Adaptive surface cleaning module, surface cleaning device, and surface cleaning method

Abstract

This invention relates to the field of large-area curved surface cleaning technology, and particularly to an adaptive curved surface cleaning module, a curved surface cleaning device, and a curved surface cleaning method. The adaptive curved surface cleaning module specifically includes a linear stepper motor, an upper plate, a lower plate, a degree-of-freedom conversion shaft, a multi-degree-of-freedom elastic module, an external rotor motor, and a cleaning brush containing a pressure sensor. The curved surface cleaning device specifically includes several cleaning modules arranged in an array and fixed on a fixed plate, several atomizing water nozzles, a mesh water pipe connected to the atomizing water nozzles, a lidar fixed to the outer shell via a lidar fixing plate, and a cleaning controller fixed to the fixed plate via studs. This invention uses lidar to capture the curved surface coordinates, and the cleaning controller fits the curved surface curvature radius, controlling the cleaning module to adaptively conform to the curved surface curvature to perfectly fit the curved surface, automatically performing the curved surface cleaning work. It achieves high conformity and automation, improving the effective area, cleanliness, and efficiency of curved surface cleaning.

Description

Technical Field

[0001] This invention relates to the field of large-area curved surface cleaning technology, and in particular to an adaptive curved surface cleaning module, curved surface cleaning device, and curved surface cleaning method. Background Technology

[0002] Cleaning equipment for large curved surfaces is widely used in practical applications, such as the maintenance of aircraft, trains, large automobiles, and large equipment, all of which require cleaning of their external surfaces. Currently, most cleaning methods rely on manual labor. Workers use cleaning tools equipped with brushes, rollers, and cloths. However, because the cleaning head cannot adapt to the curvature of the curved surface, it cannot fully contact the surface, resulting in incomplete, ineffective, and uneven cleaning. This necessitates workers repeatedly scrubbing the same area from different positions, consuming significant labor and time, and increasing the intensity of their work.

[0003] Based on the aforementioned challenges and needs, researchers have explored automated curved surface cleaning technologies. For example, patent document CN202311368786.8 discloses a high-degree-of-freedom laser cleaning device and a large-format curved surface cleaning and detection method, which uses a cross-motion module and a dynamic module in combination to achieve automatic contact cleaning of curved surfaces in the Cartesian coordinate direction. Another example is a large-format laser cleaning system and method disclosed in patent document CN202211012795.9, which uses a combination of emitting an initial laser beam and a position sensor to determine the position of the area to be cleaned and performs beam steering control. Furthermore, it cooperates with a Z-axis adjustment unit, a system controller, and multiple laser units to achieve automatic cleaning of curved surfaces.

[0004] However, the aforementioned patents have not solved the problem that the automatic cleaning equipment for curved surfaces fails to fully fit the curved surface, resulting in the inability to effectively clean the curved surface. How to achieve efficient automatic cleaning of curved surfaces is a problem that is difficult for those skilled in the art to solve. Summary of the Invention

[0005] To address the problem of efficient and automatic surface cleaning mentioned in the background section, one embodiment of the present invention provides an adaptive surface cleaning module, comprising:

[0006] The cleaning brush contains a pressure sensor.

[0007] An external rotor motor is fixed to the lower side of the lower plate, and the cleaning brush is tightly fitted on the outside.

[0008] The lower plate has a hemispherical base fixed in the center;

[0009] The degree-of-freedom conversion axis is fixedly connected to the upper plate at its top end and to the hemispherical base nested in the hollowed-out hemispherical arc surface at its end, thereby aligning and connecting the lower plate with the upper plate and enabling the lower plate to tilt at multiple angles with the hemispherical arc surface as the fulcrum.

[0010] The multi-degree-of-freedom elastic module includes several elastic connectors arranged around the degree-of-freedom conversion axis. The upper and lower ends of the elastic connectors are fixedly connected to the edge of the upper plate and the edge of the lower plate, respectively, and the tilt angle of the lower plate can be freely adjusted.

[0011] A linear stepper motor is fixed at its end to the upper side of the upper plate.

[0012] Based on the above embodiments, further, an annular gasket is provided at the center of the lower plate, and the hemispherical base is nested and fixed to the annular center of the annular gasket.

[0013] Based on the above embodiments, further, a plurality of the elastic connectors are arranged in a continuous ring in an "N" shape, and the ends of the two elastic connectors at the "N"-shaped nodes are respectively connected by a fixed connection module. The fixed connection module on the upper side of the "N"-shaped node is fixedly connected to the upper plate, and the fixed connection module on the lower side of the "N"-shaped node is fixedly connected to the lower plate.

[0014] Based on the above embodiments, the fixed connection module is further described as a "T"-shaped double plate bolt, the protruding part of the "T"-shaped double plate bolt is fixedly connected to the upper plate or the lower plate, and the flat part of the "T"-shaped double plate bolt is used to fix the ends of the two elastic connectors at the "N"-shaped node.

[0015] Based on the above embodiments, further, the distance between the upper end of the elastic connector and the central axis perpendicular to the upper plate is less than the distance between the lower end of the elastic connector and the central axis perpendicular to the lower plate.

[0016] The present invention also provides a curved surface cleaning device, which employs the adaptive curved surface cleaning module as described in any of the preceding claims, specifically a laser-detected three-dimensional array adaptive curved surface cleaning device, comprising:

[0017] Several cleaning modules are arranged in an array and fixed to the upper and lower sides of the fixed plate.

[0018] Several atomizing water nozzles are arranged in an array and interspersed among several of the cleaning modules, and are fixedly connected to the fixing plate.

[0019] Water pipes are connected to several of the aforementioned atomizing spray heads;

[0020] The cleaning controller is fixed to the upper side of the mounting plate by studs;

[0021] A lidar, connected to the outer casing via a radar mounting plate, captures the coordinates of discrete points on a curved surface profile.

[0022] Based on the above embodiments, the water pipe has a mesh structure and is close to the linear stepper motors of several cleaning modules.

[0023] Based on the above embodiments, the cleaning controller further receives the coordinates of discrete points on the curved surface profile captured by the lidar, and controls several cleaning modules to adaptively fit the curved surface for cleaning.

[0024] Based on the above embodiments, the lidar is further defined as a single-line lidar, a multi-line lidar, a phase-type laser rangefinder, or a pulse-type laser rangefinder.

[0025] The present invention also provides a surface cleaning method, which employs the surface cleaning apparatus as described in any of the preceding claims, and includes the following steps:

[0026] S100, The lidar captures the coordinates of discrete points on the curved surface profile;

[0027] S101, The cleaning controller receives the coordinates of discrete points on the curved surface profile and obtains the radius of curvature R of the curved surface by fitting.

[0028] S102. The cleaning controller controls the linear stepper motors of several cleaning modules to perform telescopic movements, so that the ends of several cleaning modules press against a curved surface with a radius of curvature R.

[0029] S103. The multi-degree-of-freedom elastic module automatically adjusts the extension and contraction of each elastic connector under pressure, and works with the degree-of-freedom conversion shaft to adjust the tilt angle of the lower plate, thereby adjusting the posture of the outer rotor motor to the normal direction perpendicular to the curved surface, so that the cleaning brush completely fits the curved surface.

[0030] S104. The pressure sensor inside the cleaning brush detects the magnitude of the pressure and transmits the pressure parameters to the cleaning controller.

[0031] S105. After receiving the pressure parameter information, the cleaning controller determines that the pressure has reached the set value for starting work, and then controls the external rotor motors of several cleaning modules to start working, driving the cleaning brush to rotate, and cooperating with several atomizing water spray heads to start the curved surface cleaning work.

[0032] The present invention has the following beneficial effects:

[0033] This invention provides an adaptive curved surface cleaning module, which can automatically achieve high contact between the cleaning brush and the curved surface through the cooperation of a linear stepper motor and a multi-degree-of-freedom elastic module, thereby completing the cleaning work on the curved surface.

[0034] The present invention also provides a curved surface cleaning device and a curved surface cleaning method. The array of several cleaning modules can adaptively adjust their contact posture with the curved surface according to the curvature of the curved surface, so that the cleaning contact surface can efficiently fit the curved surface, thereby improving the cleaning effectiveness and cleanliness.

[0035] The curved surface cleaning device provided by this invention has a mesh water pipe structure design and an atomizing spray head, which can improve water flow utilization while ensuring cleaning effect. During operation, the water flow in the water pipe can also absorb some of the heat of the motor, which can play a role in cooling the motor, extending the service life of the equipment and reducing cost losses.

[0036] Other features and advantages of the present invention will be set forth in the following description, and some of the technical features and advantages may be apparent from the description or learned by practicing the invention. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, some of the drawings in the following description are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is an overall structural outline of a single cleaning module provided in Embodiment 1 of the present invention;

[0039] Figure 2 This is an exploded view of the overall structure of a single cleaning module provided in Embodiment 1 of the present invention;

[0040] Figure 3 This is a schematic diagram of the adaptive curved surface adjustment pose of the cleaning structure provided in Embodiment 1 of the present invention;

[0041] Figure 4 This is a general external structural diagram of the cleaning device provided in Embodiment 2 of the present invention;

[0042] Figure 5 This is an internal structural diagram of the cleaning device provided in Embodiment 2 of the present invention;

[0043] Figure 6 This is an exploded view of the cleaning device structure provided in Embodiment 2 of the present invention;

[0044] Figure 7This is a schematic diagram of the laser sensor detection surface provided in Embodiment 2 of the present invention.

[0045] Figure label:

[0046] 100-Cleaning module; 200-Fixing plate; 300-Stud; 400-Cleaning controller; 500-Atomizing spray head; 600-Water pipe; 700-Housing; 800-LiDAR; 900-LiDAR mounting plate; 110-Cleaning brush; 120-External rotor motor; 130-Lower plate; 140-Degree of freedom conversion shaft; 150-Multi-degree of freedom elastic module; 160-Upper plate; 170-Linear stepper motor; 131-Hemispherical base; 132-Annular gasket; 141-Hemispherical arc surface; 151-Elastic connector; 152-Fixed connection module. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. The technical features designed in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0048] In the description of this invention, it should be understood that the terms "upper side," "lower side," "one side," "both sides," "upper part," "lower part," "inner," "between," "upper," "lower," "left," "right," "end," "top," "end," "upper end," "lower end," "both ends," and "close to," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a number" means two or more. In addition, the term "comprising" and any variations thereof mean "at least comprising."

[0049] Example 1

[0050] One embodiment of the present invention provides an adaptive surface cleaning module, referencing... Figure 1 and Figure 2 As shown, it includes:

[0051] Cleaning brush 110, which contains a pressure sensor;

[0052] In specific operation, the pressure sensor inside the cleaning brush 110 will detect the pressure of the end of the cleaning module pressing on the curved surface, and use it to determine the start and stop of the cleaning operation of the cleaning brush 110.

[0053] It also includes an external rotor motor 120, which is fixed to the lower side of the lower plate 130 and tightly fitted with the cleaning brush 110.

[0054] Specifically, during installation, the diameter of the external rotor motor 120 is d;

[0055] In actual operation, the external rotor motor 120 drives the cleaning brush 110 to work.

[0056] It also includes a lower plate 130, with a hemispherical base 131 fixedly provided at the center;

[0057] In specific installation, an annular gasket 132 is provided at the center of the lower plate 130, and the hemispherical base 131 is nested and fixed to the annular center of the annular gasket 132.

[0058] In actual operation, the annular gasket 132 can provide cushioning for the hemispherical arc surface 141, reducing mechanical wear.

[0059] It also includes a degree-of-freedom conversion axis 140, the top end of which is fixedly connected to the upper plate 160, and the end end is nested in the hemispherical base 131 through a hollow hemispherical arc surface 141, which aligns and connects the lower plate 130 with the upper plate 160, and allows the lower plate 130 to tilt at multiple angles with the hemispherical arc surface 141 as the fulcrum.

[0060] In specific operation, the degree-of-freedom conversion axis 140 is a universal rigid connection axis, which can keep the vertical distance between the upper plate 160 and the lower plate 130 constant, and effectively avoid misalignment between the upper plate 160 and the lower plate 130, so that the upper plate 160 and the lower plate 130 always remain on the same axis.

[0061] It also includes a multi-degree-of-freedom elastic module 150, which includes several elastic connectors 151 arranged around the degree-of-freedom conversion axis 140. The upper and lower ends of the elastic connectors 151 are fixedly connected to the edge of the upper plate 160 and the edge of the lower plate 130, respectively, and the tilt angle of the lower plate 130 can be freely adjusted.

[0062] In specific installation, several elastic connectors 151 are arranged in a continuous "N" shape in a ring. The ends of the two elastic connectors 151 at the "N" shaped node are connected by a fixed connection module 152. The fixed connection module 152 on the upper side of the "N" shaped node is fixedly connected to the upper plate 160, and the fixed connection module 152 on the lower side of the "N" shaped node is fixedly connected to the lower plate 130.

[0063] In actual operation, the "N"-shaped arrangement of several elastic connectors 151 can decompose the force at the "N"-shaped node along two symmetrical directions, so that the force on each part of the multi-degree-of-freedom elastic module 150 is balanced.

[0064] The fixed connection module 152 is a "T"-shaped double plate bolt. The protruding part of the "T"-shaped double plate bolt is fixedly connected to the upper plate 160 or the lower plate 130. The flat part of the "T"-shaped double plate bolt is used to fix the ends of the two elastic connectors 151 at the "N"-shaped node.

[0065] The distance between the upper end of the elastic connector 151 and the central axis perpendicular to the upper plate 160 is less than the distance between the lower end of the elastic connector 151 and the central axis perpendicular to the lower plate 130.

[0066] In actual operation, the multi-degree-of-freedom elastic module 150 will automatically adjust the extension and contraction of each elastic connector 151 according to the pressure of the end of the cleaning module pressing on the curved surface. In conjunction with the degree-of-freedom conversion shaft 140, it will adjust the tilt angle of the lower plate 130. For example, when the elastic connector 151 on the left side of the multi-degree-of-freedom elastic module 150 is subjected to greater pressure, it will shorten the elastic length, causing the lower plate 130 to tilt around the hemispherical arc surface 141 as the fulcrum. The left side of the lower plate 130 will move closer to the upper plate 160, and the right side of the lower plate 130 will move away from the upper plate 160. The elastic length of the elastic connector 151 on the right side of the multi-degree-of-freedom elastic module 150 will extend accordingly to adapt to the adjusted posture of the lower plate 130.

[0067] The adjustment of the position of the lower plate 130 will directly drive the outer rotor motor 120 fixedly connected to the lower side of the lower plate 130, so that the outer rotor motor 120 is adjusted to a position perpendicular to the normal direction of the curved surface, thereby making the cleaning module completely fit the curved surface.

[0068] It also includes a linear stepper motor 170, the end of which is fixed to the upper side of the upper plate 160;

[0069] In specific operation, the linear stepper motor 170 controls the end of the cleaning module to press against the curved surface through telescopic movement, as shown in the following example. Figure 3The values ​​q0, q1, q2, q3, and q4 shown are on a dashed line with a radius of curvature R.

[0070] In this embodiment, the lower plate 130 is further defined as a rounded regular n-sided polygon, obtained by rounding the corners of a regular n-sided polygon with a side length of 0.5d to 1.25d. Preferably, n is 3. The side length of the regular triangular shape of the lower plate 130 before rounding is 1.25d, and the diameter of the circle used to round the corners of the lower plate 130 is 1.02d. That is, the lower plate 130 is a rounded regular triangular polygon, obtained by rounding the corners of a regular triangular shape with a side length of 1.25d and a circle with a diameter of 1.02d.

[0071] In this embodiment, the upper plate 160 is further described as a rounded regular n-sided polygon, similar to the lower plate 120 at a ratio of 1:1.5 to 2. The angle bisector of the upper plate 160 and the angle bisector of the lower plate 130 form an angle of 360° / 2n. In this embodiment, the preferred similarity ratio is 1:1.5. That is, the upper plate 160 is a rounded regular triangular polygon, obtained by rounding the corners of a regular triangular polygon with a side length of 0.83d through a circle with a diameter of 0.68d, and the angle bisector of the upper plate 160 and the angle bisector of the lower plate 130 form an angle of 60°.

[0072] In this embodiment, the "T"-shaped plate portion of the fixed connection module 152 is specifically composed of two hollow ring columns. Each of the two ring columns, on the side away from the "T"-shaped protrusion, is fixedly connected to a circular plate by a short column. The axis of the short column forms an angle of 20° to 45° with the "T"-shaped cross-section. In this embodiment, the preferred angle between the axis of the short column and the "T"-shaped cross-section is 30°.

[0073] In this embodiment, preferably, the multi-degree-of-freedom elastic module 150 is a six-degree-of-freedom spring module, including six elastic connectors 151 and six fixed connection modules 152. The six elastic connectors 151 are arranged in an "N" shape in a continuous loop. The ends of the two elastic connectors 151 at the "N"-shaped nodes are respectively connected by the fixed connection modules 152. The fixed connection module 152 on the upper side of the "N"-shaped node is fixedly connected to the upper plate 160, and the fixed connection module 152 on the lower side of the "N"-shaped node is fixedly connected to the lower plate 130. In specific implementation, the elastic connectors 151 can be springs or other elastic connection structures, such as elastic ropes or elastic bands, as needed. The fixed connection modules 152 are "T"-shaped double plate bolts or other fasteners.

[0074] In this embodiment, the cleaning brush 110 can be made of any one or more of nylon filaments, PBT filaments, PP filaments, and PET filaments. In addition, those skilled in the art can design and replace the cleaning brush 110 with a cleaning sponge, cleaning cloth, or other cleaning tools according to actual needs, but this is still within the scope of protection of this invention.

[0075] Example 2

[0076] This embodiment, based on Embodiment 1, provides a curved surface cleaning device, specifically a laser-detected three-dimensional array adaptive curved surface cleaning device, referencing... Figure 4 , Figure 5 , Figure 6 As shown, it includes:

[0077] Several cleaning modules 100 are arranged in an array and fixed to the upper and lower sides of the fixing plate 200.

[0078] It also includes several atomizing water spray heads 500, arranged in an array and interspersed among several of the cleaning modules 100, and fixedly connected to the fixing plate 200.

[0079] It also includes a water pipe 600, which is connected to several of the atomizing spray heads 500;

[0080] In specific installation, the water pipe 600 has a mesh structure and is close to the linear stepper motors 170 of several of the cleaning modules 100.

[0081] In actual operation, the water flow in the water pipe 600 can absorb some of the heat generated by the motor, thus cooling the motor.

[0082] The cleaning controller 400 is fixed to the upper side of the fixing plate 200 by studs 300;

[0083] In specific operation, the cleaning controller 400 receives the coordinates of discrete points on the curved surface profile captured by the lidar 800, performs circle fitting using a least squares fitting algorithm to obtain the curvature radius R of the curved surface, and controls several cleaning modules 100 to adaptively fit the curved surface for cleaning.

[0084] The lidar 800 is connected to the housing 700 via the lidar mounting plate 900 to capture the coordinates of discrete points on the curved surface profile.

[0085] In specific installation, the lidar 800 is one of a single-line lidar, a multi-line lidar, a phase-type laser rangefinder, or a pulse-type laser rangefinder.

[0086] In specific operation, the lidar 800 captures the coordinates of discrete points on the curved surface profile as follows: Figure 7The coordinates of discrete points P0, P1, P2, P3, P4 of the partial curved surface profile shown are transmitted to the cleaning controller 400.

[0087] In this embodiment, the array-sorted cleaning modules 100 further include two or more, preferably 17 in this embodiment, as shown below. Figure 5 As shown, those skilled in the art can design to increase or decrease the number of cleaning modules 100 or adjust the sorting method of cleaning modules 100 according to actual needs, but these are still within the protection scope of this invention.

[0088] In this embodiment, the array of atomizing spray heads 500 further includes two or more, preferably 14 in this embodiment, as shown below. Figure 6 As shown, those skilled in the art can design to increase or decrease the number of atomizing spray heads 500 or adjust the sorting of atomizing spray heads 500 according to actual needs, and make corresponding modifications to the water pipe 500, but these modifications are still within the scope of protection of this invention.

[0089] In this embodiment, preferably, the lidar 800 is a single-line lidar.

[0090] In this embodiment, the radar mounting plate 900 can be made of metal or non-metal, and there is no need to specify specific dimensions, shape, or fastening method. It is sufficient to ensure that the radar can be fastened on the device. Those skilled in the art can choose any one or more of the appropriate materials, dimensions, and fastening methods according to actual design needs, but these are still within the protection scope of this invention.

[0091] Example 3

[0092] This embodiment provides a method for cleaning curved surfaces using the curved surface cleaning device of Embodiment 2, including the following steps:

[0093] S100, The lidar captures the coordinates of discrete points on the curved surface profile, specifically as follows: Figure 7 The coordinates of discrete points P0, P1, P2, P3, and P4 of the partial curved surface profile shown are transmitted to the cleaning controller. In this embodiment, the lidar is a single-line lidar, but it can also be replaced by a multi-line lidar, a phase-type laser rangefinder, or a pulse-type laser rangefinder.

[0094] S101. The cleaning controller receives the coordinates of discrete points on the curved surface profile, and uses the least squares fitting algorithm to perform circle fitting to obtain the curvature radius R of the curved surface.

[0095] S102, the cleaning controller controls the linear stepper motors of several cleaning modules to perform telescopic movements, causing the ends of several cleaning modules to press against the curved surface, specifically as follows: Figure 3 The numbers q0, q1, q2, q3, and q4 shown are on a dashed line with a radius of curvature R; in this embodiment, the cleaning modules specifically number 17.

[0096] S103. The multi-degree-of-freedom elastic module automatically adjusts the extension and contraction of each elastic connector under pressure, and adjusts the tilt angle of the lower plate by means of the degree-of-freedom conversion shaft, thereby adjusting the posture of the outer rotor motor to the normal direction perpendicular to the curved surface, so that the cleaning brush completely fits the curved surface; in this embodiment, the multi-degree-of-freedom elastic module is specifically a six-degree-of-freedom spring module.

[0097] S104. The pressure sensor inside the cleaning brush detects the magnitude of the pressure and transmits the pressure parameters to the cleaning controller.

[0098] S105. After receiving the pressure parameter information, the cleaning controller determines that the pressure has reached the set value for starting work, and then controls the external rotor motors of the plurality of cleaning modules to start working, driving the cleaning brush to rotate, and cooperating with the plurality of atomizing water spray heads to start the curved surface cleaning work; in this embodiment, the plurality of cleaning modules specifically are 17, and the plurality of atomizing water spray heads specifically are 14.

[0099] In this embodiment, a single-line lidar is used to automatically capture the coordinates of discrete points on the curved surface profile. The radius of curvature R of the curved surface is obtained by least squares circle fitting. The linear stepper motor on the cleaning module is controlled to perform telescopic motion. The linear stepper motor moves in conjunction with the six-degree-of-freedom spring module and the degree-of-freedom conversion axis to achieve efficient contact between the cleaning brush and the curved surface for cleaning. This achieves the effect of complete contact and effective cleaning of the curved surface by the automatic curved surface cleaning equipment.

[0100] Furthermore, those skilled in the art should understand that although many problems exist in the prior art, each embodiment or technical solution of the present invention can be improved in only one or a few aspects, without necessarily solving all the technical problems listed in the prior art or the background art simultaneously. Those skilled in the art should understand that any content not mentioned in a claim should not be construed as a limitation on that claim.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive surface cleaning module, characterized in that, include: Cleaning brush (110) contains a pressure sensor; An external rotor motor (120) is fixed to the lower side of the lower plate (130), and the cleaning brush (110) is tightly fitted on the outside. The lower plate (130) has a hemispherical base (131) fixed in the center. The degree-of-freedom conversion axis (140) is fixedly connected to the upper plate (160) at its top end and nested in the hemispherical base (131) at its end through a hollow hemispherical arc surface (141), which connects the lower plate (130) and the upper plate (160) in a centered manner, and allows the lower plate (130) to tilt at multiple angles with the hemispherical arc surface (141) as the fulcrum; The multi-degree-of-freedom elastic module (150) includes several elastic connectors (151) arranged around the degree-of-freedom conversion axis (140). The upper and lower ends of the elastic connectors (151) are fixedly connected to the edge of the upper plate (160) and the edge of the lower plate (130) respectively, and the tilt angle of the lower plate (130) can be freely adjusted. A plurality of the elastic connectors (151) are arranged in a continuous ring in an "N" shape. The ends of the two elastic connectors (151) at the "N" shaped node are connected by a fixed connection module (152). The fixed connection module (152) on the upper side of the "N" shaped node is fixedly connected to the upper plate (160), and the fixed connection module (152) on the lower side of the "N" shaped node is fixedly connected to the lower plate (130). The fixed connection module (152) is a "T"-shaped double plate bolt. The protruding part of the "T"-shaped double plate bolt is fixedly connected to the upper plate (160) or the lower plate (130). The flat part of the "T"-shaped double plate bolt is used to fix the ends of the two elastic connectors (151) at the "N"-shaped node. The distance between the upper end of the elastic connector (151) and the central axis perpendicular to the upper plate (160) is less than the distance between the lower end of the elastic connector (151) and the central axis perpendicular to the lower plate (130). A linear stepper motor (170) is fixed at its end to the upper side of the upper plate (160).

2. The adaptive surface cleaning module according to claim 1, characterized in that: The lower plate (130) is provided with an annular gasket (132) at its center, and the hemispherical base (131) is nested and fixed to the annular center of the annular gasket (132).

3. A surface cleaning device employing the adaptive surface cleaning module as described in claim 1 or 2, characterized in that, include: Several cleaning modules (100) are arranged in an array and fixed to the upper and lower sides of the fixing plate (200); A number of atomizing spray heads (500) are arranged in an array and interspersed among a number of the cleaning modules (100), and are fixedly connected to the fixing plate (200); A water pipe (600) is connected to several of the aforementioned atomizing spray heads (500); The cleaning controller (400) is fixed to the upper side of the fixing plate (200) by studs (300); The lidar (800) is connected to the housing (700) via the lidar mounting plate (900) to capture the coordinates of discrete points on the curved profile.

4. The curved surface cleaning device according to claim 3, characterized in that: The water pipe (600) has a mesh structure and is close to the linear stepper motors (170) of several of the cleaning modules (100).

5. The curved surface cleaning device according to claim 3, characterized in that: The cleaning controller (400) receives the coordinates of discrete points on the curved surface profile captured by the lidar (800) and controls several cleaning modules (100) to adaptively fit the curved surface for cleaning.

6. The curved surface cleaning device according to claim 3, characterized in that: The lidar (800) is one of a single-line lidar, a multi-line lidar, a phase-type laser rangefinder, or a pulse-type laser rangefinder.

7. A method for cleaning curved surfaces, characterized in that, The curved surface cleaning apparatus as described in any one of claims 3-6 includes the following steps: S100, The lidar captures the coordinates of discrete points on the curved surface profile; S101, The cleaning controller receives the coordinates of discrete points on the curved surface profile and obtains the radius of curvature R of the curved surface by fitting. S102. The cleaning controller controls the linear stepper motors of several cleaning modules to perform telescopic movements, so that the ends of several cleaning modules press against a curved surface with a radius of curvature R. S103. The multi-degree-of-freedom elastic module automatically adjusts the extension and contraction of each elastic connector under pressure, and works with the degree-of-freedom conversion shaft to adjust the tilt angle of the lower plate, thereby adjusting the posture of the outer rotor motor to the normal direction perpendicular to the curved surface, so that the cleaning brush completely fits the curved surface. S104. The pressure sensor inside the cleaning brush detects the magnitude of the pressure and transmits the pressure parameters to the cleaning controller. S105. After receiving the pressure parameter information, the cleaning controller determines that the pressure has reached the set value for starting work, and then controls the external rotor motors of several cleaning modules to start working, driving the cleaning brush to rotate, and cooperating with several atomizing water spray heads to start the curved surface cleaning work.

Images