the climbing feet are connected with the climbing trunk through a plurality of parallel climbing legs, one end of each climbing leg is hinged with the corresponding climbing foot, the other end of each climbing leg is hinged with the corresponding climbing trunk, a plurality of suckers are arranged on the corresponding climbing feet, and the suckers are used for adsorbing the outer wall of a building;
the cleaning robot is arranged on the transverse sliding rod and driven by the transverse moving assembly to move on the transverse sliding rod, a cleaning agent spraying pipe set, a water spraying pipe set and a rolling brush set are arranged on the cleaning mechanism, the cleaning agent spraying pipe set is used for spraying cleaning agents, the water spraying pipe set is used for spraying water, and the rolling brush is used for scrubbing the outer wall of a building.
Furthermore, a cleaning panel is arranged on the cleaning robot, the cleaning panel is provided with the cleaning agent spraying pipe group, the water spraying pipe group and the rolling brush group, the cleaning agent spraying pipe group comprises a first cleaning agent spraying pipe group and a second cleaning agent spraying pipe group, the first cleaning agent spraying pipe group is arranged at the left lower side of the cleaning panel, the second cleaning agent spraying pipe group is arranged at the right upper side of the cleaning panel, the water spray pipe group comprises a first water spray pipe group and a second water spray pipe group, the first water spray pipe group is arranged at the left upper side of the cleaning panel, the second water spraying pipe group is arranged at the right lower side of the cleaning panel, the rolling brush group comprises a first rolling brush and a second rolling brush, the first rolling brush is adjacent to the first detergent spray line group and the first water spray line group, and the second rolling brush is adjacent to the second detergent spray line group and the second water spray line group.
Further, still be equipped with the shovel brush on the washing panel, the shovel brush is established first round brush with between the second round brush, the shovel brush passes through vibrating motor drive vibration.
Furthermore, a water baffle is further arranged on the cleaning panel, and the two water baffles are respectively arranged on the inner side of the first rolling brush and the inner side of the second rolling brush.
Further, high altitude cleaning machines people still includes anti-drop mechanism, anti-drop mechanism includes first anti-drop pole and second anti-drop pole, first anti-drop pole with the second anti-drop pole is all established on the horizontal slide bar, first anti-drop pole one end and one it is fixed to climb the subassembly, and the other end is equipped with the electromagnetism and inhales the sleeve, second anti-drop pole one end and another it is fixed to climb the subassembly, and the other end is equipped with the suction seat, works as when the electromagnetism is inhaled the sleeve and is switched on, the electromagnetism is inhaled the sleeve and can be adsorbed the suction seat.
Further, the hanging mechanism comprises a winch, a support frame, a pulley and an auxiliary rope, the winch is arranged on the top floor of the building, the support frame is fixed on the top floor of the building, the pulley is installed on the support frame, one end of the auxiliary rope is fixed with the winch, the middle of the auxiliary rope is wound on the pulley, and the other end of the auxiliary rope is fixed with the cleaning robot.
A high-altitude cleaning method comprises the following steps:
s1, presetting a plurality of cleaning modes with sequentially increasing intensity by a control system, sequentially increasing the rotating speed of a rolling brush and the pressure of water sprayed by a water spraying pipe group corresponding to the plurality of cleaning modes respectively, shooting the outer wall of a building through a camera to obtain an image, identifying the image through the control system, and distinguishing the color, the area and the quantity of dirt in the image;
step S2, selecting a cleaning mode according to the color, the size and the number of dirt in the image;
step S3, according to the cleaning mode, the detergent spray pipe group and the water spray pipe group are used for scouring, the building outer wall is subjected to primary brushing through the rolling brush group, and whether dirt is removed or not is detected through the camera after the primary brushing is finished;
step S4, if the camera detects that the dirt is not removed after the primary brushing is finished, adjusting a cleaning mode with higher strength through a control system, matching the cleaning robot in the area through a detergent spray pipe group, a water spray pipe group and a rolling brush for secondary brushing, and detecting whether the dirt is removed through the camera after the secondary brushing is finished;
and step S5, if the camera detects that the dirt is not removed after the brushing is finished again, cleaning the dirt by adopting a shovel brush until the dirt cannot be detected in the image transmission picture.
Further, in step S1, the image is recognized by machine learning.
Further, in step S1, the cleaning modes include a first cleaning mode in which the rotation speed of the roller brush is set to 1000r/min while the pressure of the water sprayed from the water spray line set to 1Mpa, a second cleaning mode in which the rotation speed of the roller brush is set to 2000r/min while the pressure of the water sprayed from the water spray line set to 3Mpa, and a third cleaning mode in which the rotation speed of the roller brush is set to 4000r/min while the pressure of the water sprayed from the water spray line set to 10 Mpa.
Further, in steps S3 and S4, the building outer wall is uniformly divided into a plurality of areas, when the cleaning robot moves from left to right, in one area, the second cleaning agent spraying pipe group on the upper right side sprays cleaning agent onto the building outer wall to soak the building outer wall, then the second rolling brush on the right side performs rough cleaning on the building outer wall, then the second water spraying pipe group on the lower right side performs scouring on the building outer wall, the cleaning robot moves from left to right for a certain distance, the first cleaning agent spraying pipe group on the lower left side sprays cleaning agent onto the building outer wall to soak the building outer wall, then the building outer wall is further brushed by the first rolling brush on the left side, then the building outer wall is brushed by the first water spraying pipe group on the upper left side, when the cleaning robot moves from right to left, the first cleaning agent spraying pipe group on the lower left side sprays cleaning agent onto the building outer wall, the cleaning robot moves for a certain distance from right to left, the second cleaning agent spraying pipe group on the upper right side sprays cleaning agents to the outer wall of the building to soak the outer wall of the building, then the second rolling brush on the right side further scrubs the outer wall of the building, and the second water spraying pipe group on the lower right side scours the outer wall of the building.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the high-altitude cleaning robot and the high-altitude cleaning method have the advantages of simple structure, modularized function control and convenient remote control, and can replace manpower to automatically, high-speed and high-efficiency cleaning tasks of the outer wall surface of the high wall of the building.
2. The high-altitude cleaning robot and the high-altitude cleaning method greatly reduce the labor input, reduce the wall cleaning cost and eliminate the potential safety hazard in the conventional process of manually cleaning the outer wall of the high-rise building.
3. The high-altitude cleaning robot and the high-altitude cleaning method have the advantages of wide application range, high cleaning efficiency, compact structure, higher flexibility and good use value.
4. The high-altitude cleaning robot and the high-altitude cleaning method avoid the limitation of the traditional cleaning robot in obstacle crossing, improve the stability of the cleaning robot in the wall surface walking process and improve the cleaning efficiency.
Drawings
Fig. 1 is an overall schematic view of the present invention.
Fig. 2 is a schematic view of an angle structure of the present invention.
FIG. 3 is a schematic view of the structure of the cleaning panel of the present invention.
Figure 4 is a schematic view of the longitudinal climbing assembly of the present invention.
Fig. 5 is a schematic structural view of the anti-drop mechanism of the present invention.
Wherein: 100. a top-building auxiliary control system; 101. a water tank; 102. a control system; 103. a suspended weight; 104. a winch; 105. a support frame; 106. a pulley; 107. an auxiliary rope; 108. a water pump; 109. an air pump; 110. a tension sensor;
200. a climbing and traversing mechanism; 201. a transverse sliding bar; 202. climbing the trunk; 203. climbing the foot; 204. climbing a leg; 205. a suction cup; 206. a first mill slide bar; 207. a second anti-skid bar; 208. an electromagnetic attraction sleeve; 209. a suction seat;
300. cleaning a robot; 301. a first group of cleaning agent shower pipes; 302. a second set of detergent spray pipes; 303. a first water spray line set; 304. a second water spray line set; 305. a first rolling brush; 306. a second rolling brush; 307. shoveling and brushing; 308. a water baffle; 309. a camera;
400. an exterior wall of a building.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
A high-altitude cleaning robot is shown in figure 1 and comprises a top floor auxiliary control system 100, a climbing and traversing mechanism 200 and a cleaning robot 300, wherein the climbing and traversing mechanism 200 is used for climbing an outer wall 400 of a building, the cleaning robot 300 is used for cleaning the outer wall 400 of the building, and the top floor auxiliary control system 100 is used for controlling the movement of the climbing and traversing mechanism 200 and the cleaning robot 300.
The top floor auxiliary control system 100 comprises a hanging mechanism, a water tank 101, a detergent tank and a control system 102, wherein the hanging mechanism, the water tank 101 and the detergent tank are arranged on the top floor of the building, the water tank 101 is used for conveying water through a water pump 108, the detergent tank is used for conveying detergent, and the control system 102 is used for controlling the whole high-altitude cleaning robot 300 to move.
As shown in fig. 1 and fig. 3, the climbing and traversing mechanism 200 is driven by a hanging mechanism to move in a vertical direction, the climbing and traversing mechanism 200 includes a horizontal sliding rod 201 and two longitudinal climbing assemblies, the horizontal sliding rod 201 is horizontally and horizontally arranged, the two longitudinal climbing assemblies are respectively arranged on two sides of the horizontal sliding rod 201, each longitudinal climbing assembly includes a climbing trunk 202 and two groups of climbing feet 203, the two groups of climbing feet 203 are symmetrically arranged on two sides of the climbing trunk 202, the climbing feet 203 and the climbing trunk 202 are connected through a plurality of parallel climbing legs 204, one end of each climbing leg 204 is hinged to the corresponding climbing foot 203, the other end of each climbing leg is hinged to the corresponding climbing trunk 202, the corresponding climbing foot 203 is provided with a plurality of suckers 205, each sucker 205 is used for adsorbing the building outer wall 400, and the sucker 205 is used for ensuring the safety and stability of the mechanism for the building outer wall 400.
The control system 102 is used for controlling the suction pump 109 to generate negative pressure in the suction cup 205 so that the suction cup 205 can suck the building outer wall 400.
In the climbing process, the two groups of climbing feet 203 on the two sides of the climbing trunk 202 move alternately to drive the climbing trunk 202 to move, specifically, the climbing feet 203 on one side of the climbing trunk 202 are adsorbed on the outer wall 400 of the building through the suckers 205 to drive the climbing legs 204 on the other side of the climbing trunk 202 to rotate, thereby driving the climbing feet 203 on the other side of the climbing trunk 202 to move, when the climbing feet 203 on the other side of the climbing trunk 202 move for a certain distance, the climbing feet 203 on the other side of the climbing trunk 202 are adsorbed on the building outer wall 400 through the sucking discs 205, the sucking discs 205 on the climbing feet 203 on one side of the climbing trunk 202 are released from the building outer wall 400, the climbing legs 204 on one side of the climbing trunk 202 are driven to rotate, and then the climbing feet 203 on one side of the climbing trunk 202 are driven to move, so that the climbing trunk 202 is driven to move, and the working processes of the longitudinal climbing assemblies on the two sides of the transverse sliding rod 201 are consistent, so that the transverse sliding rod 201 moves in the vertical direction.
In the embodiment of the present invention, the plurality of climbing legs 204 on one climbing foot 203 can be driven by one rotating motor to rotate simultaneously, or can be driven by a plurality of rotating motors to rotate, and when a plurality of rotating motors are used, the plurality of rotating motors drive the plurality of climbing legs 204 to rotate at the same angle each time.
Through the alternate motion of the two groups of climbing feet 203 on the two sides of the climbing trunk 202, the climbing trunk 202 can quickly and longitudinally climb, so that the transverse sliding rod 201 and the cleaning robot 300 can be ensured to stably and efficiently move in the vertical direction.
According to the invention, by arranging the climbing and traversing mechanism 200, the climbing and traversing mechanism 200 comprises the transverse sliding rod 201 and the longitudinal climbing component, the cleaning robot 300 transversely moves on the transverse sliding rod 201 by vertically moving the longitudinal climbing component, when an obstacle is encountered, the obstacle can be well avoided by vertically moving the transverse sliding rod 201 and the transverse moving cleaning robot 300, the obstacle crossing limit of the traditional cleaning robot 300 is avoided, the stability of the cleaning robot in the wall surface walking process is improved, and the cleaning efficiency is improved.
As shown in fig. 1 and 2, the cleaning robot 300 is disposed on the transverse sliding rod 201, the cleaning robot 300 is driven by the transverse moving component to move on the transverse sliding rod 201, the cleaning robot 300 can freely move transversely on the transverse sliding rod 201 to achieve rapid cleaning, and a cleaning agent spraying pipe group, a water spraying pipe group and a rolling brush group are disposed on the cleaning mechanism, the cleaning agent spraying pipe group is used for spraying cleaning agent, the water spraying pipe group is used for spraying water, and the rolling brush is used for scrubbing the building outer wall 400.
As shown in fig. 2, the washing robot 300 is provided with a washing panel, on which a detergent shower tube group is provided, the cleaning agent spraying pipe group comprises a first cleaning agent spraying pipe group 301 and a second cleaning agent spraying pipe group 302, the first cleaning agent spraying pipe group 301 is arranged on the left lower side of the cleaning panel, the second cleaning agent spraying pipe group 302 is arranged on the right upper side of the cleaning panel, the water spraying pipe group comprises a first water spraying pipe group 303 and a second water spraying pipe group 304, the first water spraying pipe group 303 is arranged on the left upper side of the cleaning panel, the second water spraying pipe group 304 is arranged on the right lower side of the cleaning panel, the rolling brush group comprises a first rolling brush 305 and a second rolling brush 306, the first rolling brush 305 is arranged close to the first cleaning agent spraying pipe group 301 and the first water spraying pipe group 303, and the second rolling brush 306 is arranged close to the second cleaning agent spraying pipe group 302 and the second water spraying pipe group 304.
The first rolling brush 305 and the second rolling brush 306 are provided with detachable bristles, and each bristle is made of waterproof foam, so that the bristles are not easy to bend after being wetted and are easy to remove stains with large adhesive force.
The first water spray pipe group 303 and the second water spray pipe group 304 respectively comprise a plurality of water spray pipes, each water spray pipe is provided with a flow control valve to control the flow of spray liquid, the first cleaning agent spray pipe group 301 and the second cleaning agent spray pipe group 302 respectively comprise a plurality of cleaning agent spray pipes, and the cleaning agent spray pipes are provided with water mixing valves for mixing cleaning agents.
The first rolling brush 305 and the second rolling brush 306 are driven to rotate by adopting a variable frequency motor, so that the cleaning intensity of the first rolling brush 305 and the second rolling brush 306 can be changed, and the decontamination intensity of the first rolling brush 305 and the second rolling brush 306 is further ensured.
In the process of cleaning the building outer wall 400 by the cleaning robot 300, the building outer wall 400 is uniformly divided into a plurality of areas, when the cleaning robot 300 moves from left to right, in one area, the second cleaning agent spraying pipe group 302 on the upper right side sprays cleaning agent on the building outer wall 400 to soak the building outer wall 400, then the second rolling brush 306 on the right side performs rough cleaning on the building outer wall 400, then the second water spraying pipe group 304 on the lower right side performs scouring on the building outer wall 400, the cleaning robot 300 moves from left to right for a certain distance, the first cleaning agent spraying pipe group 301 on the lower left side sprays cleaning agent on the building outer wall 400 to soak the building outer wall 400, then the first rolling brush 305 on the left side performs further scrubbing on the building outer wall 400, then the first water spraying pipe group 303 on the upper left side performs scouring on the building outer wall 400, when the cleaning robot 300 moves from right to left, the first cleaning agent spraying pipe group 301 on the lower left side sprays cleaning agent on the building outer wall 400 to soak the building outer wall 400, then the first rolling brush 305 on the left side roughly washes the building outer wall 400, the first water spraying pipe group 303 on the upper left side washes the building outer wall 400, the cleaning robot 300 moves for a certain distance from right to left, the second cleaning agent spraying pipe group 302 on the upper right side sprays cleaning agent on the building outer wall 400 to soak the building outer wall 400, then the second rolling brush 306 on the right side further scrubs the building outer wall 400, and then the second water spraying pipe group 304 on the lower right side washes the building outer wall 400.
Under one round trip, the four times of brushing of the building outer wall 400 can be realized, so that the cleaning efficiency is greatly improved.
In the present invention, when the removal of the stubborn dirt is impossible by the above method, the cleaning panel is provided with the shovel brush 307, the shovel brush 307 is provided between the first rolling brush 305 and the second rolling brush 306, and the shovel brush 307 is driven to vibrate by the vibration motor to complete the brushing of the stubborn dirt.
The cleaning panel is further provided with a water baffle 308, the two water baffles 308 are respectively arranged on the inner side of the first rolling brush 305 and the inner side of the second rolling brush 306, and the water baffle 308 can prevent the rolling brush from spraying water on the wall to internal equipment which is not completely covered in the middle in the operation process of the cleaning robot 300.
Through the control of the control system 102 to each mechanism, a control mode of man-machine interaction is realized, so that the operation is simpler.
The building-jacking auxiliary control system 100 is also provided with an image display module, the image display module can realize the transmission of pictures, feed back the cleaning condition of the building outer wall 400, and perform corresponding cleaning actions according to the actual cleaning condition, the cooperation of all mechanisms brings great convenience to workers, and the cleaning robot 300 can be ensured to safely and effectively complete the cleaning work of the building outer wall 400.
As shown in fig. 5, the climbing and traversing mechanism 200 further includes a drop-preventing mechanism, the drop-preventing mechanism includes a first drop-preventing rod 206 and a second drop-preventing rod 207, the first drop-preventing rod 206 and the second drop-preventing rod 207 are both disposed on the transverse sliding rod 201, one end of the first drop-preventing rod 206 is fixed to a longitudinal climbing component, the other end of the first drop-preventing rod is provided with an electromagnetic suction sleeve 208, one end of the second drop-preventing rod 207 is fixed to another longitudinal climbing component, the other end of the second drop-preventing rod is provided with a suction base 209, when the electromagnetic suction sleeve 208 is powered on, the electromagnetic suction sleeve 208 can absorb the suction base 209, the electromagnetic suction sleeve 208 is an electromagnet, and the suction base 209 is made of a metal material capable of being absorbed by the electromagnet.
Specifically, the one end of first anti-falling pole is fixed with one truck 202 that climbs, the one end of second anti-falling pole is fixed with another truck 202 that climbs, in the in-process of vertically climbing the subassembly climbing, inhale the sleeve circular telegram to the electromagnetism, make the electromagnetism inhale the sleeve and can adsorb and inhale the seat, and then finely tune two distances of climbing between truck 202, compress tightly the truck 202 that climbs, prevent to climb the in-process that sufficient 203 removed, the truck 202 that climbs takes place small sliding, through setting up anti-falling mechanism, the removal process that can make the subassembly that vertically climbs is more accurate.
In addition, in the process that the cleaning robot 300 cleans the building outer wall 400, due to the fact that water is used for washing or shoveling the brush 307, the electromagnetic suction sleeve is electrified, so that the electromagnetic suction sleeve can adsorb the suction seat, the distance between two climbing bodies 202 is finely adjusted, the transverse sliding rod 201 can be compressed, the shaking of the cleaning robot is reduced, and the cleaning effect is improved.
Besides, the hanging mechanism comprises a winch 104, a support frame 105, a pulley 106 and an auxiliary rope 107, the winch 104 is arranged on the top floor of the building, an electric walking mechanism with an electromagnetic code disc is arranged on the bottom plate of the winch 104 to realize the translation of the winch 104, the support frame 105 is fixed on the top floor of the building, the pulley 106 is arranged on the support frame 105, one end of the auxiliary rope 107 is fixed with the winch 104, the middle part of the auxiliary rope is wound on the pulley 106, the other end of the auxiliary rope is fixed with the cleaning robot 300, a power line, a signal line, an air pipe and a water pipe are connected onto the auxiliary rope 107 in a centralized manner to supply power, an air source, a control signal and a water source for cleaning to the cleaning robot 300, the auxiliary rope 107 guides the cleaning robot to move up and down on an outer box of the building, a stepping motor connected by driving of the pulley 106 rotates for preset number of turns, the auxiliary rope 107 drives the cleaning robot to move down to enter the next working face, so as to ensure that the rope is always in a tensioning state and reduce the possibility that the guide rope shakes along with the wind.
Also included in the attic assist control system 100 is a counterweight 103, the counterweight 103 being used to balance the weight of the climbing traversing mechanism 200 and the cleaning robot 300.
The auxiliary rope 107 of the hoist 104 is passed through the pulley 106 and dropped and connected to the cleaning robot 11 via the tension sensor 110, and the weight of the suspended weight 103 can be increased or decreased by the tension measured by the tension sensor 110.
The invention also provides a high-altitude cleaning method, which uses the high-altitude cleaning robot 300 and comprises the following steps:
step S1, the control system 102 presets a plurality of cleaning modes with sequentially increasing intensity, the rotating speeds of the rolling brushes and the pressure of water sprayed by the water spraying pipe groups corresponding to the plurality of cleaning modes are sequentially increased, the camera 309 shoots the building outer wall 400 to obtain an image, the image is identified by the control system 102, and the color, the area and the quantity of dirt in the image are distinguished;
step S2, selecting a cleaning mode according to the color, the size and the number of dirt in the image;
step S3, according to the cleaning mode, the cleaning agent spray pipe group and the water spray pipe group are used for scouring, the building outer wall 400 is subjected to primary brushing through the rolling brush group, and whether dirt is removed or not is detected through the camera 309 after the primary brushing is finished;
step S4, if the camera 309 detects that the dirt is not removed after the preliminary brushing is completed, adjusting the cleaning mode with higher intensity by the control system 102, and the cleaning robot 300 brushes again in the area by matching the detergent spray pipe set, the water spray pipe set and the rolling brush, and detects whether the dirt is removed by the camera 309 after the secondary brushing is completed;
step S5, if the camera 309 detects that the dirt is not removed after the brushing is completed again, the shovel brush 307 is used to clean the dirt until the dirt is not detected in the image transmission picture.
In step S1, the image is recognized by machine learning.
In step S1, the cleaning modes include a first cleaning mode in which the rotation speed of the roller brush is set to 1000r/min while the pressure of the water sprayed from the water spray line set to 1Mpa, a second cleaning mode in which the rotation speed of the roller brush is set to 2000r/min while the pressure of the water sprayed from the water spray line set to 3Mpa, and a third cleaning mode in which the rotation speed of the roller brush is set to 4000r/min while the pressure of the water sprayed from the water spray line set to 10 Mpa.
In steps S3 and S4, the building exterior wall 400 is divided into a plurality of areas, when the cleaning robot 300 moves from left to right, in one area, the second cleaning agent shower group 302 on the upper right side sprays cleaning agent onto the building exterior wall 400 to soak the building exterior wall 400, then the second rolling brush 306 on the right side performs rough cleaning on the building exterior wall 400, then the second water shower group 304 on the lower right side performs scouring on the building exterior wall 400, the cleaning robot 300 moves from left to right for a certain distance, the first cleaning agent shower group 301 on the lower left side sprays cleaning agent onto the building exterior wall 400 to soak the building exterior wall 400, then the first rolling brush 305 on the left side performs further scrubbing on the building exterior wall 400, then the first water shower group 303 on the upper left side performs scouring on the building exterior wall 400, when the cleaning robot 300 moves from right to left, the first cleaning agent spraying pipe group 301 on the lower left side sprays cleaning agent on the building outer wall 400 to soak the building outer wall 400, then the first rolling brush 305 on the left side performs rough cleaning on the building outer wall 400, then the first water spraying pipe group 303 on the upper left side performs scouring on the building outer wall 400, the cleaning robot 300 moves for a certain distance from right to left, the second cleaning agent spraying pipe group 302 on the upper right side sprays cleaning agent on the building outer wall 400 to soak the building outer wall 400, then the second rolling brush 306 on the right side performs further scrubbing on the building outer wall 400, and then the second water spraying pipe group 304 on the lower right side performs scouring on the building outer wall 400.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A high altitude cleaning machines people which characterized in that: the device comprises a top-building auxiliary control system, a climbing and traversing mechanism and a cleaning robot;
the top-building auxiliary control system comprises a hanging mechanism, a water tank, a detergent tank and a control system, wherein the hanging mechanism, the water tank and the detergent tank are arranged on the top building of the building, the water tank is used for conveying water, the detergent tank is used for conveying detergent, and the control system is used for controlling the whole high-altitude cleaning robot to move;
the climbing and traversing mechanism is driven by the hanging mechanism to move in the vertical direction, the climbing and traversing mechanism comprises a transverse sliding rod and longitudinal climbing components, the transverse sliding rod is arranged in the horizontal and transverse direction, the two longitudinal climbing components are respectively arranged on two sides of the transverse sliding rod, each longitudinal climbing component comprises a climbing trunk and two groups of climbing feet, the two groups of climbing feet are symmetrically arranged on two sides of the climbing trunk, the climbing feet are connected with the climbing trunk through a plurality of parallel climbing legs, one end of each climbing leg is hinged with the corresponding climbing foot, the other end of each climbing leg is hinged with the corresponding climbing trunk, a plurality of suckers are arranged on the corresponding climbing feet, and the suckers are used for adsorbing the outer wall of a building;
the cleaning robot is arranged on the transverse sliding rod and driven by the transverse moving assembly to move on the transverse sliding rod, a cleaning agent spraying pipe set, a water spraying pipe set and a rolling brush set are arranged on the cleaning mechanism, the cleaning agent spraying pipe set is used for spraying cleaning agents, the water spraying pipe set is used for spraying water, and the rolling brush is used for scrubbing the outer wall of a building.
2. The overhead cleaning robot of claim 1, wherein: the cleaning robot is provided with a cleaning panel, the cleaning panel is provided with the cleaning agent spraying pipe group, the water spraying pipe group and the rolling brush group, the cleaning agent spraying pipe group comprises a first cleaning agent spraying pipe group and a second cleaning agent spraying pipe group, the first cleaning agent spraying pipe group is arranged at the left lower side of the cleaning panel, the second cleaning agent spraying pipe group is arranged at the right upper side of the cleaning panel, the water spray pipe group comprises a first water spray pipe group and a second water spray pipe group, the first water spray pipe group is arranged at the left upper side of the cleaning panel, the second water spraying pipe group is arranged at the right lower side of the cleaning panel, the rolling brush group comprises a first rolling brush and a second rolling brush, the first rolling brush is adjacent to the first detergent spray line group and the first water spray line group, and the second rolling brush is adjacent to the second detergent spray line group and the second water spray line group.
3. The overhead cleaning robot of claim 2, wherein: still be equipped with the shovel brush on the washing panel, the shovel brush is established first round brush with between the second round brush, the shovel brush passes through vibrating motor drive vibration.
4. The overhead cleaning robot of claim 2, wherein: and the cleaning panel is also provided with water baffles which are respectively arranged on the inner sides of the first rolling brush and the second rolling brush.
5. The overhead cleaning robot of claim 2, wherein: high altitude cleaning machines people still includes anti falling mechanism, anti falling mechanism includes first anti falling pole and second anti falling pole, first anti falling pole with the second anti falling pole is all established on the horizontal slide bar, first anti falling pole one end with one it is fixed to climb the subassembly, and the other end is equipped with the electromagnetism and inhales the sleeve, second anti falling pole one end and another it is fixed to climb the subassembly, and the other end is equipped with inhales the seat, works as when the electromagnetism is inhaled the sleeve and is switched on, the electromagnetism is inhaled the sleeve and can be adsorbed inhale the seat.
6. The overhead cleaning robot of claim 2, wherein: the hanging mechanism comprises a winch, a support frame, a pulley and an auxiliary rope, the winch is arranged on the top floor of the building, the support frame is fixed on the top floor of the building, the pulley is arranged on the support frame, one end of the auxiliary rope is fixed with the winch, the middle of the auxiliary rope is wound on the pulley, and the other end of the auxiliary rope is fixed with the cleaning robot.
7. A high altitude cleaning method using the high altitude cleaning robot according to any one of claims 2 to 6, comprising:
s1, presetting a plurality of cleaning modes with sequentially increasing intensity by a control system, sequentially increasing the rotating speed of a rolling brush and the pressure of water sprayed by a water spraying pipe group corresponding to the plurality of cleaning modes respectively, shooting the outer wall of a building through a camera to obtain an image, identifying the image through the control system, and distinguishing the color, the area and the quantity of dirt in the image;
step S2, selecting a cleaning mode according to the color, the size and the number of dirt in the image;
step S3, according to the cleaning mode, the detergent spray pipe group and the water spray pipe group are used for scouring, the building outer wall is subjected to primary brushing through the rolling brush group, and whether dirt is removed or not is detected through the camera after the primary brushing is finished;
step S4, if the camera detects that the dirt is not removed after the primary brushing is finished, adjusting a cleaning mode with higher strength through a control system, matching the cleaning robot in the area through a detergent spray pipe group, a water spray pipe group and a rolling brush for secondary brushing, and detecting whether the dirt is removed through the camera after the secondary brushing is finished;
and step S5, if the camera detects that the dirt is not removed after the brushing is finished again, cleaning the dirt by adopting a shovel brush until the dirt cannot be detected in the image transmission picture.
8. A high altitude cleaning method according to claim using a high altitude cleaning robot as claimed in any one of claims 1 to 6 characterised in that: in step S1, the image is recognized by machine learning.
9. The high altitude cleaning method according to claim 7, characterized in that: in step S1, the cleaning modes include a first cleaning mode in which the rotation speed of the roller brush is set to 1000r/min while the pressure of the water sprayed from the water spray line set to 1Mpa, a second cleaning mode in which the rotation speed of the roller brush is set to 2000r/min while the pressure of the water sprayed from the water spray line set to 3Mpa, and a third cleaning mode in which the rotation speed of the roller brush is set to 4000r/min while the pressure of the water sprayed from the water spray line set to 10 Mpa.
10. The high altitude cleaning method according to claim 7, characterized in that: in steps S3 and S4, the building outer wall is divided into a plurality of areas, when the cleaning robot moves from left to right, in one area, the second cleaning agent spraying tube group on the upper right side sprays cleaning agent on the building outer wall to soak the building outer wall, then the second rolling brush on the right side performs rough cleaning on the building outer wall, then the second water spraying tube group on the lower right side performs scouring on the building outer wall, the cleaning robot moves from left to right for a certain distance, the first cleaning agent spraying tube group on the lower left side sprays cleaning agent on the building outer wall to soak the building outer wall, then the first rolling brush on the left side performs further scrubbing on the building outer wall, then the first water spraying tube group on the upper left side performs scouring on the building outer wall, when the cleaning robot moves from right to left, the first cleaning agent spraying tube group on the lower left side sprays cleaning agent on the building outer wall, the cleaning robot moves for a certain distance from right to left, the second cleaning agent spraying pipe group on the upper right side sprays cleaning agents to the outer wall of the building to soak the outer wall of the building, then the second rolling brush on the right side further scrubs the outer wall of the building, and the second water spraying pipe group on the lower right side scours the outer wall of the building.
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Application publication date: 20220510 |