CN109512314A - A kind of high altitude operation special type service robot - Google Patents
A kind of high altitude operation special type service robot Download PDFInfo
- Publication number
- CN109512314A CN109512314A CN201811486849.9A CN201811486849A CN109512314A CN 109512314 A CN109512314 A CN 109512314A CN 201811486849 A CN201811486849 A CN 201811486849A CN 109512314 A CN109512314 A CN 109512314A
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- module
- glass
- quadrotor
- high altitude
- special type
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- 238000004140 cleaning Methods 0.000 claims abstract description 43
- 239000011521 glass Substances 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims description 26
- 230000004888 barrier function Effects 0.000 claims description 14
- 239000000428 dust Substances 0.000 claims description 9
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 6
- 238000005034 decoration Methods 0.000 claims description 6
- 238000007790 scraping Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 239000007921 spray Substances 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 239000012459 cleaning agent Substances 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims 2
- 238000010521 absorption reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002594 sorbent Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种高空作业特种服务机器人，属于智能机器人技术领域。由四旋翼飞行器本体，控制单元，清洗部件，惯性导航模块、综合检测模块以及通讯模块组成。本发明的目的在于提出一种擦玻璃机器人，利用旋翼飞行器陆空车可以垂直在建筑物表面悬停及保持稳定的飞行姿态的特点，通过螺旋桨旋转将擦玻璃机器人压在玻璃表面，实现一种可以在高空擦玻璃的机器人，具备避障、对玻璃进行擦拭的功能，提高了工作效率，减轻了工作劳动强度。
The present invention disclosed a special service robot in high -altitude operations, which belongs to the field of intelligent robotics. It consists of a four -rotor aircraft, controlling unit, cleaning parts, inertial navigation modules, comprehensive detection modules, and communication modules. The purpose of the present invention is to propose a glass rubbing robot. Using the rotor aircraft land and air vehicles can hang vertically on the surface of the building and maintain a stable flying posture. Robots that can wipe the glass at high altitude have the functions of obstacle avoidance and wiping glass, which improves work efficiency and reduces work labor intensity.
Description
Technical field
The invention discloses a kind of high altitude operation special type service robots, belong to intelligent robot technology field.
Background technique
Nowadays, the building in city is mostly high buildings and large mansions, and peripheral glass is difficult to clean due to position.If adopting
With traditional manual cleaning method not only somewhat expensive, and cleaning efficiency is low, operation is extremely dangerous.Glass-cleaning robot can be with
Change this status, independently wiped on the glass of high-altitude, us is not only helped to solve the problems, such as that high-altitude glass is difficult to wipe,
Also improve working efficiency.
Existing patent retrieval is found, patent application publication number: CN108497989A, a kind of denomination of invention: spider-shaped wiping
Glass robot, is adsorbed on glass by Spring suction cup, is then cleaned disk and is carried out rotation cleaning.Its disadvantage are as follows: absorption movement
Be unable to complete across glass frame and remove to clean another block of glass, and for the insufficient cleaning of glass frame, absorption it is mobile compared with
Slowly, it is also necessary to artificial to replace rag for cleaning disk.
Retrieval discovery, patent application publication number: CN108514372A, a kind of denomination of invention: high-altitude automatic glass wiping machine
People needs people to be remotely controlled in bottom of the building by being moved and being cleaned on two high-level glass of sucker alternating sorbent.It is lacked
Point are as follows: mobile be unable to complete of absorption goes to clean another block of glass across glass frame, and for the less cleaning of glass frame
Position, absorption movement are slower.
Retrieval discovery, patent application publication number: CN107981774A, a kind of denomination of invention: intelligent double-sided machine that cleans the windows
Host is attached to the outer surface of glass by people, and slave is attached to the inner surface of glass, in the work of muti-piece permanent magnet and muti-piece electromagnet
Under, host and slave attract each other, and are fitted in the inside and outside two sides of glass.Its disadvantage are as follows: moved, held by universal wheel
Easily leave water stain Deng traces.Complex in across obstacle, speed is slower.
Retrieval discovery, patent application publication number: CN108158480A, denomination of invention: it is a kind of can the intelligence of obstacle detouring clean the windows
Robot can realize climbing movement by vacuum small sucker and the big sucker of vacuum, can cross glass frame.Its disadvantage are as follows: though
So it is climbing movement, but substantially still relies on sucker suction movement, speed is slower, and movement span is small, can not cross over wider
Barrier, the problem of there is insufficient cleanings for glass frame.
Summary of the invention
It, can using rotor craft land empty wagons it is an object of the invention to propose a kind of high altitude operation special type service robot
Vertically the characteristics of building surface hovers and keeps stable flight attitude, to be rotated by propeller by glass-cleaning robot
Be pressed in glass surface, realize it is a kind of can in the robot that high-altitude cleans the windows, the function of having avoidance, wiped to glass,
It improves work efficiency, alleviates labor intensity.
To achieve the above object, the present invention increases glass cleaning machine on the basis of developing more mature quadrotor
The relevant design of device people.
A kind of high altitude operation special type service robot, the robot is by quadrotor ontology 1, control unit 2, cleaning
Component 3, inertial navigation module 4, comprehensive detection module 5 and communication module 6 form.
Control unit 2 is fixed on the inside of quadrotor ontology 1, and quadrotor ontology 1 and control are single
It is interacted between member 2；Component 3 is cleaned, comprehensive detection module 5 and communication module 6 are connect with control unit 2.
Inertial navigation module 4 is embedded in inside quadrotor ontology 1, including three-axis gyroscope, 3-axis acceleration pass
Sensor, to obtain the flight attitude of intelligent umbrella.
Wireless communication module 6 is fixed on inside quadrotor ontology 1, for sending and receiving data.
Quadrotor ontology 1 is made of upper cover 101, bottom case 102, decoration 103 and four rotors 104.Upper cover
101 bottom is mounted on bottom case 102, and decoration 103 is mounted on the top of upper cover 101, and four rotors 104 are arranged in array
On decoration 103.
Control unit 2 includes 201, four motors 202 of controller, motor driver 203 and power module 204, control
Device 201 further includes flight control system and the control module to other modules, and flight control system is entire for adjusting
The flight attitude and flight path of intelligent umbrella；Motor 202 is connect with motor driver 203, motor driver 203, cleaning component
3, comprehensive detection module 5, wireless communication module 6 and rotor 104 are connected with controller 201；Power module 204 is to controller
201, motor driver 203, motor 202 are powered.
Cleaning component 3 is made of all around four scraper plates 301, roller brush 302 and cleaning solution storage box 303.Wherein,
Four scraper plates 301 and roller brush 302 are fixed on the surface of bottom case 102, and cleaning solution storage box 303 is embedded in quadrotor sheet
The inside of body 1.There is pipeline to be connected inside roller brush 302 with cleaning solution storage box 303, can spray water or cleaning agent.
Comprehensive detection module 5 includes ultrasonic sensor, dust sensor and pressure sensor；Ultrasonic sensor is set
Inside quadrotor ontology 1, for detecting the barrier of surrounding；Dust sensor is placed in scraper plate 301 and roller brush
302 surfaces, for detecting the dust of glass surface；Pressure sensor is placed in 301 surface of scraper plate, for perceiving suffered by scraper plate 301
Pressure size facilitates adjustment glass-cleaning robot at a distance from glass surface.
Four scraper plates can independent telescope, when moving upwards, left and right scraper plate and upper scraping plate are retracted, lower scraping plate work；To the left
When movement, upper and lower and left scraper plate retracts right scraper plate work；Principle is same as above when downwards and moving right, and round brush can do 90 ° of rotation fortune
It is dynamic.All components are all waterproof parts.
Movement opportunity figure state is constant, motion profile can transverse and longitudinal switching, four propeller blade tilt adjustables.Obstacle detouring
When, scraper plate and idler wheel do staged and do stretching motion, fall on barrier, clean together together with barrier, obstacle detouring limiting altitude
For 200mm.
A kind of high altitude operation special type service robot, further includes remote controler, the remote controler by wireless communication module 6 with
Control unit 2 carries out wireless communication, and the direction of motion and motion profile of artificial control glass-cleaning robot, the inertia are led
Information detected by model plane block 4 and comprehensive detection module 5 all by wireless communication module 6 be sent to remote controler help use
Personnel control glass-cleaning robot.
Compared with prior art, the present invention have following apparent advantage and the utility model has the advantages that
1, the present invention can replace artificial high-altitude and clean the windows by controlling glass-cleaning robot, reduce artificial workload with
Risk.
2, the present invention and existing sucked type glass-cleaning robot movement speed faster, may span across the distance of barrier more
Greatly.
3, the present invention has roller brush and scraper plate, first passes through roller brush in same place and carries out wiping dust, then passes through
Scraper plate wipes stain, and cleaning dynamics is bigger.
Detailed description of the invention
Fig. 1 is glass-cleaning robot system block diagram.
Fig. 2 is glass-cleaning robot system side view.
Fig. 3 is glass-cleaning robot system bottom view.
Fig. 4 is glass-cleaning robot system cross-sectional view.
Fig. 5 is glass-cleaning robot system operational flow diagram.
Specific embodiment
Specific embodiments of the present invention are illustrated below in conjunction with Figure of description.
As shown in Figure 1, cleaning component 3, comprehensive detection module 5, wireless communication module 6 and rotor 104 and controller 201
It is connected, power module 204 is powered to controller 201, motor driver 202, motor 203.
As shown in Figure 2,3, 4, a kind of high altitude operation special type service robot, it is characterised in that by quadrotor ontology
1, control unit 2 cleans component 3, and inertial navigation module 4, comprehensive detection module 5 and communication module 6 form.
Wherein, quadrotor ontology 1 is made of upper cover 101, bottom case 102, decoration 103 and 4 rotors 104.
Control unit 2 is fixed on the inside of quadrotor ontology 1, including controller 201,4 motors 202, motor drivers 203
And power module 204, wherein controller 201 again include flight control system and the control module to other modules,
Flight control system is used to adjust flight attitude, the flight path of entire intelligent umbrella.Component 3 is cleaned mainly by all around 4
Scraper plate 301, roller brush 302 and cleaning solution storage box 303 form.Wherein, 4 scraper plates 301 and roller brush 302 are fixed on bottom case
102 surfaces, cleaning solution storage box 303 are embedded in inside quadrotor ontology 1, there is pipeline and cleaning inside roller brush 302
Liquid storage box 303 is connected, and can spray water or cleaning agent.Inertial navigation module 4 is embedded in inside quadrotor ontology 1, packet
Three-axis gyroscope, 3-axis acceleration sensor are included, to obtain the flight attitude of intelligent umbrella.Comprehensive detection module 5 includes ultrasound
Wave sensor, dust sensor and pressure sensor, ultrasonic sensor are placed in inside quadrotor ontology 1, are used for
The barrier of surrounding is detected, dust sensor is placed in 302 surface of scraper plate 301 and roller brush, for detecting the ash of glass surface
Dirt, pressure sensor are placed in 301 surface of scraper plate, for perceiving 301 pressure size of scraper plate, facilitate adjustment glass-cleaning robot
At a distance from glass surface.Wireless communication module 6 is fixed on inside quadrotor ontology 1, for sending and receiving data.
A kind of high altitude operation special type service robot, it is further characterized in that, four scraper plates can independent telescope, move upwards
When, left and right scraper plate and upper scraping plate retract, lower scraping plate work；When moving downward, upper and lower and left scraper plate retracts right scraper plate work；Downwards
And principle is same as above when moving right, round brush can do 90 ° of rotary motions.All components are all waterproof parts.
A kind of high altitude operation special type service robot, it is further characterized in that, movement opportunity figure state is constant, and motion profile can
Transverse and longitudinal switching, four propeller blade tilt adjustables.When obstacle detouring, scraper plate and idler wheel do staged and do stretching motion, fall in barrier
Hinder on object, cleaned together together with barrier, obstacle detouring limiting altitude is 200mm.
A kind of high altitude operation special type service robot, it is further characterized in that, it further include remote controler, the remote controler passes through nothing
Line communication module 6 is carried out wireless communication with control unit 2, the direction of motion and movement rail of artificial control glass-cleaning robot
Mark, all module 6 is sent information detected by the inertial navigation module 4 and comprehensive detection module 5 by wireless communication
User of service is helped to control glass-cleaning robot to remote controler.
Specific obstacle detouring and operational process are as shown in Figure 5.
Step (1), front and back scraper plate and roller brush can do independent telescope movement, have pipeline that can spray water or clean inside round brush
Agent.
Step (2), front scrapping plate retracts when obstacle detouring.
Step (3), equipment moves up.
Step (4), front scrapping plate fall and (fall in barrier/metope).
Step (5), equipment move up and (keep equipment parallel with metope).
Step (6), roller brush retract.
Step (7), equipment moves up.
Step (8), roller brush stretch out (falling in barrier/metope).
Step (9), equipment moves up.
Step (10), rear scraper plate retract.
Step (11), equipment moves up.
Step (12), rear scraper plate fall in barrier/metope.
Step (13) completes obstacle detouring.
The above is only specific application examples of the invention, are not intended to restrict the invention, all in spirit and original of the invention
Within then, any modification, equivalent substitution, improvement and etc. done be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of high altitude operation special type service robot, it is characterised in that: the robot is by quadrotor ontology (1), control
Unit (2) processed is cleaned component (3), inertial navigation module (4), comprehensive detection module (5) and wireless communication module (6) composition；
Control unit (2) is fixed on the inside of quadrotor ontology (1), and quadrotor ontology (1) and control
Unit interacts between (2)；It cleans component (3), comprehensive detection module (5) and communication module (6) connect with control unit (2)
It connects；
Inertial navigation module (4) is embedded in quadrotor ontology (1) inside, including three-axis gyroscope, 3-axis acceleration pass
Sensor, to obtain the flight attitude of intelligent umbrella；
Wireless communication module (6) is fixed on quadrotor ontology (1) inside, for sending and receiving data.
2. a kind of high altitude operation special type service robot according to claim 1, it is characterised in that: quadrotor sheet
Body (1) is made of upper cover (101), bottom case (102), decoration (103) and four rotors (104)；Pacify the bottom of upper cover (101)
On bottom case (102), decoration (103) is mounted on the top of upper cover (101), and four rotors (104) are arranged in array and are filling
On gadget (103).
3. a kind of high altitude operation special type service robot according to claim 1, it is characterised in that: control unit (2) packet
Controller (201), four motors (202), motor driver (203) and power module (204), controller (201) is included also to wrap
Flight control system and the control module to other modules are included, flight control system is used to adjust flying for entire intelligent umbrella
Row posture and flight path；Motor (202) is connect with motor driver (203), motor driver (203), cleaning component (3),
Comprehensive detection module (5), wireless communication module (6) and rotor (104) are connected with controller (201)；Power module (204)
To controller (201), motor driver (203), motor (202) power supply.
4. a kind of high altitude operation special type service robot according to claim 1, it is characterised in that: cleaning component (3) by
All around four scraper plates (301), roller brush (302) and cleaning solution storage box (303) composition；Wherein, four scraper plates (301)
The surface of bottom case (102) is fixed on roller brush (302), cleaning solution storage box (303) is embedded in quadrotor ontology (1)
Inside；There is pipeline to be connected with cleaning solution storage box (303) inside roller brush (302), can spray water or cleaning agent.
5. a kind of high altitude operation special type service robot according to claim 1, it is characterised in that: comprehensive detection module
It (5) include ultrasonic sensor, dust sensor and pressure sensor；Ultrasonic sensor is placed in quadrotor ontology
(1) internal, for detecting the barrier of surrounding；Dust sensor is placed in scraper plate (301) and roller brush (302) surface, is used for
Detect the dust of glass surface；Pressure sensor is placed in scraper plate (301) surface, for perceiving scraper plate (301) pressure size,
Facilitate adjustment glass-cleaning robot at a distance from glass surface.
6. a kind of high altitude operation special type service robot according to claim 5, it is characterised in that: four scraper plates can be only
Vertical flexible, when moving upwards, left and right scraper plate and upper scraping plate are retracted, lower scraping plate work；When moving downward, upper and lower and left scraper plate is retracted
Right scraper plate work；Principle is same as above when downwards and moving right, and round brush can do 90 ° of rotary motions；All components are all waterproof parts.
7. a kind of high altitude operation special type service robot according to claim 1, it is characterised in that: movement opportunity figure state
It is constant, motion profile can transverse and longitudinal switching, four propeller blade tilt adjustables；When obstacle detouring, scraper plate and idler wheel do staged and do
Stretching motion is fallen on barrier, is cleaned together together with barrier, and obstacle detouring limiting altitude is 200mm.
8. a kind of high altitude operation special type service robot according to claim 1, it is characterised in that: it further include remote controler,
Module (6) carries out wireless communication the remote controler with control unit (2) by wireless communication, artificial control glass-cleaning robot
The direction of motion and motion profile, information detected by the inertial navigation module (4) and comprehensive detection module (5) is all
Module (6) is sent to remote controler and helps user of service's control glass-cleaning robot by wireless communication.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811486849.9A CN109512314A (en) | 2018-12-06 | 2018-12-06 | A kind of high altitude operation special type service robot |
| PCT/CN2019/116607 WO2020114195A1 (en) | 2018-12-06 | 2019-11-08 | Special service robot for high-altitude operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811486849.9A CN109512314A (en) | 2018-12-06 | 2018-12-06 | A kind of high altitude operation special type service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109512314A true CN109512314A (en) | 2019-03-26 |
Family
ID=65794793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811486849.9A Pending CN109512314A (en) | 2018-12-06 | 2018-12-06 | A kind of high altitude operation special type service robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109512314A (en) |
| WO (1) | WO2020114195A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020114195A1 (en) * | 2018-12-06 | 2020-06-11 | 北京工业大学 | Special service robot for high-altitude operation |
| CN111345750A (en) * | 2020-03-23 | 2020-06-30 | 河南理工大学 | A glass curtain wall cleaning robot and its use method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115381324A (en) * | 2022-08-30 | 2022-11-25 | 黄河水利职业技术学院 | A high-altitude cleaning drone and a method for high-altitude cleaning |
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| CN111345750A (en) * | 2020-03-23 | 2020-06-30 | 河南理工大学 | A glass curtain wall cleaning robot and its use method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020114195A1 (en) | 2020-06-11 |
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