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Glass curtain wall cleaning method and bionic robot

A bionic robot and glass curtain wall technology, applied in the field of bionic robots, can solve the problems of low cleaning efficiency, repeated cleaning or omission, incompleteness, etc.

Active Publication Date: 2021-05-18
HUNAN CITY UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The above patent application only discloses a robot for cleaning glass curtain walls. During the cleaning process, the robot can easily cause repeated cleaning or omission of some areas, resulting in low cleaning efficiency and incomplete and incomplete cleaning.

Method used

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  • Glass curtain wall cleaning method and bionic robot
  • Glass curtain wall cleaning method and bionic robot
  • Glass curtain wall cleaning method and bionic robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033]The present embodiment provides a glass curtain wall cleaning method, comprising the steps of:

[0034] S1. According to the single-step cleaning area of ​​the bionic robot, the glass to be cleaned is divided into several equal-area cleaning areas;

[0035] S2. Determine the starting point of the bionic robot, and sequentially connect the center points of all cleaning areas to form the trajectory of the bionic robot;

[0036] S3. Define the center point of the first cleaning area of ​​each glass as the entry point;

[0037] S4. Control the single-step crawling distance of the crawling foot of the bionic robot according to the distance from the center point of the adjacent cleaning area, so that the bionic robot traverses the center points of all cleaning areas according to the motion trajectory and cleans each cleaning area;

[0038] Wherein, in step S4, when the bionic robot crawls to the cleaning area where the entry point is located, the position of the bionic robot ...

Embodiment 2

[0057] This embodiment provides a bionic robot implementing the glass curtain wall cleaning method in Embodiment 1, including a trunk 3, a working foot 4, a crawling foot 5 and a distance measuring sensor 6; the working foot 4 is connected with the trunk 3 for cleaning glass 2; the crawling foot 5 is connected with the trunk 3 for keeping the trunk 3 fixed and driving the trunk 3 to crawl; the distance measuring sensor 6 is connected with the trunk 3 for measuring the distance between the central point of the cleaning area of ​​the bionic robot and the length and width of the glass 2 vertical distance.

[0058] The bionic robot disclosed in this embodiment drives the bionic robot to crawl through the crawling foot 5, so that the bionic robot traverses the center points of all cleaning areas, and cleans all the cleaning areas through the working foot 4; when the bionic robot crawls to a certain piece of glass 2 When entering the cleaning area where the point is located, the pos...

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Abstract

The invention discloses a cleaning method for a glass curtain wall. The cleaning method comprises the steps that S1, to-be-cleaned glass is divided into a plurality of cleaning areas with the same area according to the single-step cleaning area of a bionic robot; S2, the starting point of the bionic robot is determined, and the center points of all the cleaning areas are connected in sequence to form the motion trail of the bionic robot; S3, the center point of the first cleaning area of each piece of glass is defined as an entry point; and S4, the single-step crawling distance of the bionic robot is controlled according to the center points of the adjacent cleaning areas, so that the bionic robot traverses the center points of all the cleaning areas according to the motion trail and cleans each cleaning area. In the step S4, the position of the bionic robot is corrected every time the bionic robot climbs to the cleaning area where the entry point is located. According to the cleaning method disclosed by the invention, the glass can be comprehensively and thoroughly cleaned, and the cleaning efficiency is improved. The invention further discloses the bionic robot for implementing the method.

Description

technical field [0001] The invention relates to the field of building cleaning, in particular to a glass curtain wall cleaning method and a bionic robot implementing the glass curtain wall cleaning method. Background technique [0002] The current cleaning of glass curtain walls has the problems of high risk factor of manual work and low cleaning efficiency. The invention patent application with the notification number CN109907689A discloses a climbing high-altitude glass-wiping robot, which includes a chassis, a crawling mechanism for climbing, a movable cleaning device for cleaning functions, and a suction cup for cleaning. The point suction cup adsorption point cleaning device is used for the control device of the above-mentioned device, and the crawling mechanism includes two sets of mechanical arms for crawling and vacuum suction cups for fixing the robot. The invention patent application with the notification number CN108852144A discloses an automatic cleaning equipme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A47L1/02A47L11/38A47L11/40E04G23/00
CPCA47L1/02A47L11/38A47L11/4088A47L11/4083A47L11/4038A47L11/4061E04G23/002A47L2201/00A47L2201/04
Inventor 李航洋孟文博邓曙光阳同光黄志亮戴作财贺霞
Owner HUNAN CITY UNIV
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