CN108143363B - Cleaning method of high-altitude cleaning robot with humanoid working industry mode - Google Patents

Abstract

The invention discloses a cleaning method for a high-altitude cleaning robot with a manual-like operation mode, which is equipped with a roof hoisting system and two safety ropes fixedly connected with the casing of a box assembly; a non-slip rubber pad at the foot end of the mobile support mechanism Close to the working surface; the visual sensing system checks the working surface condition and transmits the information to the system controller; wet the cleaning towel of the first cleaning arm for preliminary wiping; use the scraper in the second cleaning actuator to remove the dirt; The cleaning towel of the first cleaning arm is used to wipe a wide range; the rubber strip in the first cleaning actuator is used to scrape the cleaning surface; the cleaning towel of the second cleaning arm is used to wipe the collected sewage and flow into the sewage recovery box; the hoisting system moves to enter the next On the working surface, repeat the above cleaning process until the robot lands; the cleaning towel of the first cleaning arm and the cleaning towel of the second cleaning arm wipe and squeeze each other, and discharge the sewage into the sewage recovery box, and the hoisting system lifts the robot to the floor top and proceed to the next cleaning job.

Description

Cleaning method of high-altitude cleaning robot with manual-like operation mode

technical field

The invention relates to a robot technology, in particular to a cleaning method for a high-altitude cleaning robot with a human-like working mode for high-altitude cleaning.

Background technique

With the rapid development of my country's economic construction, high-rise buildings have sprung up everywhere. However, due to the non-standard building design, at present, the cleaning of most high-rise buildings in China is done manually. Whether it is hanging plate type, hanging basket type cleaning or lifting table cleaning, there are disadvantages of high labor cost, high labor intensity of workers and high risk. Therefore, from the perspective of economy and safety, a robot that can replace manual work and can automatically complete the cleaning work is required.

Chinese patent application 201510824734.6 discloses a cleaning robot, including a robot body and a roof safety lift cable, wherein the robot body includes an adsorption device, a cleaning system, a power supply system, and a recycling system; the robot body controls the lift height through the roof safety lift cable, When it reaches the cleaning position, the adsorption device fixes the robot body on the glass curtain wall, the cleaning system cleans the glass, the recycling system recovers the dirt after the glass is cleaned, and the power supply system is used to power the adsorption device, the cleaning system and the recycling system. However, after reading the entire patent document, the patent application only gives a general technical idea, without a description of specific technical features, and there is no corresponding technical drawings. For those skilled in the art, according to the technology The solution cannot be directly implemented, and it can only be realized after another technical creation, that is to say, this patent application is a conceptual idea and lacks a technical solution for specific implementation.

Chinese patent application 201510258869.0 discloses a climbing fire extinguishing and cleaning robot, the body structure of which is composed of a pendulum mechanism, a walking mechanism, a transmission system, an adsorption device, a fire extinguishing device, a cleaning device and a camera unit. The pendulum rod mechanism is composed of crank, connecting rod and pendulum rod. The spherical pair connection method is used to make the pendulum rod swing at any angle, so as to realize the cleaning of the glass curtain wall and the fire extinguishing function of high-rise buildings. The walking mechanism adopts the way of crawler walking. The transmission system adopts gear meshing mode to realize power transmission. The adsorption device is composed of a fan, an air bowl and an exhaust hole, and the robot is attached to the wall by the adsorption principle. The fire extinguishing device uses the method of spraying carbon dioxide to the fire source to extinguish the fire. The cleaning unit is cleaned with a freely rotatable cleaning brush. The principle of adsorption is used to make the robot stick to the wall. The camera unit provides real-time feedback on the working conditions of the robot on the ground, which is convenient for ground personnel to control remotely. The technical solution of the patent application is complex, the mobility of the cleaning arm and the walking mechanism is poor, and there is no rotating pair, which is not conducive to action adjustment, and it is difficult to complete the implementation of small actions.

Chinese patent application 201510578552.5 discloses a high-altitude cleaning robot. A suction cup group is installed on the robot crawler. The suction function of the suction cup enables the high-altitude cleaning robot to climb vertically on the outer wall of a high-rise building. The technical solution of the robot is complicated. , The crawler-type structure is used, which is difficult to complete the human-like operation method, which is not conducive to the implementation of small movements.

Chinese patent application 201610048950.0 discloses an automatic high-altitude glass cleaning robot, including a base, a control system, a small air pump, a circular suction cup, a trapezoidal suction cup, a water storage device, a sprinkler, a wiper, and a sponge cleaning block. A control system, a small air pump, a water storage device and a sprinkler are installed on the base; the control system is electrically connected to the small air pump, the water storage device and the sprinkler respectively; the bottom of the base is provided with a first cylinder, the first A first spring is embedded in the cylinder, and one end of the first spring is connected with the wiper; the side of the tail of the base is provided with a second cylinder, the second cylinder is embedded with a second spring, and the second spring is connected to the arc rod connected; the bottom of the arc rod is connected with the sponge cleaning block. When working, start the small air pump, and make the robot automatically adsorb on the glass wall under the action of the circular suction cup and the trapezoidal suction cup. The patent is a miniature aerial work robot, which has poor freedom of cleaning parts, insufficient flexibility, and it is difficult to imitate and implement human-like actions, and it is not suitable for scrubbing work in complex environments.

Chinese patent application 201611194695.7 discloses a high-altitude exterior wall cleaning robot, including a crawling device and a cleaning device, the cleaning device is located on one side of the crawling device, the crawling device includes a robot body, and the robot body is provided with four hips Joints, each hip joint is connected with a mechanical leg, and the bottom of each mechanical leg is connected with a vacuum suction cup for sucking glass, the cleaning device includes a cleaning arm, a cleaning base, a first rotating seat and a second rotating seat, one end of the cleaning arm passes through The first rotating seat is movably connected with the cleaning base, and the other end of the cleaning arm is movably arranged on the robot body through the second rotating seat. The patent application adopts the mechanical leg method of vacuum adsorption, which is convenient for crossing obstacles. However, because the air compressor is placed on the ground, the energy loss of compressed air long-distance transmission is large, and the working range of the robot is limited. The patent adopts the four-legged static gait or dynamic gait crawling method. When the robot walks, it wipes through the relative movement between the cleaning base and the glass. It has poor consideration in terms of dirt collection and cleaning effect, and it is difficult to achieve human-like performance. work effect.

Chinese patent application 201710109588.8 discloses a double suction cup glass curtain wall cleaning robot, including a traction mechanism, a lifting mechanism, a reversing mechanism, a power mechanism, a cleaning device, an adsorption device and a safety device. The traction mechanism is wound by double steel wire ropes and a linear guide mechanism The lifting mechanism is composed of a small worm gear and a small worm, the reversing mechanism is composed of a large worm gear and a large worm, the power is provided by a DC motor, the cleaning device is composed of a rotating brush and a spring telescopic mechanism, and the adsorption device is composed of a suction cup and a blower. The safety device is composed of a safety ring and a safety rope. The robot is adsorbed on the surface of the glass curtain wall through the adsorption device, and the traction mechanism is used to achieve forward movement. At the same time, the cleaning device keeps rotating and wiping. The patent application cannot achieve multi-free rotation, and it is difficult to complete the implementation of subtle movements.

Chinese patent application 201611264150.9 discloses a glass cleaning robot, which includes a detergent circulator, an external cleaner placed on the outside of the glass, and a built-in driver placed on the inside of the glass. The external cleaner includes an inner skeleton and is installed on the inner skeleton. The cleaning disk assembly attached to the glass wall and the external magnetic block embedded in the inner frame, the built-in drive is provided with a built-in magnetic block for magnetically engaging with the external magnetic block, and the detergent circulator passes through. The detergent hose communicates with the wash pan assembly. The magnetic force and effect between the external magnetic block and the built-in magnetic block are used to form an internal and external clamping effect on the glass, and the cleaning personnel drive the external cleaner to move along the glass by moving the built-in driver in the house to carry out mobile cleaning and cleaning. The patent application technology is not suitable for cleaning the glass surface of high-rise buildings, especially at present, the outer glass of many high-rise curtain walls cannot be opened and closed, and it is even more difficult to adapt.

Chinese patent document 201510246660.2 discloses a crawler-type robot for cleaning high-altitude curtain walls, including two fixed frames, a first chain, a horizontal moving device, a second chain, a robot body, a power supply and a controller; two ends of the first chain The horizontal moving device includes a first flywheel motor, a first driven gear and a second driven gear arranged inside the device, and the first chain is sequentially connected with the first flywheel motor and the first driven gear. , the second driven gear is meshed; one end of the second chain is fixedly connected with the side of the horizontal moving device; the robot body includes a flight control device, a vertical moving device, a crawler trolley and at least two wipers. When working, the trolley moves against the glass through the pressure of the propeller. The structure of the patent is complex, and the cleaning effect is not particularly good, especially when the crawler is used for movement, the degree of freedom is less, and the fine-tuning of the action is not ideal.

Chinese patent application 201511029515.5 discloses a high-altitude exterior wall multi-function robot, which includes a frame and a controller, the frame is provided with at least one thrust mechanism, the two sides of the frame are provided with walking mechanisms, and the forward direction of the frame is provided with Induction device, the controller is connected with the thrust mechanism and the walking mechanism. The high-altitude exterior wall multi-functional robot is attached to the exterior wall surface through the reaction force by using a thrust mechanism. The patented technology is relatively simple, and the cleaning effect is not particularly good, especially the adjustment of small movements is difficult.

From the perspective of mechanism design, the above-mentioned high-altitude cleaning robots use different adsorption methods to fix the robot on the working surface, mainly including adsorption (including vacuum adsorption and magnetic adsorption), or by means of the pressure of the propeller, or by means of a thrust mechanism. However, magnetic adsorption requires that the working surface can be attracted by magnets or can form an inner and outer clamping effect on the working surface through the magnetic force and effect between the inner and outer magnetic blocks; vacuum adsorption, the pressure of the propeller, or the action of the thrust mechanism to fix the robot The energy consumption of the method on the working surface is relatively large, which is not conducive to large-scale promotion. The above-mentioned robots are not very convenient for cleaning, lack of safety and flexibility, and the cleaning effect is not ideal.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the shortcomings of the above-mentioned existing high-altitude cleaning robot cleaning technology, and provide a cleaning method for high-altitude cleaning robots with strong adaptability, flexible movement, safety and reliability, good cleaning effect, and a manual-like operation mode.

To achieve the above object, the present invention adopts the following technical solutions:

A cleaning method for a high-altitude cleaning robot with a manual-like operation mode, the robot includes two cleaning arms, a box assembly, two moving support mechanisms, a first cleaning actuator, and a second cleaning actuator and a visual sensing system assembly, the two cleaning arms are respectively fixed on the casing of the box body in the box body assembly, and the first cleaning actuator and the second cleaning actuator are respectively installed on the cleaning arms correspondingly ;Two moving support mechanisms are respectively installed at the lower end of the box body assembly in the box body assembly, and the end of the moving support mechanism is provided with an arc-shaped foot end anti-skid rubber pad; the visual sensing system assembly is fixed in the box body assembly On the top of the casing of the box assembly, the electrical components in the above components are controlled by the system controller.

The cleaning method includes the following steps:

The first step is to configure the roof hoisting system and two safety ropes; the main rope extended from the hoisting system is fixedly connected to the hoisting joint on the top surface of the box assembly shell, and the two safety ropes are respectively connected to the box assembly shell. The safety rope on the back is connected to the joint, and the two safety ropes are equipped with self-locking devices. When the winch fails, the robot will not slide down rapidly;

In the second step, the anti-skid rubber pad at the foot end of the mobile support mechanism is closely attached to the working surface to prevent the robot from swinging left and right;

In the third step, the drive motors of the visual sensing system assembly drive the cameras to swing respectively, check the status of the work surface, and transmit the information to the system controller;

The fourth step, under the control of the system controller, the micro water pump in the box assembly extracts the cleaning liquid from the cleaning liquid storage tank, and soaks the first cleaning arm cleaning towel in the first cleaning actuator;

The fifth step, the first cleaning arm cleaning towel in the first cleaning actuator performs preliminary wiping on the obviously dirty working surface detected by the visual sensing system assembly;

The sixth step, use the scraper in the second cleaning actuator to remove the dirt;

The seventh step is to use the first cleaning arm cleaning towel in the first cleaning actuator to wipe the cleaning surface in a wide range;

The eighth step, use the rubber strip in the first cleaning actuator to scrape the cleaning surface;

The ninth step, use the cleaning towel of the second cleaning arm in the second cleaning actuator to wipe and collect the dirty liquid, and the dirty liquid passes through the dirty liquid output joint of the actuator, the dirty liquid recovery hole of the box assembly shell, and the dirty liquid of the cleaning liquid storage and recovery system. The recovery hole flows into the sewage recovery tank;

The tenth step, the hoisting system moves, enters the next working surface, and repeats the above cleaning process until the robot lands;

In the eleventh step, the micro water pump is turned on to the maximum, and the cleaning towel of the first cleaning arm of the first cleaning actuator and the cleaning towel of the second cleaning arm of the second cleaning actuator wipe and squeeze each other, and output the dirty liquid through the actuator. The joint is discharged into the sewage recovery tank.

In the twelfth step, the hoisting system lifts the robot to the top of the building, and the translational hoisting system enters the next vertical working surface to start cleaning.

In the present invention, the cleaning arm has a first rotation pair with the _Z0 direction as the rotation axis, a third rotation pair with the _X0 direction as the rotation axis, and two active degrees of freedom with the _Y0 direction as the rotation axis, respectively are the second rotating pair and the fourth rotating pair, wherein X ₀ , Y ₀ , and Z ₀ are the three axial directions in the Cartesian three-dimensional coordinate system, respectively.

The structure of the cleaning arm includes a first driving motor of the cleaning arm, a first link of the cleaning arm, a second driving motor seat of the cleaning arm, a second driving motor of the cleaning arm, a second link joint of the cleaning arm, and a cleaning arm Arm second link, one cleaning arm third drive motor seat, one cleaning arm third drive motor, one cleaning arm third link, one cleaning arm fourth drive motor seat, one cleaning arm fourth drive motor, one cleaning arm actuator connector;

The cleaning arm equipped with the first cleaning actuator is fixed on the connection base of the first cleaning arm through the flange of the first driving motor of the cleaning arm; the cleaning arm equipped with the second cleaning actuator is passed through the first driving motor of the cleaning arm. The flange plate is fixed on the connecting base of the second cleaning arm;

The output shaft of the first driving motor of the cleaning arm is fixedly connected with the first connecting rod of the cleaning arm to form a first rotation pair; the other end of the first connecting rod of the cleaning arm is connected with the second driving motor seat of the cleaning arm through threads;

The second driving motor of the cleaning arm is fixed on the second driving motor seat of the cleaning arm, and its output shaft is fixedly connected with the second connecting rod joint of the cleaning arm to form a second rotating pair; one end of the second connecting rod of the cleaning arm is connected with the second connecting rod of the cleaning arm The rod joint is connected by threads, and the other end is connected with the third drive motor seat of the cleaning arm by threads;

The third drive motor of the cleaning arm is fixed on the third drive motor seat of the cleaning arm, and its output shaft is fixedly connected with the third connecting rod of the cleaning arm to form a third rotating pair; the other end of the third connecting rod of the cleaning arm is driven with the fourth connecting rod of the cleaning arm The motor base is connected by thread;

The fourth driving motor of the cleaning arm is fixed on the fourth driving motor seat of the cleaning arm, and the output shaft thereof is fixedly connected with the connecting piece of the cleaning actuator to form a fourth rotating pair.

The first cleaning actuator structure includes two actuator cleaning fluid injection joints, a first cleaning actuator connecting bracket, a first cleaning arm connecting piece, a wiper rubber strip bracket, a rubber strip, and a first cleaning actuator. One cleaning arm cleaning towel, one first cleaning arm cleaning towel bracket; one end of the first cleaning actuator connecting bracket is provided with a wiper rubber strip bracket, and the other end is provided with a first cleaning arm cleaning towel bracket, the upper surface of which is provided with a wiper rubber strip bracket. A first cleaning arm connecting piece is arranged in the center position; the rubber strip is installed on the wiper rubber strip bracket; the first cleaning arm cleaning towel is fixed on the lower surface of the first cleaning arm cleaning towel bracket, and the actuator cleaning liquid injection joint is arranged on the first cleaning arm. On the cleaning towel support of a cleaning arm, the cleaning liquid is injected into the joint through the actuator cleaning liquid to soak the cleaning towel of the first cleaning arm.

The second cleaning actuator structure includes an actuator dirt liquid output joint, a second cleaning arm connecting piece, a second cleaning actuator connecting bracket, a scraper bracket, a scraper, and a second cleaning arm cleaning towel, a second cleaning arm cleaning towel support; one end of the second cleaning actuator connecting support is provided with a scraper support, the other end is provided with a second cleaning arm cleaning towel support, and a second cleaning arm connecting piece is provided at the center of the upper surface; The scraper is installed on the scraper bracket; the cleaning towel of the second cleaning arm is fixed on the outer surface of the cleaning towel bracket of the second cleaning arm; the bottom of the cleaning towel bracket of the second cleaning arm is provided with an actuator dirty liquid output joint, and the cleaning towel of the second cleaning arm The filth left by wiping the frame of the glass curtain wall is recovered through the effluent output joint of the actuator.

The structure of the box assembly includes a box assembly end cover, a box assembly shell, a heat shield, a system controller, a cleaning fluid storage and recovery system assembly, and a battery pack; the box; The body assembly end cover and the box body assembly shell are fixed by bolts, and six through holes are arranged on the edge of the box body assembly end cover to match the six threaded holes of the box body assembly shell; Both the controller and the battery pack are placed above the cleaning fluid storage and recovery system assembly, and the upper end of the heat shield is clamped in the fixing slot of the heat shield, which is located in the middle of the system controller and the battery pack; the guide of the system controller and the battery pack The edges are respectively fixed in the system controller fixing slot and the battery pack fixing slot.

The structure of the box assembly shell includes a second cleaning arm connection base, a hoisting joint, a heat shield fixing slot, a first cleaning arm connection base, a system controller fixing slot, A cleaning fluid storage and recovery system, the first fixing slot, a housing cleaning fluid output hole, six threaded holes, a battery pack fixing slot, a cleaning fluid storage and recovery system, the second fixing slot, and a housing dirt fluid recovery holes, a mobile support mechanism attachment base, a first power cable jack, a second power cable jack, a set of heat sinks, a controller input bus jack, a controller output bus jack, a first The safety rope is connected to the joint, and a second safety rope is connected to the joint.

A set of cooling fins, a first safety rope connection joint and a second safety rope connection joint are arranged on the back of the casing of the box body assembly, a hoisting joint is arranged on the outer side of the upper surface, and a fixing slot for a heat insulation plate is arranged on the inner side of the upper surface. The outer side of the lower surface is provided with a moving support mechanism connection base, the front edge is provided with six threaded holes, and the outer surfaces of both sides are respectively provided with a first cleaning arm connection base and a second cleaning arm connection base.

The system controller fixing slot and the first fixing slot of the cleaning liquid storage and recovery system are all arranged on the inner surface of the side where the first cleaning arm is connected to the base. The casing cleaning fluid output hole, the controller input bus jack and the controller output bus jack penetrate through the side where the first cleaning arm is connected to the base, and the casing cleaning fluid output hole and the cleaning fluid output of the cleaning fluid storage and recovery system assembly The holes are concentric, and the controller input bus jack and the controller output bus jack are arranged behind the connection base of the first cleaning arm.

The battery pack fixing card slot and the second fixing card slot of the cleaning liquid storage and recovery system are all arranged on the inner surface of the side where the second cleaning arm is connected to the base. The shell sewage recovery hole, the first power line jack and the second power line jack penetrate through the side where the second cleaning arm is connected to the base, and the center of the shell sewage recovery hole and the cleaning liquid storage and recovery system assembly dirty liquid The centers of the recovery holes are coincident, and the first power cord socket and the second power cord socket are arranged behind the connection base of the second cleaning arm.

The structure of the cleaning liquid storage and recovery system assembly includes a dirty liquid recovery hole, a cleaning liquid storage tank, a dirty liquid recovery box, a cleaning liquid output hole, a sealing cover of the dirty liquid recovery box, and a cleaning liquid storage and recovery box. The first guiding edge of the system, a sewage liquid filtering device, a micro water pump, a second guiding edge of the cleaning liquid storage and recovery system, and a cleaning liquid sealing cover.

The cleaning liquid storage tank and the dirty liquid recovery tank are connected through a dirty liquid filtering device, and both sides of the cleaning liquid storage tank and the dirty liquid recovery tank are respectively provided with cleaning liquid output holes and dirty liquid recovery holes, and inside the cleaning liquid storage tank Features a miniature water pump. The sewage formed in the cleaning process flows into the sewage recovery tank through the sewage recovery hole, and the sedimented sewage enters the cleaning liquid storage tank through the sewage filtering device. Under the action of the micro water pump, the cleaning liquid passes through the first cleaning actuator. The actuator cleaning fluid is injected into the connector to soak the first cleaning arm cleaning towel.

The tops of the outer sides of the cleaning liquid storage tank and the dirty liquid recovery tank are respectively provided with the second guiding edge of the cleaning liquid storage and recovery system and the first guiding edge of the cleaning liquid storage and recovery system, which are used to fix the cleaning liquid storage and recovery system assembly in the box assembly. The position in the casing, the top of which is respectively provided with a cleaning liquid sealing cover and a dirty liquid recovery box sealing cover, which are used to prevent the leakage of cleaning liquid and dirty liquid during the working process.

The mobile support mechanism has a first rotation pair of the mobile support mechanism with the _X0 direction as the rotation axis, and two active degrees of freedom with the _Y0 direction as the rotation axis, which are the second rotation pair of the mobile support mechanism and the mobile support mechanism. The structure of the third rotating pair includes a first drive motor of a mobile support mechanism, a first link of a mobile support mechanism, a second drive motor seat of a mobile support mechanism, a second drive motor of a mobile support mechanism, and a mobile support mechanism The second link joint, the second link of a mobile support mechanism, the third drive motor seat of a mobile support mechanism, the third drive motor of a mobile support mechanism, the third link joint of a mobile support mechanism, and the third link joint of a mobile support mechanism Connecting rod, an arc-shaped moving support mechanism foot end, and an arc-shaped foot end anti-skid rubber pad. The foot end of the mobile support mechanism and the anti-skid rubber pad at the foot end are designed in an arc shape to increase the frictional resistance in the Y ₀ direction, but do not affect the movement in the X ₀ and Z ₀ directions.

The first drive motor of the moving support mechanism is fixed on one side of the connecting base of the moving support mechanism in the casing of the box assembly, and its output shaft is fixedly connected with the first link of the moving support mechanism to form the first rotating pair of the moving support mechanism. The other end of the first link of the moving support mechanism is screwed with the second driving motor base of the moving support mechanism.

The second drive motor of the moving support mechanism is fixed on the second drive motor seat of the moving support mechanism, and its output shaft is fixedly connected with the second link joint of the moving support mechanism to form the second rotating pair of the moving support mechanism. One end of the second connecting rod of the moving support mechanism is threadedly connected with the second connecting rod joint of the moving support mechanism, and the other end is threadedly connected with the third driving motor seat of the moving support mechanism.

The third drive motor of the moving support mechanism is fixed on the third drive motor seat of the moving support mechanism, and its output shaft is fixedly connected with the third link joint of the moving support mechanism to form the third rotating pair of the moving support mechanism. One end of the third connecting rod of the moving support mechanism is threadedly connected with the third connecting rod joint of the moving support mechanism, and the other end is threadedly connected with the foot end of the arc-shaped moving support mechanism.

The structure of the visual sensing system assembly includes a camera, a first bracket for the camera, a first connection joint for the camera, a second bracket for the camera, a first drive motor, a second connection joint for the camera, a visual sensor system base, a second camera motor. The base of the visual sensing system is fixed on the upper surface of the casing of the box assembly. The second drive motor is fixed on the base of the vision sensing system, and its output shaft is fixedly connected with the second connection joint of the camera. The flange of the second connection joint of the camera is screwed with the lower surface of the second bracket of the camera, and the second drive motor drives the second bracket of the camera to rotate with the Z ₀ direction as the rotation axis. The first drive motor is fixed on the side of the second bracket of the camera, and its output shaft is fixedly connected with the first connection joint of the camera. The flange of the first connection joint of the camera is threadedly connected with the first bracket of the camera, and the first drive motor drives the first bracket of the camera to rotate with the Y ₀ direction as the rotation axis. The camera is fixed on the first bracket of the camera.

Compared with the prior art, the present invention has the following characteristics:

(1) It has a cleaning mode similar to manual operation, with less energy consumption, simple structure, flexible movement, safety and reliability;

(2) With a visual feedback system, strong adaptability and high degree of automation;

(3) It has a sewage recovery system, which does not pollute the environment, and the two cleaning actuators have mutual cleaning functions.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the robot in the present invention;

Fig. 2 is the structural representation of the cleaning arm in the present invention;

3 is a schematic structural diagram of the first cleaning actuator of the cleaning arm in the present invention;

4 is a schematic structural diagram of the second cleaning actuator of the cleaning arm in the present invention;

Fig. 5 is the structural representation of the box assembly in the present invention;

FIG. 6 is a schematic diagram of the three-dimensional structure of the casing of the box assembly in the present invention;

Fig. 7 is the structural schematic diagram of the right side view of the casing of the box assembly in the present invention;

Figure 8 is a schematic view of the front structure of the casing of the box assembly in the present invention;

Fig. 9 is the left side structural schematic diagram of the casing of the box assembly in the present invention;

Figure 10 is a schematic diagram of the structure of the right side view of the cleaning fluid storage and recovery system assembly in the present invention;

Figure 11 is a schematic front view of the cleaning fluid storage and recovery system assembly in the present invention;

Fig. 12 is the left side structural schematic diagram of the cleaning liquid storage and recovery system assembly in the present invention;

Figure 13 is a schematic view of the cross-sectional structure along the A-A direction in Figure 11;

14 is a schematic structural diagram of a mobile support mechanism in the present invention;

15 is a schematic structural diagram of the visual sensing system assembly in the present invention;

Among them, 11. cleaning arm, 12. box assembly, 13. moving support mechanism, 14. first cleaning actuator, 15. second cleaning actuator, 16. visual sensing system assembly;

21. Cleaning arm first drive motor, 22. Cleaning arm first link, 23. Cleaning arm second drive motor seat, 24. Cleaning arm second drive motor, 25. Cleaning arm second link joint, 26. Cleaning Arm second link, 27. Cleaning arm third drive motor seat, 28. Cleaning arm third drive motor, 29. Cleaning arm third link, 210. Cleaning arm fourth drive motor seat, 211. Cleaning arm fourth drive motor, 212. cleaning actuator connector, 213. fourth rotating pair, 214. third rotating pair, 215. second rotating pair, 216. first rotating pair;

31. Actuator cleaning fluid injection joint, 32. First cleaning actuator connecting bracket, 33. First cleaning arm connecting piece, 34. Wiper rubber strip bracket, 35. Rubber strip, 36. First cleaning arm cleaning towel , 37. The first cleaning arm cleans the towel holder.

41. Actuator dirty liquid output connector, 42. Second cleaning arm connecting piece, 43. Second cleaning actuator connecting bracket, 44. Scraper bracket, 45. Scraper, 46. Second cleaning arm cleaning towel, 47. Second Cleaning arm cleaning towel holder;

51. Box assembly end cover, 52. Box assembly shell, 53. Heat insulation plate, 54. System controller, 55. Cleaning fluid storage and recovery system assembly, 56. Battery pack;

61. Second cleaning arm connection base, 62. Lifting joint, 63. Heat insulation board fixing slot, 64. First cleaning arm connection base, 65. System controller fixing slot, 66. Cleaning fluid storage and recovery system 1st fixing slot, 67. Shell cleaning fluid output hole, 68. Threaded hole, 69. Battery pack fixing slot, 610. Second fixing slot for cleaning fluid storage and recovery system, 611. Housing dirt recovery hole, 612. Mobile support mechanism connection base, 613. First power cable jack, 614. Second power cable jack, 615. Heat sink, 616. Controller input bus jack, 617. Controller output bus jack, 618. The first safety rope connection joint, 619. The second safety rope connection joint;

71. Sewage liquid recovery hole, 72. Cleaning liquid storage tank, 73. Stained liquid recovery tank, 74. Cleaning liquid output hole, 75. Sewage liquid recovery tank sealing cover, 76. The first guide edge of cleaning liquid storage and recovery system, 77 . Sewage liquid filtering device, 78. Micro water pump, 79. The second guide edge of the cleaning liquid storage and recovery system, 710. Cleaning liquid sealing cover;

81. The first drive motor of the mobile support mechanism, 82. The first link of the mobile support mechanism, 83. The second drive motor base of the mobile support mechanism, 84. The second drive motor of the mobile support mechanism, 85. The second link of the mobile support mechanism Joint, 86. The second link of the mobile support mechanism, 87. The third drive motor base of the mobile support mechanism, 88. The third drive motor of the mobile support mechanism, 89. The third link joint of the mobile support mechanism, 810. The third link of the mobile support mechanism Three-bar linkage, 811. Foot end of arc-shaped moving support mechanism, 812. Anti-slip rubber pad at arc-shaped foot end, 813. The third rotating pair of the moving support mechanism, 814. The second rotating pair of the moving support mechanism, 815. The first rotating pair of the moving support mechanism a rotating pair;

91. Camera, 92. Camera first bracket, 93. Camera first connection connector, 94. Camera second bracket, 95. First drive motor, 96. Camera second connection connector, 97. Vision sensing system base, 98. Second drive motor.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

The structures, proportions, sizes, etc. shown in the drawings in this specification are only used to cooperate with the contents disclosed in the specification for the understanding and reading of those who are familiar with the technology, and are not intended to limit the conditions for the implementation of the present invention. , therefore does not have technical substantive significance, any structural modification, proportional relationship change or size adjustment, without affecting the effect that the present invention can produce and the purpose that can be achieved, should still fall within the scope of the present invention. The technical content must be able to cover the scope. At the same time, the terms such as "up", "down", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and clarity, and are not used to limit this specification. The implementable scope of the invention, and the change or adjustment of the relative relationship thereof, shall also be regarded as the implementable scope of the present invention without substantially changing the technical content.

As shown in FIG. 1 , an aerial cleaning robot with a manual-like operation mode of the present invention includes two cleaning arms 11 , a box assembly 12 , two moving support mechanisms 13 , and a first cleaning actuator 14 , a second cleaning actuator 15 , and a visual sensing system assembly 16 . The two cleaning arms 11 are respectively fixed to the second cleaning arm connection base 61 and the first cleaning arm of the box assembly housing 52 in the box assembly 12 through the flanges of the cleaning arm first drive motor 21 . On the connection base 64 , the first cleaning actuator 14 and the second cleaning actuator 15 are respectively installed on the cleaning actuator connectors of the cleaning arm 11 corresponding to the first cleaning arm connection base 64 and the second cleaning arm connection base 61 . 212 on. The two moving support mechanisms are respectively installed on the two ends of the moving support mechanism connecting base 612 of the case assembly housing 52 in the case assembly 12 . The visual sensing system assembly 16 is secured to the top of the case assembly housing 52 in the case assembly 12 .

The cleaning method includes the following steps:

The first step is to configure the roof hoisting system and two safety ropes. The main rope extended from the hoisting system is firmly connected to the hoisting joint 52 on the top surface of the casing 52 of the box assembly, and the two safety ropes are respectively connected to the box assembly. The first safety rope connection joint 618 and the second safety rope connection joint 619 on the back of the housing 52 are fixedly connected, and both safety ropes are provided with self-locking devices, so that when the hoist fails, the robot will not slide down rapidly.

In the second step, when the robot is working, the anti-skid rubber pads 812 of the curved foot ends of the moving support mechanism 13 are closely attached to the working surface to prevent the robot from swinging left and right.

In the third step, the second drive motor 98 and the first drive motor 95 of the visual sensing system assembly 16 drive the camera 91 to swing with the Z ₀ and Y ₀ directions respectively as the rotation axes to check the condition of the working surface and transmit the information to system controller 54;

In the fourth step, under the control of the system controller 54, the micro water pump 78 extracts the cleaning fluid from the cleaning fluid storage tank 72, and passes through the cleaning fluid output hole 74, the housing cleaning fluid output hole 67, and the actuator cleaning fluid injection joint 31, Wet the first cleaning arm cleaning towel 36;

In the fifth step, the first cleaning arm cleaning towel 36 in the first cleaning actuator 14 performs preliminary wiping on the obviously dirty working surface detected by the visual sensing system assembly 16;

The sixth step, use the scraper 45 in the second cleaning actuator 15 to remove the dirt;

Step 7, use the first cleaning arm cleaning towel 36 in the first cleaning actuator 14 to wipe the cleaning surface in a wide range;

The eighth step, use the rubber strip 35 in the first cleaning actuator 14 to scrape the cleaning surface;

In the ninth step, use the cleaning towel of the second cleaning arm in the second cleaning actuator 15 to wipe and collect the dirty liquid, and the dirty liquid passes through the dirty liquid output joint 41 of the actuator, the box assembly shell 52 and the shell dirty liquid recovery hole 611, clean The sewage recovery hole 71 of the liquid storage and recovery system flows into the sewage recovery tank 73;

The tenth step, the hoisting system moves, enters the next working surface, and repeats the above cleaning process until the robot lands;

In the eleventh step, the micro water pump 78 is turned on to the maximum, the first cleaning actuator 14, the first cleaning arm cleaning towel 36, and the second cleaning actuator 15, the second cleaning arm cleaning towel 46 wipe and squeeze each other, and the dirty liquid passes through. The waste liquid output joint 41 of the actuator is discharged into the waste liquid recovery tank 73 .

In the twelfth step, the hoisting system lifts the robot to the top of the building, and the translational hoisting system enters the next vertical working surface to start cleaning.

The cleaning arm 11 has a first rotation pair 216 with the Z ₀ direction as the rotation axis, a third rotation pair 214 with the X ₀ direction as the rotation axis, and two active degrees of freedom with the Y ₀ direction as the rotation axis, respectively. The second rotating pair 215 and the fourth rotating pair 213 . Wherein, X ₀ , Y ₀ , and Z ₀ are the three axial directions in the Cartesian three-dimensional coordinate system, respectively.

The structure of the cleaning arm 11 is shown in FIG. 2 , including a first driving motor 21 of the cleaning arm, a first connecting rod 22 of the cleaning arm, a second driving motor seat 23 of the cleaning arm, a second driving motor 24 of the cleaning arm, a The second link joint 25 of the cleaning arm, the second link 26 of the cleaning arm, the third driving motor seat 27 of the cleaning arm, the third driving motor 28 of the cleaning arm, the third link 29 of the cleaning arm, the third driving motor of the cleaning arm Four driving motor bases 210 , one cleaning arm fourth driving motor 211 , and one cleaning actuator connecting piece 212 .

The cleaning arm 11 equipped with the first cleaning actuator 14 is fixed on the first cleaning arm connection base 64 through the flange of the first driving motor 21 of the cleaning arm;

The cleaning arm 11 equipped with the second cleaning actuator 15 is fixed on the second cleaning arm connecting base 61 through the flange of the first driving motor 21 of the cleaning arm.

The output shaft of the first driving motor 21 of the cleaning arm is fixedly connected with the first connecting rod 22 of the cleaning arm to form a first rotating pair 216 . The other end of the first connecting rod 22 of the cleaning arm is connected with the second driving motor base 23 of the cleaning arm through threads.

The cleaning arm second driving motor 24 is fixed on the cleaning arm second driving motor base 23 , and its output shaft is fixedly connected with the cleaning arm second link joint 25 to form a second rotating pair 215 . One end of the second link 26 of the cleaning arm is connected with the second link joint 25 of the cleaning arm through threads, and the other end is connected with the third drive motor seat 27 of the cleaning arm through threads.

The third driving motor 28 of the cleaning arm is fixed on the third driving motor base 27 of the cleaning arm, and its output shaft is fixedly connected with the third connecting rod 29 of the cleaning arm to form a third rotating pair 214 . The other end of the third link 29 of the cleaning arm is connected with the fourth driving motor base 210 of the cleaning arm through threads.

The fourth driving motor 211 of the cleaning arm is fixed on the fourth driving motor base 210 of the cleaning arm, and its output shaft is fixedly connected with the cleaning actuator connecting piece 212 to form a fourth rotating pair 213 .

The structure of the first cleaning actuator 14 is shown in FIG. 3 , including two actuator cleaning fluid injection joints 31 , a first cleaning actuator connecting bracket 32 , a first cleaning arm connecting piece 33 , and a wiper rubber strip bracket 34, a rubber strip 35, a first cleaning arm cleaning towel 36, a first cleaning arm cleaning towel holder 37. One end of the first cleaning actuator connecting bracket 32 is provided with a wiper rubber strip bracket 34 , the other end is provided with a first cleaning arm cleaning towel bracket 37 , and a first cleaning arm connecting member 33 is arranged at the center of the upper surface. The rubber strip 35 is mounted on the wiper rubber strip bracket 34 . The first cleaning arm cleaning towel 36 is fixed on the lower surface of the first cleaning arm cleaning towel support 37, the actuator cleaning liquid injection joint 31 is arranged on the first cleaning arm cleaning towel support 37, and the cleaning liquid is soaked through the actuator cleaning liquid injection joint 31. Wet the first cleaning arm cleaning towel 36 .

The structure of the second cleaning actuator 15 is shown in FIG. 4 , including an actuator dirt liquid output joint 41 , a second cleaning arm connecting piece 42 , a second cleaning actuator connecting bracket 43 , a scraper bracket 44 , and a scraper 45 , a second cleaning arm cleans the towel 46, and a second cleaning arm cleans the towel holder 47. One end of the second cleaning actuator connecting bracket 43 is provided with a scraper bracket 44, the other end is provided with a second cleaning arm cleaning towel bracket 47, and a second cleaning arm connecting member 42 is provided at the center of the upper surface. The scraper 45 is mounted on the scraper holder 44 . The second cleaning arm cleaning towel 46 is fixed on the outer surface of the second cleaning arm cleaning towel holder 47 . The bottom of the second cleaning arm cleaning towel support 47 is provided with an actuator dirty liquid output connector 41 , and the second cleaning arm cleaning towel 46 wipes the residual dirty liquid from the glass curtain wall frame and is recovered through the actuator dirty liquid output connector 41 .

The structure of the box assembly 12 is shown in Figure 5, including a box assembly end cover 51, a box assembly shell 52, a heat shield 53, a system controller 54, and a cleaning fluid storage and recovery system Assembly 55, a battery pack 56. The box assembly end cover 51 and the box assembly shell 52 are fixed by bolts, and the edge of the box assembly end cover 51 is provided with six through holes to match the six threaded holes 68 of the box assembly shell 52 . The heat shield 53, the system controller 54 and the battery pack 56 are all placed above the cleaning fluid storage and recovery system assembly 55, and the upper end of the heat shield 53 is clamped in the heat shield fixing slot 63, located between the system controller 54 and the battery. Middle of group 56. The guiding edges of the system controller 54 and the battery pack 56 are respectively fixed in the system controller fixing slot 65 and the battery pack fixing slot 69 .

The structure of the casing 52 of the box assembly is shown in Figures 6-9, including a second cleaning arm connection base 61, a hoisting joint 62, a heat shield fixing slot 63, and a first cleaning arm connection base A seat 64, a system controller fixing slot 65, a cleaning fluid storage and recovery system first fixing slot 66, a housing cleaning fluid output hole 67, six threaded holes 68, a battery pack fixing slot 69, a cleaning The second fixing slot 610 of the liquid storage and recovery system, a housing waste liquid recovery hole 611, a mobile support mechanism connecting base 612, a first power cord socket 613, a second power cord socket 614, a set of heat dissipation Sheet 615, a controller input bus jack 616, a controller output bus jack 617, a first safety rope connection connector 618, and a second safety cable connection connector 619.

A set of cooling fins 615, a first safety rope connecting joint 618 and a second safety rope connecting joint 619 are arranged on the back of the box assembly shell 52, a hoisting joint 62 is arranged on the outer side of the upper surface, and a thermal insulation is arranged on the inner side of the upper surface. The plate fixing slot 63 has a moving support mechanism connecting base 612 on the outside of its lower surface, six threaded holes 68 on its front edge, and a first cleaning arm connecting base 64 and a second cleaning arm connecting base 64 and a second cleaning arm on the outer surfaces of its two sides respectively. The cleaning arm is connected to the base 61 .

The system controller fixing slot 65 and the first fixing slot 66 of the cleaning liquid storage and recovery system are all provided on the inner surface of the side where the first cleaning arm connecting base 64 is located. The casing cleaning fluid output hole 67, the controller input bus jack 616 and the controller output bus jack 617 penetrate through the side where the first cleaning arm is connected to the base 64, and the casing cleaning fluid output hole 67 is connected to the cleaning fluid storage and recovery system. The cleaning liquid output holes 74 of 55 are concentric, and the controller input bus jack 616 and the controller output bus jack 617 are arranged behind the first cleaning arm connection base 64 .

The battery pack fixing card slot 69 and the cleaning fluid storage and recovery system second fixing card slot 610 are both disposed on the inner surface of the side where the second cleaning arm is connected to the base 61 . The casing dirt recovery hole 611 , the first power cord jack 613 and the second power cord jack 614 penetrate through the side where the second cleaning arm is connected to the base 61 , and the center of the casing dirt recovery hole 611 is connected to the cleaning liquid storage and recovery The centers of the sewage recovery holes 71 of the system assembly 55 are coincident, and the first power cord socket 613 and the second power cord socket 614 are arranged behind the second cleaning arm connection base 61 .

The structure of the cleaning fluid storage and recovery system assembly 55 is shown in Figs. 10-13, including a dirty fluid recovery hole 71, a cleaning fluid storage tank 72, a dirty fluid recovery box 73, a cleaning fluid output hole 74, and a dirty fluid recovery hole 74. Liquid recovery tank sealing cover 75, a cleaning liquid storage and recovery system first guide edge 76, a sewage filter device 77, a micro water pump 78, a cleaning liquid storage and recovery system second guide edge 79, a cleaning liquid sealing cover 710.

The cleaning liquid storage tank 72 and the dirty liquid recovery tank 73 are communicated through the dirty liquid filtering device 77, and the cleaning liquid output holes 74 and the dirty liquid recovery holes 71 are respectively provided on both sides of the cleaning liquid storage tank 72, and a micro water pump is arranged in the cleaning liquid storage tank 72. 78. The dirty liquid formed in the cleaning process flows into the dirty liquid recovery tank 73 through the dirty liquid recovery hole 71, and the precipitated dirty liquid enters the cleaning liquid storage tank 72 through the dirty liquid filtering device 77. Under the action of the micro water pump 78, the cleaning liquid passes through the first An actuator cleaning fluid injection connector 31 in a cleaning actuator 14 wets the first cleaning arm cleaning towel. The tops of the outer sides of the cleaning liquid storage tank 72 and the dirty liquid recovery tank 73 are respectively provided with a second guiding edge 79 of the cleaning liquid storage and recovery system and a first guiding edge 76 of the cleaning liquid storage and recovery system for fixing the cleaning liquid storage and recovery system assembly 55 At the position in the casing 52 of the box body assembly, a cleaning liquid sealing cover 710 and a dirty liquid recovery tank sealing cover 75 are respectively provided on the top thereof to prevent leakage of the cleaning liquid and the dirty liquid during the working process.

The mobile support mechanism 13 has a first rotation pair 815 of the mobile support mechanism with the X ₀ direction as the rotation axis, and two active degrees of freedom with the Y ₀ direction as the rotation axis, which are the second rotation pair 814 of the mobile support mechanism and the mobile support mechanism. The third rotating pair 813 of the mechanism, whose structure is shown in Figure 14, includes a first drive motor 81 of a mobile support mechanism, a first link 82 of a mobile support mechanism, a second drive motor base 83 of a mobile support mechanism, and a mobile support mechanism. A second drive motor 84 of the mechanism, a second link joint 85 of a mobile support mechanism, a second link 86 of a mobile support mechanism, a third drive motor seat 87 of a mobile support mechanism, a third drive motor 88 of the mobile support mechanism, a The third link joint 89 of the mobile support mechanism, a third link 810 of the mobile support mechanism, an arc-shaped foot end 811 of the mobile support mechanism, and a non-slip rubber pad 812 at the arc-shaped foot end.

The first drive motor 81 of the moving support mechanism is fixed on the side of the connecting base 612 of the moving support mechanism in the casing 52 of the box assembly, and its output shaft is fixedly connected with the first connecting rod 82 of the moving support mechanism to form the first connecting rod of the moving support mechanism. Turn vice 815. The other end of the first link 82 of the moving support mechanism is threadedly connected with the second driving motor base 83 of the moving support mechanism.

The second driving motor 84 of the moving support mechanism is fixed on the second driving motor base 83 of the moving support mechanism, and its output shaft is fixedly connected with the second link joint 85 of the moving support mechanism to form the second rotating pair 814 of the moving support mechanism. One end of the second connecting rod 86 of the moving support mechanism is threadedly connected to the second connecting rod joint 85 of the moving support mechanism, and the other end is threadedly connected to the third driving motor base 87 of the moving support mechanism.

The third drive motor 88 of the moving support mechanism is fixed on the third drive motor base 87 of the moving support mechanism, and its output shaft is fixedly connected with the third link joint 89 of the moving support mechanism to form the third rotating pair 813 of the moving support mechanism. One end of the third connecting rod 810 of the moving support mechanism is threadedly connected with the third connecting rod joint 89 of the moving support mechanism, and the other end is threadedly connected with the foot end 811 of the arcuate moving support mechanism. The anti-skid rubber pad 812 at the arc-shaped foot end is fixed on the end of the foot end 811 of the arc-shaped moving support mechanism. The foot end of the mobile support mechanism and the anti-skid rubber pad at the foot end are designed in an arc shape to increase the frictional resistance in the Y ₀ direction, but do not affect the movement in the X ₀ and Z ₀ directions.

The structure of the visual sensing system assembly 16 is shown in FIG. 15 , including a camera 91 , a first bracket 92 for the camera, a first connection connector 93 for the camera, a second bracket 94 for the camera, a first drive motor 95 , and a second camera connector 96 , the visual sensing system base 97 , the second drive motor 98 . The visual sensing system base 97 is fixed on the upper surface of the casing 52 of the box assembly. The second drive motor 98 is fixed on the base 97 of the visual sensing system, and its output shaft is fixedly connected with the second connection joint 96 of the camera. The flange of the second connection joint 96 of the camera is threadedly connected to the lower surface of the second bracket 94 of the camera, and the second drive motor 98 drives the second bracket 94 of the camera to rotate with the Z ₀ direction as the rotation axis. The first drive motor 95 is fixed on the side of the second bracket 94 of the camera, and its output shaft is fixedly connected with the first connection joint 93 of the camera. The flange of the first connection joint 93 of the camera is threadedly connected with the first bracket 92 of the camera, and the first drive motor 95 drives the first bracket 92 of the camera to rotate with the Y ₀ direction as the rotation axis. The camera 91 is fixed on the first bracket 92 of the camera.

The power of the high-altitude cleaning robot with a manual-like operation mode of the present invention is provided by the battery pack 56, and the power of the hoisting system is provided by an external power supply. The reception, processing and transmission of control information are performed by the system controller 54 .

Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they do not limit the scope of protection of the present invention. Those skilled in the art should understand that on the basis of the technical solutions of the present invention, those skilled in the art do not need to pay creative efforts. Various modifications or deformations that can be made are still within the protection scope of the present invention.

Claims (1)

1. A cleaning method for a high-altitude cleaning robot with a manual-like operation mode, wherein the robot comprises two cleaning arms, a box assembly, two moving support mechanisms, and a first cleaning actuator, A second cleaning actuator and a visual sensing system assembly, the two cleaning arms are respectively fixed on the casing of the box body in the box body assembly, the first cleaning actuator and the second cleaning actuator are respectively Correspondingly installed on the cleaning arm; two moving support mechanisms are respectively installed at the lower end of the box assembly shell in the box assembly, and the end of the moving support mechanism is fixed with an arc-shaped foot end anti-skid rubber pad; the visual sensing system assembly is fixed On the top of the cabinet assembly shell in the cabinet assembly, the electrical components in the cleaning arm, the cabinet assembly, the mobile support mechanism and the visual sensing system assembly are all controlled by the system controller; The cleaning method includes the following steps: The first step is to configure the roof hoisting system and two safety ropes; the main rope extended from the hoisting system is fixedly connected to the hoisting joint on the top surface of the box assembly shell, and the two safety ropes are respectively connected to the box assembly shell. The safety rope on the back is connected to the joint, and the two safety ropes are equipped with self-locking devices. When the winch fails, the robot will not slide down rapidly; In the second step, the anti-skid rubber pad at the foot end of the mobile support mechanism is closely attached to the working surface to prevent the robot from swinging left and right; In the third step, the drive motors of the visual sensing system assembly drive the cameras to swing respectively, check the status of the work surface, and transmit the information to the system controller; The fourth step, under the control of the system controller, the micro water pump in the box assembly extracts the cleaning liquid from the cleaning liquid storage tank, and soaks the first cleaning arm cleaning towel in the first cleaning actuator; The fifth step, the first cleaning arm cleaning towel in the first cleaning actuator performs preliminary wiping on the obviously dirty working surface detected by the visual sensing system assembly; The sixth step, use the scraper in the second cleaning actuator to remove the dirt; The seventh step is to use the first cleaning arm cleaning towel in the first cleaning actuator to wipe the cleaning surface in a wide range; The eighth step, use the rubber strip in the first cleaning actuator to scrape the cleaning surface; The ninth step, use the cleaning towel of the second cleaning arm in the second cleaning actuator to wipe and collect the dirty liquid, and the dirty liquid passes through the dirty liquid output joint of the actuator, the dirty liquid recovery hole of the box assembly shell, and the dirty liquid of the cleaning liquid storage and recovery system. The recovery hole flows into the sewage recovery tank; The tenth step, the hoisting system moves, enters the next work surface, and repeats the cleaning process from the second to the ninth step until the robot lands; In the eleventh step, the micro water pump is turned on to the maximum, and the cleaning towel of the first cleaning arm of the first cleaning actuator and the cleaning towel of the second cleaning arm of the second cleaning actuator wipe and squeeze each other, and output the dirty liquid through the actuator. The joint is discharged into the sewage recovery tank; In the twelfth step, the winch system lifts the robot to the roof, and the translation winch system enters the next vertical working surface to start cleaning.

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