A glass curtain wall cleaning system and cleaning method

Abstract

A glass curtain wall cleaning system and cleaning method, including a box body, the box body is arranged relative to the wall surface, motion modules are connected to the upper and lower sides of the box body, a power module, a cleaning module, a signal acquisition module, a signal processing module, and a control module are all arranged inside the box body, the control module is connected to the power module and the signal acquisition module, the power module is connected to the motion module and the cleaning module, the cleaning module is arranged relative to the wall surface, and the signal processing module is connected to the signal acquisition module and the control module; the control module is used to send control instructions to the power module and the signal acquisition module; the power module is used to turn on and off the motion module and the cleaning module; the motion module is used to control the movement of the box body; the cleaning module is used to clean the stains; the signal acquisition module is used to obtain image information and send it to the signal processing module; the signal processing module is used to process the image information and send it to the control module. This design can achieve automatic cleaning and has a good cleaning effect.

Description

Technical Field

[0001] The present invention relates to the technical field of automated cleaning equipment, and particularly relates to a glass curtain wall cleaning system and a cleaning method. Background Art

[0002] A glass curtain wall refers to an exterior enclosure structure or decorative structure of a building that can have a certain displacement ability relative to the main structure by a supporting structure system and does not bear the actions received by the main structure. The glass curtain wall has a good beautifying effect on the building and is widely used in various building exteriors, such as high-rise buildings like office buildings, libraries, and gymnasiums.

[0003] The glass curtain wall is generally installed outdoors, so it needs to be cleaned frequently. Due to the high height of the glass curtain wall, during cleaning, it is usually necessary for cleaning workers to clean the glass curtain wall through a lifting platform or a hanging basket. Although this method is convenient for cleaning the glass curtain wall, the labor intensity of the cleaning workers is too high and there are potential safety hazards. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects and problems of high manual cleaning intensity and insecurity in the prior art, and provide a glass curtain wall cleaning system and a cleaning method with automated cleaning and cleaning safety.

[0005] To achieve the above purpose, the technical solution of the present invention is:

[0006] A glass curtain wall cleaning system includes a box body, a motion module, a power module, a cleaning module, a signal acquisition module, a signal processing module, and a control module. The box body is arranged relative to the wall surface. The motion module is connected to the upper and lower sides of the box body. The power module, the cleaning module, the signal acquisition module, the signal processing module, and the control module are all arranged inside the box body. The control module is respectively connected to the power module and the signal acquisition module. The power module is respectively connected to the motion module and the cleaning module. The cleaning module is arranged relative to the wall surface. The signal processing module is respectively connected to the signal acquisition module and the control module;

[0007] The control module is used to send control instructions to the power module and the signal acquisition module respectively;

[0008] The power module is used to start and stop the motion module and the cleaning module;

[0009] The motion module is used to control the box body to move up and down on the wall surface;

[0010] The cleaning module is used to clean the stains on the wall surface;

[0011] The signal acquisition module is used to obtain the image information of the cleaning area and send the image information to the signal processing module;

[0012] The signal processing module is configured to receive image information and send the processed image information to the control module.

[0013] The motion module includes two triangular discs and three long shafts. The power module includes an air pump. Fixed suction cups are provided on both the upper and lower sides of the box body. Straws are provided at the centers of the two fixed suction cups. One end of each straw is communicated with the corresponding fixed suction cup, and the other end passes through the box body and is communicated with the air pump. Circular suction cups are provided on both the upper and lower sides of the two triangular discs. Straws are provided at the centers of the four circular suction cups. One end of the straw located on the circular suction cup is communicated with the circular suction cup, and the other end sequentially passes through the triangular disc and the box body and is communicated with the air pump. The three long shafts horizontally penetrate through the box body in sequence. Connecting rods are provided at both ends of the three long shafts. One end of each connecting rod is sleeved on the corresponding long shaft, and the other end of the connecting rod is rotatably connected with a rotating shaft. The three rotating shafts on the left are respectively rotatably connected to the three vertices of the triangular disc on the left, and the three rotating shafts on the right are respectively rotatably connected to the three vertices of the triangular disc on the right.

[0014] The cleaning module includes a wall brush frame, a sliding seat, a connecting shaft, and a water storage device. The wall brush frame is of a rectangular frame structure and is connected to the inner side wall of the box body. The sliding seat is vertically arranged and slidably connected to the wall brush frame in the horizontal direction. A through groove is formed in the sliding seat in the vertical direction. The connecting shaft is vertically connected to the sliding seat and is arranged relative to the through groove. An upper wall brush, a brush rod, and a lower wall brush are sequentially sleeved on the outer peripheral surface of the connecting shaft from top to bottom. Both the upper wall brush and the lower wall brush are made of compressible foam brushes. The upper side of one end of the brush rod is in contact with the upper wall brush, and the lower side of one end of the brush rod is in contact with the lower wall brush. The other end of the brush rod passes through the through groove and is connected to a chain drive assembly. The brush rod is slidably connected to the connecting shaft and the through groove. The chain drive assembly is used to control the brush rod to move circumferentially along the wall brush frame. The water storage device is arranged relative to the upper wall brush and the lower wall brush.

[0015] The chain drive assembly includes a chain and four sprockets. The four sprockets are all connected to the wall brush frame through connecting plates. The four sprockets are evenly distributed at the four vertices of the wall brush frame. The chain is sleeved on the outer peripheries of the four sprockets. The other end of the brush rod is inserted into the chain.

[0016] An inlet and a sewage outlet are respectively formed on the upper and lower sides of the sliding seat. A cleaning water tank is formed in the sliding seat. One side of the cleaning water tank is communicated with the inlet, and the other side of the cleaning water tank is communicated with the sewage outlet. The water outlet end of the water storage device is communicated with the inlet, and the water inlet end of the water storage device is communicated with the sewage outlet. The upper wall brush and the lower wall brush are arranged relative to the cleaning water tank.

[0017] The upper and lower ends of the connecting shaft are rotatably connected to the sliding seat through bearings.

[0018] The cleaning module includes a laser cleaning rack, a sliding rod, and a laser head. The laser cleaning rack is connected to the inner side wall of the box body. The sliding rod is horizontally arranged in the laser cleaning rack and is slidably connected to the laser cleaning rack in the vertical direction. The laser head is sleeved on the sliding rod and is slidably connected to the sliding rod.

[0019] The signal acquisition module includes two electronic eyes, and the two electronic eyes are symmetrically arranged on the two inner side walls of the box body.

[0020] A method for cleaning a glass curtain wall, the cleaning method comprising the following steps:

[0021] S1. Place the motion module and the box body on the wall surface, and align the cleaning module with the wall surface;

[0022] S2. The control module sends a control instruction to the cleaning module, and the cleaning module cleans the wall surface;

[0023] S3. The signal acquisition module acquires the image information of the cleaning area, and sends the image information to the signal processing module. The signal processing module processes the image information and sends the processed image information to the control module;

[0024] S4. The control module determines whether there are stains in the image of the cleaning area. If not, the control module sends a control instruction to the motion module. The motion module controls the box body to move up a certain distance and fix it, and then repeats steps S2 - S4 until the wall surface is cleaned; if there are stains, repeat steps S2 - S4 until the stains in the cleaning area are completely removed.

[0025] In the step S2, the specific steps for the cleaning module to clean the wall surface are as follows:

[0026] S21. The water storage device starts to supply water. The clear water enters the cleaning water tank from the water inlet, and makes the upper wall brush and the lower wall brush full of water. At the same time, the clear water enters the sewage outlet from the cleaning water tank and flows back to the water storage device;

[0027] S22. The rotating shaft rotates 90 degrees, so that the upper wall brush and the lower wall brush rotate 90 degrees synchronously. The four sprockets rotate clockwise at the same time, the chain rotates synchronously, and the brush rod moves upward under the drive of the chain. The upper wall brush is compressed, and the stains on the upper wall brush are discharged into the cleaning water tank. The sewage flows out from the sewage outlet along with the water in the tank. At the same time, the lower wall brush stretches and cleans the wall surface upward. When the brush rod moves to the first corner of the chain, at this time, the brush rod is at the uppermost position of the connecting shaft;

[0028] S23. The chain continues to rotate, and the brush rod moves to the right driven by the chain, driving the sliding seat, connecting shaft, upper wall brush, and lower wall brush to move synchronously to the right within the wall brush frame. The lower wall brush cleans the wall surface to the right. When the brush rod moves to the second corner of the chain, the sliding seat stops sliding;

[0029] S24. The chain continues to rotate, and the brush rod moves downward driven by the chain. The upper wall brush stretches and cleans the wall surface downward, while the lower wall brush compresses, and the stains on the lower wall brush are discharged into the cleaning sink. The sewage flows out from the sewage outlet along with the flowing water in the sink. When the brush rod moves to the third corner of the chain, the brush rod is at the lowest position of the connecting shaft at this time;

[0030] S25. The chain continues to rotate, and the brush rod moves to the left driven by the chain, driving the sliding seat, connecting shaft, upper wall brush, and lower wall brush to move synchronously to the left within the wall brush frame. The upper wall brush cleans the wall surface to the left. After the brush rod moves to the fourth corner of the chain, the sliding seat stops sliding, and the brush rod moves upward driven by the chain. When the brush rod moves to the middle position of the connecting shaft, the upper wall brush and the lower wall brush return to their original states;

[0031] S26. Repeat steps S22 - S25 until the wall surface in the cleaning area is cleaned.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0033] 1. In the glass curtain wall cleaning system and cleaning method of the present invention, by setting the motion module and the box body, the motion module is attached to the wall surface, and the cleaning module in the box body faces the wall surface for cleaning the stains on the wall surface. The information of the cleaning area is obtained through the signal acquisition module and the processing module. When there are no stains, the control module drives the motion module to move on the wall surface, and then the next cleaning area is cleaned by the cleaning module. Through the combination of multiple modules, the automatic cleaning of the wall surface can be realized. Therefore, the present invention can achieve automatic cleaning and is safe and reliable.

[0034] 2. In a glass curtain wall cleaning system and cleaning method of the present invention, during cleaning, the air pump sucks air, the suction cups are adsorbed on the wall surface, the motion module and the box body are relatively fixed. When the cleaning is completed, the air pumps on the four circular suction cups first deflate, causing the four circular suction cups to disengage from the wall surface. Then, the power module controls the rotation of the three long shafts, causing the two triangular discs to rotate around the long shafts, and the four circular suction cups rotate synchronously. When the four circular suction cups come into contact with the wall surface, the air pump is controlled to suck air, and the four circular suction cups are fixed. Then, the air pump on the fixed suction cup is controlled to deflate, and the fixed suction cup disengages from the wall surface. The control module continues to control the rotation of the long shafts, and the box body and the connecting rod rotate around the rotating shaft, and the fixed suction cup rotates upward synchronously. When the fixed suction cup comes into contact with the wall surface, the air pump sucks air, and the fixed suction cup is fixed on the wall surface. By adopting the suction cup method, when the suction cup is under negative pressure, it can be adsorbed on the wall surface. By alternately contacting and sucking and deflating the wall surface with the circular suction cups and the fixed suction cups, the box body and its internal structure can be stably climbed on the wall surface. Therefore, the structure of the present invention is simple and the movement process is stable.

[0035] 3. In a glass curtain wall cleaning system and cleaning method of the present invention, by adopting a sliding seat and a connecting shaft, the sliding seat can slide back and forth on the wall brush holder, and the upper wall brush and the lower wall brush can slide back and forth on the connecting shaft; by the connection method of a sprocket and a chain, the chain rotates clockwise, and the brush rod connected to the chain moves synchronously, causing the upper wall brush to compress and the lower wall brush to stretch. When the brush rod moves to the corner of the chain, at this time, the brush rod moves to the uppermost position of the connecting shaft. When the chain continues to move, it will drive the brush rod to move to the right, causing the sliding rod, the upper wall brush, and the lower wall brush to move to the right synchronously, and the lower wall brush cleans the wall surface. After the brush rod moves to the rightmost side, it moves downward under the drive of the chain, causing the upper wall brush to stretch and the lower wall brush to compress. After the chain rotates one week, the sliding rod slides left and right once, and the upper wall brush and the lower wall brush respectively clean the wall surface. After the chain rotates multiple times, the upper wall brush and the lower wall brush clean the wall surface multiple times. By providing water through a water storage device, the stains on the wall surface can be removed. Therefore, the cleaning effect of the present invention is good and the cleaning process is stable.

[0036] 4. In a glass curtain wall cleaning system and cleaning method of the present invention, the connecting shaft can rotate on the sliding rod, enabling the upper wall brush and the lower wall brush to rotate before moving. They rotate once for each cleaning, turning out the areas where the upper wall brush and the lower wall brush are not working, which is convenient for the next cleaning and can avoid the subsequent cleaning effect from deteriorating due to stains adhering to the cleaned parts after multiple cleanings of the upper wall brush and the lower wall brush; by providing a cleaning water tank, the upper wall brush and the lower wall brush are covered with clean water when they roll, and at the same time, when the upper wall brush and the lower wall brush compress, the sewage in them can also be drained into the cleaning water tank; by providing a water inlet and a sewage outlet, clean water can be continuously provided and the used sewage can be discharged. Therefore, the cleaning effect of the present invention is good and the cleaning process is stable.

[0037] 5. In a glass curtain wall cleaning system and cleaning method of the present invention, by setting a laser head, the laser head can remove stains through laser, effectively removing stubborn stains with good cleaning effect. The laser head can slide up and down through a slide bar, and at the same time, the laser head can slide left and right on the slide bar, enabling the laser head to move in all directions. Therefore, the cleaning effect of the present invention is good.

[0038] 6. In a glass curtain wall cleaning system and cleaning method of the present invention, first, the cleaning module is used to clean the area to be cleaned. At the same time, the signal acquisition module and the processing module collect information and feedback it to the control module, which can monitor the cleaning effect in real time, avoid waste caused by multiple cleanings. The cleaning module and the motion module work alternately, and the cleaning process is stable and controllable with good cleaning effect. Therefore, the cleaning effect of the present invention is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic structural diagram of a glass curtain wall cleaning system in the present invention.

[0040] Figure 2 is a schematic structural diagram of the box body and the motion module in the present invention.

[0041] Figure 3 is a schematic structural diagram of the motion module in the present invention.

[0042] Figure 4 is a rear view schematic diagram of the box body in the present invention.

[0043] Figure 5 is a schematic structural diagram of the wall brush holder, slide seat, upper wall brush, brush rod, and lower wall brush in the present invention.

[0044] Figure 6 is a schematic structural diagram of the slide seat, chain, and sprocket in the present invention.

[0045] Figure 7 is a schematic structural diagram of the slide seat and the connecting shaft in the present invention.

[0046] Figure 8 is a schematic structural diagram of the box body, electronic eye, and laser cleaning rack in the present invention.

[0047] Figure 9 is a schematic structural diagram of the laser cleaning rack, slide bar, and laser head in the present invention.

[0048] Figure 10 is a connection schematic diagram of a glass curtain wall cleaning system in the present invention.

[0049] Figure 11 is a flow schematic diagram of a glass curtain wall cleaning method provided in Embodiment 1 of the present invention.

[0050] Figure 12It is a schematic flow chart of a glass curtain wall cleaning method provided in Embodiment 3 of the present invention.

[0051] In the figure: wall surface 1, circular suction cup 2, fixed suction cup 3, straw 4, box body 5, triangular turntable 6, rotating shaft 7, connecting rod 8, long shaft 9, wall brush holder 10, sliding seat 11, connecting shaft 12, upper wall brush 13, brush rod 14, lower wall brush 15, chain 16, sprocket 17, connecting plate 18, water inlet 19, sewage outlet 20, cleaning water tank 21, laser cleaning frame 22, sliding rod 23, laser head 24, electronic eye 25, sliding groove 26. Detailed implementation manners

[0052] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0053] See Figures 1 to 12 , a glass curtain wall cleaning system, including a box body 5, a motion module, a power module, a cleaning module, a signal acquisition module, a signal processing module, and a control module. The box body 5 is arranged relative to the wall surface 1. The motion module is connected to the upper and lower sides of the box body 5. The power module, the cleaning module, the signal acquisition module, the signal processing module, and the control module are all arranged inside the box body 5. The control module is respectively connected to the power module and the signal acquisition module. The power module is respectively connected to the motion module and the cleaning module. The cleaning module is arranged relative to the wall surface 1. The signal processing module is respectively connected to the signal acquisition module and the control module;

[0054] The control module is used to send control instructions to the power module and the signal acquisition module respectively;

[0055] The power module is used to turn on and off the motion module and the cleaning module;

[0056] The motion module is used to control the up and down movement of the box body 5 on the wall surface 1;

[0057] The cleaning module is used to clean the stains on the wall surface 1;

[0058] The signal acquisition module is used to acquire the image information of the cleaning area and send the image information to the signal processing module;

[0059] The signal processing module is used to receive the image information and send the processed image information to the control module.

[0060] The movement module includes two triangular discs 6 and three long shafts 9. The power module includes an air pump. Fixed suction cups 3 are provided on both the upper and lower sides of the box body 5. Straws 4 are provided at the centers of the two fixed suction cups 3. One end of each straw 4 is communicated with the corresponding fixed suction cup 3, and the other end passes through the box body 5 and is communicated with the air pump. Circular suction cups 2 are provided on both the upper and lower sides of the two triangular discs 6. Straws 4 are provided at the centers of the four circular suction cups 2. One end of the straw 4 on the circular suction cup 2 is communicated with the circular suction cup 2, and the other end passes through the triangular disc 6 and the box body 5 in sequence and is communicated with the air pump. The three long shafts 9 horizontally penetrate through the box body 5 in sequence. Connecting rods 8 are provided at both ends of the three long shafts 9. One end of each connecting rod 8 is sleeved on the corresponding long shaft 9, and the other end of the connecting rod 8 is rotatably connected to a rotating shaft 7. The three rotating shafts 7 on the left are respectively rotatably connected to the three vertices of the triangular disc 6 on the left, and the three rotating shafts 7 on the right are respectively rotatably connected to the three vertices of the triangular disc 6 on the right.

[0061] The cleaning module includes a wall brush frame 10, a sliding seat 11, a connecting shaft 12, and a water storage device. The wall brush frame 10 is of a rectangular frame structure and is connected to the inner side wall of the box body 5. The sliding seat 11 is vertically arranged and slidably connected to the wall brush frame 10 in the horizontal direction. A through groove 26 is formed in the sliding seat 11 in the vertical direction. The connecting shaft 12 is vertically connected to the sliding seat 11 and is arranged relative to the through groove 26. An upper wall brush 13, a brush rod 14, and a lower wall brush 15 are sequentially sleeved on the outer peripheral surface of the connecting shaft 12 from top to bottom. Both the upper wall brush 13 and the lower wall brush 15 are made of compressible foam brushes. The upper side of one end of the brush rod 14 is in contact with the upper wall brush 13, and the lower side of one end of the brush rod 14 is in contact with the lower wall brush 15. The other end of the brush rod 14 passes through the through groove 26 and is connected to a chain drive assembly. The brush rod 14 is slidably connected to the connecting shaft 12 and the through groove 26. The chain drive assembly is used to control the brush rod 14 to move circumferentially along the wall brush frame 10. The water storage device is arranged relative to the upper wall brush 13 and the lower wall brush 15.

[0062] The chain drive assembly includes a chain 16 and four sprockets 17. The four sprockets 17 are all connected to the wall brush frame 10 through connecting plates 18. The four sprockets 17 are evenly distributed at the four vertices of the wall brush frame 10. The chain 16 is sleeved on the outer peripheries of the four sprockets 17. The other end of the brush rod 14 is inserted into the chain 16.

[0063] Water inlets 19 and sewage outlets 20 are respectively formed on the upper and lower sides of the sliding seat 11. A cleaning water tank 21 is formed in the sliding seat 11. One side of the cleaning water tank 21 communicates with the water inlet 19, and the other side of the cleaning water tank 21 communicates with the sewage outlet 20. The water outlet end of the water storage device communicates with the water inlet 19, and the water inlet end of the water storage device communicates with the sewage outlet 20. The upper wall brush 13 and the lower wall brush 15 are arranged relative to the cleaning water tank 21.

[0064] The upper and lower ends of the connecting shaft 12 are rotatably connected to the sliding seat 11 through bearings.

[0065] The cleaning module includes a laser cleaning frame 22, a sliding rod 23, and a laser head 24. The laser cleaning frame 22 is connected to the inner side wall of the box body 5. The sliding rod 23 is horizontally arranged in the laser cleaning frame 22 and is slidably connected to the laser cleaning frame 22 in the vertical direction. The laser head 24 is sleeved on the sliding rod 23 and is slidably connected to the sliding rod 23.

[0066] The signal acquisition module includes two electronic eyes 25, and the two electronic eyes 25 are symmetrically arranged on the two inner side walls of the box body 5.

[0067] A method for cleaning a glass curtain wall, the cleaning method comprising the following steps:

[0068] S1. Place the motion module and the box body 5 on the wall surface 1, and align the cleaning module with the wall surface 1;

[0069] S2. The control module sends a control instruction to the cleaning module, and the cleaning module cleans the wall surface 1;

[0070] S3. The signal acquisition module acquires the image information of the cleaning area, and sends the image information to the signal processing module. The signal processing module processes the image information and sends the processed image information to the control module;

[0071] S4. The control module determines whether there are stains in the image of the cleaning area. If not, the control module sends a control instruction to the motion module. The motion module controls the box body 5 to move upward by a certain distance and fix it, and then repeats steps S2 - S4 until the wall surface 1 is cleaned; if there are stains, repeat steps S2 - S4 until the stains in the cleaning area are completely removed.

[0072] In step S2, the specific steps for the cleaning module to clean the wall surface 1 are as follows:

[0073] S21. The water storage device starts to supply water. The clean water enters the cleaning water tank 21 from the water inlet 19, and makes the upper wall brush 13 and the lower wall brush 15 full of water. At the same time, the clean water enters the sewage outlet 20 from the cleaning water tank 21 and flows back into the water storage device;

[0074] S22. The rotating shaft 7 rotates 90 degrees, causing the upper wall brush 13 and the lower wall brush 15 to rotate 90 degrees synchronously. The four sprockets 17 rotate clockwise simultaneously, and the chain 16 rotates synchronously. Driven by the chain 16, the brush rod 14 moves upward. The upper wall brush 13 is compressed, and the stains on the upper wall brush 13 are discharged into the cleaning sink 21. The sewage flows out from the sewage outlet 20 along with the flowing water in the sink. At the same time, the lower wall brush 15 stretches and cleans the wall surface 1 upward. When the brush rod 14 moves to the first corner of the chain 16, the brush rod 14 is located at the uppermost position of the connecting shaft 12 at this time;

[0075] S23. The chain 16 continues to rotate. Driven by the chain 16, the brush rod 14 moves to the right, driving the sliding seat 11, the connecting shaft 12, the upper wall brush 13, and the lower wall brush 15 to move synchronously to the right within the wall brush holder 10. The lower wall brush 15 cleans the wall surface 1 to the right. When the brush rod 14 moves to the second corner of the chain 16, the sliding seat 11 stops sliding;

[0076] S24. The chain 16 continues to rotate. Driven by the chain 16, the brush rod 14 moves downward. The upper wall brush 13 stretches and cleans the wall surface 1 downward. The lower wall brush 15 is compressed, and the stains on the lower wall brush 15 are discharged into the cleaning sink 21. The sewage flows out from the sewage outlet 20 along with the flowing water in the sink. When the brush rod 14 moves to the third corner of the chain 16, the brush rod 14 is located at the lowermost position of the connecting shaft 12 at this time;

[0077] S25. The chain 16 continues to rotate. Driven by the chain 16, the brush rod 14 moves to the left, driving the sliding seat 11, the connecting shaft 12, the upper wall brush 13, and the lower wall brush 15 to move synchronously to the left within the wall brush holder 10. The upper wall brush 13 cleans the wall surface 1 to the left. After the brush rod 14 moves to the fourth corner of the chain 16, the sliding seat 11 stops sliding. Driven by the chain 16, the brush rod 14 moves upward. When the brush rod 14 moves to the middle position of the connecting shaft 12, the upper wall brush 13 and the lower wall brush 15 return to their original states;

[0078] S26. Repeat steps S22 - S25 until the wall surface 1 in the cleaning area is cleaned.

[0079] The principle of the present invention is described as follows:

[0080] In the present invention, the power module further includes a servo motor, a driving motor, a rotating motor, and a cylinder. The servo motor is used to control the intermittent rotation of the connecting shaft 12 on the sliding seat 11. The driving motor is used to drive the long shaft 9 to rotate. The rotating motor is used to control the synchronous rotation of the four sprockets 17. The cylinder is used to control the reciprocating sliding of the sliding rod 23 in the laser cleaning frame 22 and control the reciprocating sliding of the laser head 24 on the sliding rod 23. The water storage device includes a water pump, a water storage tank, and a sewage tank. The water pump is respectively connected to the water inlet 19 and the water storage tank. The sewage tank is communicated with the sewage discharge port 20. Clear water is stored in the water storage tank. A filtering device is provided between the water storage tank and the sewage tank. The filtering device can adopt existing filtering equipment, such as a filter and other structures. When supplying water, clear water is taken out from the water storage tank by the water pump and introduced into the water inlet 19. The sewage generated during the cleaning process is discharged into the sewage tank through the sewage discharge port 20, and the sewage flows back into the water storage tank through the filtering device.

[0081] During use, first place the motion module and the box body 5 on the wall surface 1. The control module controls the air pump to suck air, and the four circular suction cups 2 and the two fixed suction cups 3 maintain a negative pressure state, and the entire device is firmly adsorbed on the wall surface 1. Then the water pump starts to supply water, and the clean water enters the upper wall brush 13 and the lower wall brush 15. The control module controls the servo motor to work, so that the connecting shaft 12, the upper wall brush 13, and the lower wall brush 15 rotate 90 degrees. At the same time, the rotating motor works synchronously to drive the chain 16 to rotate clockwise, and the brush rod 14 moves upward. The upper wall brush 13 compresses and the lower wall brush 15 stretches. When the brush rod 14 moves to the corner of the chain 16, at this time the brush rod 14 is at the uppermost position of the connecting shaft 12, and the stains on the upper wall brush 13 are discharged into the cleaning water tank 21, and the sewage flows out of the sewage outlet 20 along with the flowing water in the tank. At the same time, the lower wall brush 15 cleans the wall surface 1 upward. Driven by the chain 16, the brush rod 14 continues to move to the right, driving the sliding seat 11 to move to the right in the wall brush holder 10, and the lower wall brush 15 cleans the wall surface 1 to the right. When the brush rod 14 moves to the second corner of the chain 16, the sliding seat 11 stops sliding. At this time, the brush rod 14 moves downward, the upper wall brush 13 stretches, and the lower wall brush 15 compresses. The stains on the lower wall brush 15 are squeezed into the cleaning water tank 21, and the sewage flows out of the sewage outlet 20 along with the flowing water in the tank. After the brush rod 14 moves to the third corner of the chain 16, it drives the sliding seat 11 to move to the left in the wall brush holder 10, and the upper wall brush 13 cleans the wall surface 1 to the left. When the brush rod 14 moves to the fourth corner of the chain 16, the sliding seat 11 stops sliding, and the brush rod 14 continues to move upward. When it moves to the middle position of the connecting shaft 12, the rotating motor stops working, and the servo motor works to make the connecting shaft 12, the upper wall brush 13, and the lower wall brush 15 rotate 90 degrees again. Then the rotating motor continues to work, and the wall surface 1 is cleaned according to the previous steps. After the cleaning is completed, the electronic eye 25 collects the image information of the cleaning area. After being processed by the signal processing module, the stain information is sent to the control module. If there are still stains, the control module controls the cylinder to work, so that the laser head 24 moves to the stain, and the laser head 24 cleans the stain by laser.

[0082] After the cleaning is completed, the control module controls the air pump on the four circular suction cups 2 to deflate first, and the four circular suction cups 2 are separated from the wall surface 1. Then the drive motor controls the three long shafts 9 to rotate, so that the two triangular pulley discs 6 rotate counterclockwise 180 degrees around the long shafts 9, and the four circular suction cups 2 rotate synchronously and contact the wall surface 1. At this time, the air pump sucks air and the four circular suction cups 2 are fixed. The control module then controls the air pump on the fixed suction cup 3 to deflate, and the fixed suction cup 3 is separated from the wall surface 1. The control module continues to control the long shaft 9 to rotate, so that the connecting rod 8 and the long shaft 9 rotate counterclockwise 180 degrees around the triangular pulley disc 6, and the fixed suction cup 3 and the box body 5 rotate upward synchronously. The fixed suction cup 3 contacts the wall surface 1. At this time, the air pump sucks air and the fixed suction cup 3 is fixed on the wall surface 1. Then the cleaning module performs the cleaning work. After the cleaning module and the motion module work reciprocally, the entire wall surface 1 is cleaned. The control module controls the air pump to deflate and removes the device.

[0083] Embodiment 1:

[0084] Refer to Figure 1 and Figure 10 , a glass curtain wall cleaning system, including a box body 5, a motion module, a power module, a cleaning module, a signal acquisition module, a signal processing module, and a control module. The box body 5 is arranged relative to the wall surface 1. The motion module is connected to the upper and lower sides of the box body 5. The power module, the cleaning module, the signal acquisition module, the signal processing module, and the control module are all arranged in the box body 5. The control module is respectively connected to the power module and the signal acquisition module. The power module is respectively connected to the motion module and the cleaning module. The cleaning module is arranged relative to the wall surface 1. The signal processing module is respectively connected to the signal acquisition module and the control module;

[0085] The control module is used to send control instructions to the power module and the signal acquisition module respectively;

[0086] The power module is used to turn on and off the motion module and the cleaning module;

[0087] The motion module is used to control the up and down movement of the box body 5 on the wall surface 1;

[0088] The cleaning module is used to clean the stains on the wall surface 1;

[0089] The signal acquisition module is used to obtain the image information of the cleaning area and send the image information to the signal processing module;

[0090] The signal processing module is used to receive the image information and send the processed image information to the control module.

[0091] Refer to Figure 11 , a glass curtain wall cleaning method, the cleaning method includes the following steps:

[0092] S1. Place the motion module and the box body 5 on the wall surface 1, and align the cleaning module with the wall surface 1;

[0093] S2. The control module sends a control instruction to the cleaning module, and the cleaning module cleans the wall surface 1;

[0094] S3. The signal acquisition module collects the image information of the cleaning area, sends the image information to the signal processing module, the signal processing module processes the image information, and sends the processed image information to the control module;

[0095] S4. The control module determines whether there is dirt in the image of the cleaning area. If not, the control module sends a control instruction to the motion module. The motion module controls the box body 5 to move upward by a certain distance and fix it, and then repeats steps S2 - S4 until the wall 1 is cleaned. If there is dirt, repeat steps S2 - S4 until the dirt in the cleaning area is completely removed.

[0096] Embodiment 2:

[0097] The basic content is the same as that of Embodiment 1, except that:

[0098] Refer to Figures 2 to 3 , the motion module includes two triangular wheel discs 6 and three long shafts 9. The power module includes an air pump. Fixed suction cups 3 are arranged on both the upper and lower sides of the box body 5. Straws 4 are arranged at the centers of the two fixed suction cups 3. One end of the straw 4 is communicated with the fixed suction cup 3, and the other end passes through the box body 5 and is communicated with the air pump. Circular suction cups 2 are arranged on both the upper and lower sides of the two triangular wheel discs 6. Straws 4 are arranged at the centers of the four circular suction cups 2. One end of the straw 4 on the circular suction cup 2 is communicated with the circular suction cup 2, and the other end passes through the triangular wheel disc 6 and the box body 5 in sequence and is communicated with the air pump. The three long shafts 9 horizontally penetrate through the box body 5 in sequence. Connecting rods 8 are arranged at both ends of the three long shafts 9. One end of the connecting rod 8 is sleeved on the long shaft 9, and the other end of the connecting rod 8 is rotatably connected with a rotating shaft 7. The three rotating shafts 7 on the left are respectively rotatably connected to the three vertices of the triangular wheel disc 6 on the left, and the three rotating shafts 7 on the right are respectively rotatably connected to the three vertices of the triangular wheel disc 6 on the right.

[0099] Refer to Figures 4 to 7 , the cleaning module includes a wall brush frame 10, a sliding seat 11, a connecting shaft 12, and a water storage device. The wall brush frame 10 is a rectangular frame structure. The wall brush frame 10 is connected to the inner side wall of the box body 5. The sliding seat 11 is arranged vertically and slidably connected to the wall brush frame 10 in the horizontal direction. A through groove 26 is formed in the sliding seat 11 in the vertical direction. The connecting shaft 12 is vertically connected to the sliding seat 11 and is arranged relative to the through groove 26. An upper wall brush 13, a brush rod 14, and a lower wall brush 15 are sequentially sleeved on the outer peripheral surface of the connecting shaft 12 from top to bottom. Both the upper wall brush 13 and the lower wall brush 15 are made of compressible foam brushes. The upper side of one end of the brush rod 14 is in contact with the upper wall brush 13, and the lower side of one end of the brush rod 14 is in contact with the lower wall brush 15. The other end of the brush rod 14 passes through the through groove 26 and is connected with a chain drive assembly. The brush rod 14 is slidably connected to the connecting shaft 12 and the through groove 26. The chain drive assembly is used to control the brush rod 14 to move circumferentially along the wall brush frame 10. The water storage device is arranged relative to the upper wall brush 13 and the lower wall brush 15.

[0100] See Figures 5 to 6 , the chain drive assembly includes a chain 16 and four sprockets 17. All four sprockets 17 are connected to the wall brush holder 10 through connecting plates 18. The four sprockets 17 are evenly distributed at the four vertices of the wall brush holder 10. The chain 16 is sleeved on the outer periphery of the four sprockets 17. The other end of the brush rod 14 is inserted into the chain 16.

[0101] See Figure 6 , water inlets 19 and sewage outlets 20 are respectively formed on the upper and lower sides of the sliding seat 11. A cleaning water tank 21 is formed inside the sliding seat 11. One side of the cleaning water tank 21 is communicated with the water inlet 19, and the other side of the cleaning water tank 21 is communicated with the sewage outlet 20. The water outlet end of the water storage device is communicated with the water inlet 19, and the water inlet end of the water storage device is communicated with the sewage outlet 20. The upper wall brush 13 and the lower wall brush 15 are arranged relative to the cleaning water tank 21.

[0102] See Figure 7 , the upper and lower ends of the connecting shaft 12 are rotatably connected to the sliding seat 11 through bearings.

[0103] See Figure 8 , the signal acquisition module includes two electronic eyes 25. The two electronic eyes 25 are symmetrically arranged on the two inner side walls of the box body 5.

[0104] In the step S2, the specific steps for the cleaning module to clean the wall 1 are as follows:

[0105] S21. The water storage device starts to supply water. The clean water enters the cleaning water tank 21 from the water inlet 19, and makes the upper wall brush 13 and the lower wall brush 15 fully covered with water. At the same time, the clean water enters the sewage outlet 20 from the cleaning water tank 21 and flows back into the water storage device;

[0106] S22. The rotating shaft 7 rotates 90 degrees, so that the upper wall brush 13 and the lower wall brush 15 rotate 90 degrees synchronously. The four sprockets 17 rotate clockwise at the same time, the chain 16 rotates synchronously, and the brush rod 14 moves upward under the drive of the chain 16. The upper wall brush 13 is compressed, and the stains on the upper wall brush 13 are discharged into the cleaning water tank 21. The sewage flows out from the sewage outlet 20 along with the flowing water in the tank. At the same time, the lower wall brush 15 stretches and cleans the wall 1 upward. When the brush rod 14 moves to the first corner of the chain 16, the brush rod 14 is located at the uppermost position of the connecting shaft 12 at this time;

[0107] S23. The chain 16 continues to rotate, and the brush rod 14 moves to the right under the drive of the chain 16, driving the sliding seat 11, the connecting shaft 12, the upper wall brush 13, and the lower wall brush 15 to move synchronously to the right inside the wall brush holder 10. The lower wall brush 15 cleans the wall 1 to the right. When the brush rod 14 moves to the second corner of the chain 16, the sliding seat 11 stops sliding;

[0108] S24. The chain 16 continues to rotate, and the brush rod 14 moves downward under the drive of the chain 16. The upper wall brush 13 stretches and cleans the wall surface 1 downward, the lower wall brush 15 compresses, and the stains on the lower wall brush 15 are discharged into the cleaning sink 21. The sewage flows out from the sewage discharge port 20 along with the flowing water in the tank. When the brush rod 14 moves to the third corner of the chain 16, the brush rod 14 is located at the lowest position of the connecting shaft 12 at this time;

[0109] S25. The chain 16 continues to rotate, and the brush rod 14 moves leftward under the drive of the chain 16, driving the slide seat 11, the connecting shaft 12, the upper wall brush 13, and the lower wall brush 15 to move leftward synchronously in the wall brush frame 10. The upper wall brush 13 cleans the wall surface 1 leftward. After the brush rod 14 moves to the fourth corner of the chain 16, the slide seat 11 stops sliding, and the brush rod 14 moves upward under the drive of the chain 16. When the brush rod 14 moves to the middle position of the connecting shaft 12, the upper wall brush 13 and the lower wall brush 15 return to their original states;

[0110] S26. Repeat steps S22 - S25 until the wall surface 1 in the cleaning area is cleaned.

[0111] Embodiment 3:

[0112] The basic content is equivalent to that of Embodiment 1, and the difference lies in:

[0113] See Figures 8 to 9 , the cleaning module includes a laser cleaning frame 22, a slide bar 23, and a laser head 24. The laser cleaning frame 22 is connected to the inner side wall of the box body 5. The slide bar 23 is horizontally arranged in the laser cleaning frame 22 and is slidably connected to the laser cleaning frame 22 in the vertical direction. The laser head 24 is sleeved on the slide bar 23 and is slidably connected to the slide bar 23.

[0114] See Figure 12 , in step S4, when the control module determines that there are stains in the cleaning area, the control module sends a control instruction to the power module. The power module controls the slide bar 23 and the laser head 24 to move to the stain area, and the laser head 24 emits laser to remove the stain. Then the control module sends a control instruction to the motion module, and the motion module controls the box body 5 to move upward by a certain distance and fix it. Then repeat steps S2 - S4 until the wall surface 1 is cleaned.

Claims

1. A method for cleaning a glass curtain wall, characterized in that, This cleaning method is applied to a glass curtain wall cleaning system, which includes a box body (5), a motion module, a power module, a cleaning module, a signal acquisition module, a signal processing module, and a control module. The box body (5) is arranged relative to the wall surface (1). The motion module is connected to the upper and lower sides of the box body (5). The power module, the cleaning module, the signal acquisition module, the signal processing module, and the control module are all arranged inside the box body (5). The control module is respectively connected to the power module and the signal acquisition module. The power module is respectively connected to the motion module and the cleaning module. The cleaning module is arranged relative to the wall surface (1). The signal processing module is respectively connected to the signal acquisition module and the control module; The control module is used to send control instructions to the power module and the signal acquisition module respectively; The power module is used to turn on and off the motion module and the cleaning module; The motion module is used to control the box body (5) to move up and down on the wall surface (1); The cleaning module is used to clean the stains on the wall surface (1); The signal acquisition module is used to obtain the image information of the cleaning area and send the image information to the signal processing module; The signal processing module is used to receive the image information and send the processed image information to the control module; The cleaning module includes a wall brush holder (10), a sliding seat (11), a connecting shaft (12), and a water storage device. The wall brush holder (10) is of a rectangular frame structure and is connected to the inner side wall of the box body (5). The sliding seat (11) is vertically arranged and slidably connected to the wall brush holder (10) in the horizontal direction. The sliding seat (11) is provided with a through groove (26) in the vertical direction. The connecting shaft (12) is vertically connected to the sliding seat (11) and is arranged relative to the through groove (26). An upper wall brush (13), a brush rod (14), and a lower wall brush (15) are sequentially sleeved on the outer peripheral surface of the connecting shaft (12) from top to bottom. Both the upper wall brush (13) and the lower wall brush (15) are made of compressible foam brushes. The upper side of one end of the brush rod (14) is in contact with the upper wall brush (13), and the lower side of one end of the brush rod (14) is in contact with the lower wall brush (15). The other end of the brush rod (14) passes through the through groove (26) and is connected to a chain (16). The brush rod (14) is slidably connected to the connecting shaft (12) and the through groove (26). Four sprockets (17) are all connected to the wall brush holder (10) through connecting plates (18). The four sprockets (17) are evenly distributed at the four vertices of the wall brush holder (10). The chain (16) is sleeved on the outer periphery of the four sprockets (17). The other end of the brush rod (14) is inserted into the chain (16). Water inlets (19) and sewage outlets (20) are respectively arranged on the upper and lower sides of the sliding seat (11). A cleaning water tank (21) is arranged in the sliding seat (11). One side of the cleaning water tank (21) is communicated with the water inlet (19), and the other side of the cleaning water tank (21) is communicated with the sewage outlet (20). The water outlet end of the water storage device is communicated with the water inlet (19), and the water inlet end of the water storage device is communicated with the sewage outlet (20). The upper wall brush (13) and the lower wall brush (15) are arranged relative to the cleaning water tank (21). The upper and lower ends of the connecting shaft (12) are rotatably connected to the sliding seat (11) through bearings; The cleaning method includes the following steps: S1. Place the movement module and the box body (5) on the wall surface (1), and align the cleaning module with the wall surface (1); S2. The control module sends a control instruction to the cleaning module, and the cleaning module cleans the wall surface (1); S3. The signal acquisition module acquires the image information of the cleaning area and sends the image information to the signal processing module. The signal processing module processes the image information and sends the processed image information to the control module; S4. The control module determines whether there are stains in the image of the cleaning area. If not, the control module sends a control instruction to the movement module. The movement module controls the box body (5) to move upward by a certain distance and fix it, and then repeats steps S2 - S4 until the wall surface (1) is completely cleaned. If there are stains, repeat steps S2 - S4 until the stains in the cleaning area are completely removed; In step S2, the specific steps for the cleaning module to clean the wall surface (1) are: S21. The water storage device starts to supply water. Clear water enters the cleaning sink (21) from the water inlet (19), causing the upper wall brush (13) and the lower wall brush (15) to be fully saturated with water. Meanwhile, the clear water enters the sewage outlet (20) from the cleaning sink (21) and flows back into the water storage device. S22. The rotating shaft (7) rotates 90 degrees, causing the upper wall brush (13) and the lower wall brush (15) to rotate 90 degrees synchronously. The four sprockets (17) rotate clockwise simultaneously, and the chain (16) rotates synchronously. The brush rod (14) moves upward driven by the chain (16). The upper wall brush (13) is compressed, and the stains on the upper wall brush (13) are discharged into the cleaning sink (21). The sewage flows out from the sewage outlet (20) along with the water in the sink. At the same time, the lower wall brush (15) stretches and cleans the wall surface (1) upward. When the brush rod (14) moves to the first corner of the chain (16), the brush rod (14) is located at the uppermost position of the connecting shaft (12) at this time. S23. The chain (16) continues to rotate. The brush rod (14) moves to the right driven by the chain (16), driving the sliding seat (11), the connecting shaft (12), the upper wall brush (13), and the lower wall brush (15) to move synchronously to the right within the wall brush holder (10). The lower wall brush (15) cleans the wall surface (1) to the right. When the brush rod (14) moves to the second corner of the chain (16), the sliding seat (11) stops sliding. S24. The chain (16) continues to rotate. The brush rod (14) moves downward driven by the chain (16). The upper wall brush (13) stretches and cleans the wall surface (1) downward. The lower wall brush (15) is compressed, and the stains on the lower wall brush (15) are discharged into the cleaning sink (21). The sewage flows out from the sewage outlet (20) along with the water in the sink. When the brush rod (14) moves to the third corner of the chain (16), the brush rod (14) is located at the lowermost position of the connecting shaft (12) at this time. S25. The chain (16) continues to rotate. The brush rod (14) moves to the left driven by the chain (16), driving the sliding seat (11), the connecting shaft (12), the upper wall brush (13), and the lower wall brush (15) to move synchronously to the left within the wall brush holder (10). The upper wall brush (13) cleans the wall surface (1) to the left. After the brush rod (14) moves to the fourth corner of the chain (16), the sliding seat (11) stops sliding. The brush rod (14) moves upward driven by the chain (16). When the brush rod (14) moves to the middle position of the connecting shaft (12), the upper wall brush (13) and the lower wall brush (15) return to their original states. S26. Repeat steps S22 - S25 until the wall surface (1) in the cleaning area is cleaned.

2. The method for cleaning a glass curtain wall according to claim 1, characterized in that, The motion module includes two triangular discs (6) and three long shafts (9). The power module includes an air pump. Fixed suction cups (3) are provided on both the upper and lower sides of the box body (5). Straws (4) are provided at the centers of the two fixed suction cups (3). One end of the straw (4) is communicated with the fixed suction cup (3), and the other end passes through the box body (5) and is communicated with the air pump. Circular suction cups (2) are provided on both the upper and lower sides of the two triangular discs (6). Straws (4) are provided at the centers of the four circular suction cups (2). One end of the straw (4) on the circular suction cup (2) is communicated with the circular suction cup (2), and the other end passes through the triangular disc (6) and the box body (5) in sequence and is communicated with the air pump. The three long shafts (9) horizontally penetrate through the box body (5) in sequence. Connecting rods (8) are provided at both ends of the three long shafts (9). One end of the connecting rod (8) is sleeved on the long shaft (9), and the other end of the connecting rod (8) is rotatably connected with a rotating shaft (7). The three rotating shafts (7) on the left are respectively rotatably connected to the three vertices of the triangular disc (6) on the left, and the three rotating shafts (7) on the right are respectively rotatably connected to the three vertices of the triangular disc (6) on the right.

3. The method for cleaning a glass curtain wall according to claim 1, characterized in that, The signal acquisition module includes two electronic eyes (25), and the two electronic eyes (25) are symmetrically arranged on the two inner side walls of the box body (5).

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