Building glass curtain wall cleaning method and cleaning equipment thereof

Abstract

The invention relates to the technical field of curtain wall cleaning, and provides a building glass curtain wall cleaning method and cleaning equipment thereof.The building glass curtain wall cleaning equipment comprises a rack, a walking device, a cleaning device and a scraping assembly are arranged on the rack, the walking device can drive the cleaning device to move on a glass curtain wall, and the cleaning device comprises a rotating assembly and a cleaning assembly; a first sensor and a second sensor are arranged on the cleaning assembly, the first sensor can sense the adhesion degree of stains on the glass curtain wall, the scraping assembly can assist the cleaning assembly to clean the glass curtain wall according to data of the first sensor, and the second sensor can sense the dirty degree of sewage on the cleaning assembly; according to the glass curtain wall cleaning device, the walking speed and the cleaning strength of the device can be adaptively adjusted according to the condition of stains on a glass curtain wall, the glass curtain wall can be more efficiently cleaned, and the cleaning effect is good.

Description

Technical Field

[0001] The present invention relates to the technical field of curtain wall cleaning, in particular to a method for cleaning a building glass curtain wall and a cleaning device thereof. Background Art

[0002] Glass facades have obvious advantages. They are not only striking, eye-catching, and gorgeous in appearance, but also beneficial for lighting and ventilation within the building, making them popular. However, they also have several drawbacks. Because glass has reflective properties, maintaining a building's appearance over time requires regular cleaning and maintenance in cities prone to dust and acid rain.

[0003] For example, Chinese patent CN107811587A discloses a hanging basket type high-altitude exterior wall and glass curtain wall cleaning device, which includes a hanging basket, a transmission system, a scrubbing system, a cleaning system and an adsorption system. The transmission system is installed on the side of the hanging basket through an adjustment frame. The transmission system includes a base plate, and a fixed plate with an adjustable position is provided on the side of the base plate. The scrubbing system is installed on the fixed plate. The scrubbing system includes a scrubbing belt. The cleaning system is installed on the base plate below the scrubbing belt. The cleaning system includes a sewage receiving chamber and a water nozzle. The adsorption system is installed on the hanging basket. The adsorption system includes a suction cup movable in the horizontal direction and a vacuum pump.

[0004] This solution uses a transmission system to move the equipment and adopts a scrubbing system, a cleaning system and an adsorption system to clean the high-altitude exterior walls or glass curtain walls. However, during the cleaning process, the amount of stains on the high-altitude exterior walls and glass curtain walls, the degree of adhesion of the stains, etc. are uncertain. The cleaning method of the equipment using machine cleaning is single and cannot be adaptively adjusted according to the corresponding situation. Summary of the Invention

[0005] Based on this, it is necessary to provide a building glass curtain wall cleaning method and cleaning equipment thereof to address the problem that the existing cleaning equipment currently has a single cleaning method and cannot be adaptively adjusted according to the corresponding situation.

[0006] The above purpose is achieved through the following technical solutions: A building glass curtain wall cleaning device includes a frame, on which a traveling device, a cleaning device and a scraping assembly are arranged, and the traveling device can drive the cleaning device and the scraping assembly to move on the glass curtain wall; The cleaning device includes a rotating assembly and a cleaning assembly. The rotating assembly is evenly distributed with a plurality of cleaning assemblies. The rotation of the rotating assembly can drive the cleaning assemblies to clean the glass curtain wall. The cleaning assembly is provided with a first sensor and a second sensor. The first sensor can sense the degree of adhesion of stains on the glass curtain wall, and the scraping component can assist the cleaning component in cleaning the glass curtain wall according to the data on the first sensor; The second sensor can sense the turbidity of the sewage on the cleaning component, and the forward speed of the walking device can be adjusted according to the data of the second sensor. The forward speed of the walking device is negatively correlated with the turbidity of the sewage.

[0007] Furthermore, the cleaning assembly includes a sponge bar, a first nozzle, a second nozzle and a dehydration rod. The sponge bar is arranged on the rotating assembly, and the sponge bar abuts against the glass curtain wall. The first nozzle can moisten the sponge bar, the dehydration rod can dehydrate the sponge bar, and the second nozzle can clean the sponge bar.

[0008] Furthermore, the first sensor is provided on a side of the sponge strip away from the glass curtain wall, and the second sensor is provided on the dehydration rod.

[0009] Furthermore, the scraping assembly includes a scraper and an electromagnetic push rod, one end of the electromagnetic push rod is connected to the scraper, and the other end of the electromagnetic push rod is connected to the rotating assembly. The scraper can move in a direction close to the glass curtain wall, and the scraper can scrape off stubborn stains on the glass curtain wall. The scraper can move synchronously with the cleaning assembly. When stubborn stains on the glass curtain wall are detected, the scraper moves in a direction close to the glass curtain wall, and the rotating assembly drives the scraper and the cleaning assembly to scrape off the stubborn stains on the glass curtain wall at the same time.

[0010] Furthermore, the walking device includes a driving component and an adsorption component. Several adsorption components are evenly distributed on the driving component. The adsorption component can be adsorbed on the glass curtain wall. When the driving component is working, the building glass curtain wall cleaning equipment can move horizontally on the glass curtain wall.

[0011] Furthermore, there are two drive assemblies, which are distributed vertically up and down, and can rotate synchronously. A telescopic part is provided between the two drive assemblies, and the telescopic part can adjust the distance between the two drive assemblies, so that the building glass curtain wall cleaning equipment can move in the vertical direction on the glass curtain wall.

[0012] Furthermore, the adsorption assembly includes a suction cup and a suction cup control valve, and the suction cup control valve can control the adsorption state of the suction cup on the glass curtain wall. When the telescopic part is extended, the suction cup control valve controls the suction cup on the upper drive assembly to be in the adsorption state and the suction cup on the lower drive assembly to be in the detached state. When the telescopic part is shortened, the suction cup control valve controls the suction cup on the upper drive assembly to be in the detached state and the suction cup on the lower drive assembly to be in the adsorption state.

[0013] Furthermore, it also includes a detection device, which is arranged on the frame. The detection device can detect the vertical deviation of the building glass curtain wall cleaning equipment when it is working. When deviation occurs, the detection device can send a signal to adjust the walking device to the correct position.

[0014] Furthermore, the detection device includes rollers arranged on both sides of the frame, and the rollers are in contact with the glass curtain wall. When the walking device is working, the rollers on both sides of the frame are in a stationary state. When the walking device is offset, the rollers can rotate around their own axes, and the angle of rotation of the rollers around their own axes is positively correlated with the amount of offset of the walking device.

[0015] A method for cleaning a building glass curtain wall comprises the following steps: Step S1: Acquire data from the first sensor and the second sensor; Step S2: comparing the data of the first sensor with a first preset value; Step S21: If the data of the first sensor in step S2 is greater than the first preset value, determining whether the stain model is a large area stubborn stain or a small area stubborn stain based on the data changes of the first sensors on the multiple cleaning components; Step S211: If it is determined that the stain is a large area of ​​stubborn stains, the walking device is controlled to stop moving forward, and the cleaning device and the scraping assembly are controlled to clean the glass curtain wall simultaneously; Step S212: If it is determined that the stain is a small area stubborn stain model, the cleaning device is controlled to stop moving forward, and the scraping component is controlled to clean the glass curtain wall synchronously with the cleaning device only in the area where the first sensor data is greater than the preset value; Step S22: If the data of the first sensor in step S2 is less than the first preset value, determine whether the data of the second sensor is greater than the second preset value; Step S221: If the data of the second sensor in step S22 is greater than the second preset value, the walking device adjusts its speed according to the change in the data on the second sensor. The speed of the walking device is negatively correlated with the data on the second sensor. Step S222: If the data of the second sensor in step S22 is less than the second preset value, the walking device moves forward at the initial speed.

[0016] The beneficial effects of the present invention are: The present invention provides a building glass curtain wall cleaning device, comprising a frame, on which a walking device, a cleaning device and a scraping assembly are arranged. The walking device can drive the cleaning device to move on the glass curtain wall, the cleaning device includes a rotating assembly and a cleaning assembly, and the cleaning assembly is provided with a first sensor and a second sensor. The first sensor can sense the degree of adhesion of stains on the glass curtain wall, the scraping assembly can assist the cleaning assembly in cleaning the glass curtain wall according to data from the first sensor, and the second sensor can sense the turbidity of sewage on the cleaning assembly. The forward speed of the walking device is negatively correlated with the turbidity of the sewage. The present invention can adaptively adjust the walking speed and cleaning force of the device according to the condition of the stains on the glass curtain wall, thereby being able to clean the glass curtain wall more efficiently and with a good cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic structural diagram of a building glass curtain wall cleaning device provided by one embodiment of the present invention; Figure 2 for Figure 1 A schematic diagram of the internal structure of a building glass curtain wall cleaning device provided in one embodiment; Figure 3 A schematic structural diagram of a cleaning assembly of a building glass curtain wall cleaning device provided by one embodiment of the present invention; Figure 4 A schematic structural diagram of an adsorption assembly of a building glass curtain wall cleaning device provided by one embodiment of the present invention; Figure 5 This is a schematic structural diagram from another angle of the building glass curtain wall cleaning equipment provided by one embodiment of the present invention.

[0018] in: 100, frame; 110, water storage tank; 120, dehydration rod; 130, first nozzle; 140, pipe connector; 200, walking device; 210, lifting ring; 220, telescopic member; 230, transmission wheel; 240, suction cup; 250, control valve; 300, cleaning device; 310, sponge bar; 320, scraper; 330, second nozzle; 340, water inlet pipe; 400. Detection device. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0020] The serial numbers assigned to components herein, such as "first," "second," etc., are used solely to distinguish the objects being described and do not convey any sequential or technical meaning. References to "connection" and "coupling" herein, unless otherwise specified, include both direct and indirect connections (couplings). In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like, indicating positions or relationships, are based on those shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the device or element referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention.

[0021] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0022] Refer to the following Figure 1-Figure 5 A method for cleaning a building glass curtain wall and a cleaning device thereof are described in detail in one embodiment of the present application.

[0023] A building glass curtain wall cleaning device, suitable for cleaning the surface of glass curtain walls, includes a frame 100, on which are mounted a traveling device 200, a cleaning device 300, and a scraping assembly. The traveling device 200 is capable of driving the cleaning device 300 to move along the glass curtain wall, and the cleaning device 300 is capable of rotating on the frame 100, allowing the cleaning device 300 to clean the surface of the glass curtain wall. The cleaning device 300 includes a rotating assembly and a cleaning assembly. The rotating assembly is evenly distributed with several cleaning assemblies, which are capable of driving the cleaning assemblies to rotate, allowing the cleaning assemblies to clean the glass curtain wall. The cleaning assembly is equipped with a first sensor and a second sensor.

[0024] The first sensor can obtain the degree of adhesion of stains on the glass curtain wall. That is, the degree of adhesion of stains on the glass curtain wall can be known based on the first sensor. When the adhesion of stains on the glass curtain wall is strong, the first sensor senses that the adhesion of the stains is strong. At this time, the cleaning component will receive the signal from the first sensor, so that the scraping component and the cleaning component will clean the glass curtain wall at the same time.

[0025] The second sensor can sense the turbidity of the sewage on the cleaning component. Multiple preset values ​​can be set on the second sensor. The walking device 200 can adjust its speed according to the data on the second sensor. The forward speed of the walking device 200 is negatively correlated with the turbidity of the sewage. It can be understood that when the data on the second sensor is larger, it means that there are more stains on the glass curtain wall. At this time, the forward speed of the walking device 200 needs to be reduced. In the same area, the slower the forward speed of the walking device 200, the longer the glass curtain wall in the area is cleaned by the cleaning component, thereby increasing the cleanliness of the glass curtain wall; when the data on the second sensor is smaller, it means that there are fewer stains on the glass curtain wall. The walking device 200 can increase its speed according to the data on the second sensor. In the same area, the faster the forward speed of the walking device 200, the shorter the time the glass curtain wall in the area is cleaned by the cleaning component, thereby improving the cleaning efficiency.

[0026] In a further embodiment, Figure 2 and Figure 3As shown, the cleaning component includes a sponge bar 310, a first nozzle 130, a second nozzle 330 and a dehydration rod 120. The sponge bar 310 is arranged on the rotating component, and the sponge bar 310 is in contact with the glass curtain wall. The first nozzle 130 is arranged on the side of the sponge bar 310 away from the glass curtain wall. The first nozzle 130 can wet the sponge bar 310. The second nozzle 330 is arranged on one side of the sponge bar 310. The second nozzle 330 can clean the sponge bar 310. If the data on the second sensor is large, it means that there are many stains on the glass curtain wall. The walking device 200 will reduce the forward speed, so that the sponge bar 310 in a unit area can clean the glass curtain wall for a longer time, thereby increasing the cleanliness of the glass curtain wall. At the same time, due to the movement The speed of the walking device 200 is reduced, but the speed at which the rotating component drives the sponge bar 310 to move on the glass curtain wall remains unchanged. That is to say, within the same period of time, the area cleaned by the sponge bar 310 becomes smaller, thereby reducing the area cleaned by a single sponge bar 310 on the glass curtain wall, thereby reducing the amount of residual stains on the sponge bar 310, making it easier for the second nozzle 330 to clean the sponge bar 310 (if the walking device 200 does not reduce its speed, a single sponge bar 310 will clean a larger area of ​​stains at the same time, resulting in too much stains on the sponge bar 310, and the cleaning force of the second nozzle 330 will be insufficient to clean the sponge bar 310, resulting in stains still remaining on the cleaned glass curtain wall).

[0027] For example, before the speed of the walking device 200 is reduced, assuming that 1 square meter of the glass curtain wall is cleaned within 1 minute, there is a lot of stains attached to the sponge bar 310, which exceeds the cleaning range of the second nozzle 330, so that the sponge bar 310 cannot clean thoroughly, and thus the glass curtain wall cannot be cleaned thoroughly. Assume that after the speed of the walking device 200 is reduced, 0.5 square meters of the glass curtain wall is cleaned within 1 minute, thereby reducing the adhesion of stains on the sponge bar 310, so that the second nozzle 330 can clean the sponge bar 310.

[0028] One end of the water inlet pipe 340 is connected to the first nozzle 130, and the other end is connected to the pipe connector 140. The pipe connector 140 is rotatably set on the frame 100. A plurality of openings are opened on the pipe connector 140, and a plurality of water inlet pipes 340 are connected to the openings. When the rotating component rotates, the pipe connector 140 rotates synchronously. The rotating component can also supply water to the first nozzle 130 when rotating. The dehydration rod 120 is set on one side of the sponge bar 310. The dehydration rod 120 can squeeze and dehydrate the sponge bar 310. A water storage tank 110 is set at the bottom of the cleaning component. The water storage tank 110 can store the sewage generated by the dehydration rod 120 squeezing the sponge bar 310 and the sewage generated by the second nozzle 330 cleaning the sponge bar 310.

[0029] It should be noted that the water tank 110 is located at the bottom of the cleaning component, and an opening is provided on the water tank 110 (not shown in the figure). One side of the opening is in contact with the glass curtain wall, and the upper edge of the opening is in sliding contact with the sponge bar 310. When the sponge bar 310 passes through the dehydration rod 120, the sewage adsorbed therein and the water adsorbed by the second nozzle 330 will enter the water tank 110 through the opening of the water tank 110. Specifically, when cleaning the glass curtain wall, the sponge bar 310 will push the water stains on the glass curtain wall to move along the moving direction of the sponge bar 310, and the water stains will flow along the glass curtain wall to the opening under the action of gravity. Since the bottom of the sponge bar 310 is in sliding contact with the upper edge of the opening of the water tank 110, water stains are prevented from remaining on the glass curtain wall.

[0030] Specifically, a first sensor is provided on the side of the sponge strip 310 away from the glass curtain wall, that is, the first sensor is provided between the sponge strip 310 and the rotating assembly. Since one side of the sponge strip 310 is in contact with the glass curtain wall, the first sensor is provided on the side away from the glass curtain wall. When there is a large stain on the glass curtain wall and the sponge strip 310 contacts the large stain, the deformation of the sponge strip 310 when contacting the large stain will be transmitted to the first sensor, and the data of the first sensor will change. It can be understood that the condition of the stain on the glass curtain wall can be judged by the degree of change in the data of the first sensor.

[0031] The first sensor can be a pressure sensor, which determines the presence of stains on the glass curtain wall by detecting changes in pressure on the sponge strip 310. Since stains adhere to the glass curtain wall, they will appear raised. The pressure exerted on the sponge strip 310 when passing over stubborn stains differs from that exerted on a smooth glass curtain wall. It should be noted that the sponge strip 310 of the present invention is made of a high-density elastic sponge material (density 30-40 kg / m³) with a uniform honeycomb structure. Under a preset compression (5-8 mm), its deformation exhibits linear recovery characteristics, effectively reducing the interference of water absorption on pressure transmission. When the sponge strip 310 abuts the glass curtain wall, the running device 200 provides a constant preload (50-80 N) to ensure that the sponge strip 310 maintains a stable fit. When stubborn stains are present on the glass curtain wall, the raised stains generate an additional reaction force on the sponge strip 310. Due to the high density of the sponge strip 310, this reaction force is lost less than 15% during transmission, allowing it to be accurately transmitted to the pressure sensor on the side of the sponge strip 310 away from the glass curtain wall. Furthermore, the pressure sensor employed in this invention utilizes a micro-thin-film pressure sensor with a range of 0-100N and a resolution of 0.1N, enabling real-time capture of pressure changes.

[0032] As can be understood, stubborn stains are more adherent and difficult to clean. Therefore, when the sponge strip 310 passes over these stains, it is affected by them, causing a greater force on the sponge strip 310 and a higher value on the pressure sensor. Stain with less adhesion is removed by the sponge strip 310, resulting in a smaller force on the sponge strip 310 and a lower value on the pressure sensor. Therefore, the first sensor provided on the sponge strip 310 detects the adhesion strength of the stains through pressure changes. Furthermore, when the dehydration rod 120 dehydrates the sponge strip 310, the first sensor does not directly contact the dehydration rod 120; it is blocked by the sponge strip 310. Furthermore, due to the small size of each sponge strip 310, the dehydration force exerted by the dehydration rod 120 on the sponge strip 310 is relatively small. In this embodiment, the squeezing force exerted by the dehydration rod 120 on the sponge strip 310 is less than 100N, thereby preventing the pressure sensor from being damaged by pressure exceeding the limit.

[0033] A second sensor is also provided on the dehydration rod 120. Since the dehydration rod 120 can dehydrate the sponge bar 310, the second sensor can contact the sewage on the sponge bar 310 and then detect the turbidity of the sewage. The second sensor can be a turbidity sensor, which comprehensively judges the turbidity of the sewage through the transmittance and scattering rate of the sewage.

[0034] Furthermore, the scraping assembly includes a scraper 320 and an electromagnetic push rod, one end of the electromagnetic push rod is connected to the scraper 320, and the other end of the electromagnetic push rod is connected to the rotating assembly. The scraper 320 can move in the direction close to the glass curtain wall, and judge whether the data change model on the first sensor is gradually increasing with the increase of time. If so, it means that there is a large area of ​​stubborn stains on the glass curtain wall, and the walking device 200 stops working, that is, the building glass curtain wall cleaning equipment stays in the area of ​​large area of ​​stubborn stains, and the electromagnetic push rod pushes the scraper 320 to move in the direction close to the glass curtain wall. The scraper 320 stops after contacting the glass curtain wall, and the rotating assembly drives the sponge strip 310 and the scraper 320 to simultaneously clean the large area. The scraper 320 and the sponge strip 310 clean the stubborn stains on the glass curtain wall synchronously, thereby improving the cleaning force of the cleaning component and effectively cleaning the stubborn stains on the glass curtain wall. If the distance increases by only a small distance over time, it means that there are small areas of stubborn stains on the glass curtain wall. At this time, the walking device 200 also stops working, that is, the building glass curtain wall cleaning equipment stops moving forward, and after recording the area with small stains, every time the cleaning component passes through this area, the scraper 320 will move toward the direction of the glass curtain wall and abut against the glass curtain wall, and the scraper 320 and the sponge strip 310 clean this area, thereby improving the working efficiency of the building glass curtain wall cleaning equipment.

[0035] In a further embodiment, a lifting ring 210 is provided on the traveling device 200, and the lifting ring 210 can be connected to a safety rope to prevent the building glass curtain wall cleaning device from falling off during operation and causing a safety accident. The rotation direction of the traveling device 200 is opposite to the rotation direction of the rotating component. The rotation speed of the traveling device 200 can be adjusted, while the rotation speed of the rotating component remains unchanged during operation. The traveling device 200 includes a driving component and an adsorption component. The driving component is evenly distributed with a plurality of adsorption components. The adsorption components can be adsorbed on the glass curtain wall. When the driving component rotates, it can drive the adsorption components to rotate synchronously. When the adsorption components come into contact with the glass curtain wall, they are adsorbed on the glass curtain wall. When the driving component rotates, some of the adsorption components are separated from the glass curtain wall, thereby always maintaining a part of the adsorption components adsorbed on the glass curtain wall, while the other part of the adsorption components are separated from the glass curtain wall, so that the driving component can make the building glass curtain wall cleaning device move laterally on the glass curtain wall during operation.

[0036] Furthermore, the driving component includes a transmission wheel 230 and a transmission belt. There are two transmission wheels 230, and the two transmission wheels 230 are connected by a transmission belt. When the two transmission wheels 230 rotate, the transmission belt is also driven to rotate synchronously. Several adsorption components are evenly distributed on the transmission belt, thereby driving several adsorption components to rotate along with the transmission belt.

[0037] Specifically, if Figure 5 As shown, there are two drive assemblies, which are distributed vertically up and down, and the two drive assemblies rotate synchronously. A telescopic member 220 is provided between the two drive assemblies. The telescopic member 220 can be a hydraulic rod or a pneumatic rod. The telescopic member 220 can adjust the distance between the two drive assemblies. When the building glass curtain wall cleaning equipment cleans an area horizontally on the glass curtain wall and needs to move downward on the glass curtain wall, the adsorption components on the lower drive assembly are all separated from the glass curtain wall, and the adsorption components on the upper drive assembly are still adsorbed on the glass curtain wall. The telescopic member 220 begins to extend, causing the lower drive assembly to move away from the upper drive assembly. The telescopic member 220 extends to the preset When the distance between the upper driving assembly and the lower driving assembly is equal to the horizontal movement distance of the building glass curtain wall cleaning equipment, the adsorption assembly on the upper driving assembly is adsorbed on the glass curtain wall, and the adsorption assembly on the upper driving assembly is separated from the glass curtain wall. At the same time, the telescopic member 220 begins to shorten and return to its initial state, thereby driving the upper driving assembly to move downward. When the distance between the upper driving assembly and the lower driving assembly is equal to the horizontal movement distance of the building glass curtain wall cleaning equipment, the adsorption assembly on the upper driving assembly is adsorbed on the glass curtain wall, so that the building glass curtain wall cleaning equipment moves in the vertical direction, realizing that the building glass curtain wall cleaning equipment moves to the next area for cleaning after completing the horizontal cleaning of one area.

[0038] In a further embodiment, Figure 4 and Figure 5 As shown, the adsorption assembly includes a suction cup 240 and a control valve 250. The suction cup 240 is connected to the control valve 250. The suction cup 240 can be adsorbed on the glass curtain wall. The control valve 250 can control the adsorption state of the suction cup 240 on the glass curtain wall. When the telescopic member 220 is extended, the control valve 250 on the upper drive assembly controls the suction cup 240 to be adsorbed on the glass curtain wall, and the control valve 250 on the lower drive assembly controls the suction cup 240 to be separated from the glass curtain wall. When the telescopic member 220 is shortened, the control valve 250 on the upper drive assembly controls the suction cup 240 to be separated from the glass curtain wall, and the control valve 250 on the lower drive assembly controls the suction cup 240 to be adsorbed on the glass curtain wall.

[0039] In a further embodiment, the building glass curtain wall cleaning equipment also includes a detection device 400, which is arranged on the frame 100. The detection device 400 can detect the vertical deviation of the building glass curtain wall cleaning equipment when it is working. If the building glass curtain wall cleaning equipment is offset during operation, it will cause inadequate cleaning on the glass curtain wall. Therefore, it is very necessary to set up the detection device 400. When an offset occurs, the detection device 400 immediately detects the situation and sends a signal to the walking device 200, so that the walking device 200 is adjusted in the vertical direction to restore it to the correct position.

[0040] Furthermore, the detection device 400 includes rollers arranged on both sides of the frame 100, the rollers are rotatably connected to the frame 100, the rollers can rotate around their own axes, the rollers are always in contact with the glass curtain wall, and the rollers do not rotate and are in a stationary state when the building glass curtain wall cleaning equipment moves horizontally. The rollers can only rotate when the building glass curtain wall cleaning equipment moves in the vertical direction. When the building glass curtain wall cleaning equipment deviates during operation, since the rollers abut against the glass curtain wall, when the building glass curtain wall deviates in the vertical direction, the rollers will rotate, and the greater the angle of rotation of the rollers around their own axes, the greater the amount of deviation of the walking device 200, and vice versa. At this time, the detection device 400 will detect the deviation according to the rotation of the rollers. When the angle of rotation of the roller exceeds a preset value (the preset value refers to the offset when the lateral movement of the cleaning equipment is greatly affected, and the size of the preset value is positively correlated with the lateral length of the cleaned glass curtain wall, and is not specifically limited here), the detection device 400 sends a signal to the walking device 200, and the walking device 200 stops moving laterally on the glass curtain wall, but moves in the vertical direction through the driving component and the adsorption component to correct the vertical offset. It can be understood that the method of correcting the vertical offset is to utilize the structure of the building glass curtain wall cleaning equipment moving in the vertical direction, specifically to adjust the length of the telescopic member 220 according to the offset detected by the detection device 400 to achieve the effect of correcting the vertical offset.

[0041] It should be noted that, in order to better obtain the rotation angle of the roller, an angle sensor (not shown in the figure) can be set on the rotation axis of the roller to detect the rotation angle of the roller in real time and promptly feed back to the walking device 200.

[0042] The specific working process of the building glass curtain wall cleaning device provided by this application is described based on the above embodiment: The traveling device 200 is started to move on the glass curtain wall, thereby driving the building glass curtain wall cleaning device to move on the glass curtain wall and clean the glass curtain wall.

[0043] When the building glass curtain wall cleaning device is working on the glass curtain wall, it can obtain data from the first sensor and the second sensor, and compare the data from the first sensor with the first preset value. If the data from the first sensor is greater than the first preset value, it is determined based on the data from the first sensor whether the encountered stain is a large area of ​​stubborn stains or a small area of ​​stubborn stains. If the data change on the first sensor gradually increases with time, it means that the building glass curtain wall cleaning device has encountered a large area of ​​stubborn stains when working. At this time, the walking device 200 stops moving forward, and the scraper 320 moves in the electromagnetic Under the action of the push rod, it moves toward the direction close to the glass curtain wall, so that the scraper 320 and the sponge strip 310 clean the large area of ​​stubborn stains at the same time. After the large area of ​​stubborn stains are completely removed, the walking device 200 continues to move forward; if the data change on the first sensor lasts for a short time, it means that the stubborn stain is small in area. At this time, the walking device 200 stops working and records the area where the data change occurs. The scraper 320 only moves toward the direction close to the glass curtain wall in this area through the electromagnetic push rod and cleans the small area of ​​stubborn stains synchronously with the sponge strip 310. After cleaning, the walking device 200 continues to move forward.

[0044] If the data on the first sensor is less than the first preset value, the data on the second sensor is compared with the second preset value. If the data on the second sensor is greater than the second preset value, it means that there are many stains on the glass curtain wall and the forward speed of the walking device 200 needs to be reduced. The speed of the walking device 200 is negatively correlated with the data on the second sensor, that is, when the data on the second sensor is larger, the forward speed of the walking device 200 is slower. By reducing the speed, the cleaning time of the sponge strip 310 on the glass curtain wall is increased, thereby improving the cleanliness of the glass curtain wall. When the data on the second sensor returns to the second preset value or is less than the second preset value, the speed of the walking device 200 is restored to the initial speed.

[0045] A method for cleaning a building glass curtain wall, applied to a building glass curtain wall cleaning device provided in the above embodiment, comprises the following steps: Step S1: Acquire data from the first sensor and the second sensor.

[0046] Step S2: During the operation of the cleaning device 300 , the data from the first sensor are compared with a first preset value (the adhesion degree of the stains on the glass curtain wall is set to be slightly adhered and strongly adhered, and the first preset value is between the two degrees of strongly adhered and slightly adhered).

[0047] Step S21: If the data of the first sensor in step S2 is greater than the first preset value, then judging whether the stain model is a large area stubborn stain or a small area stubborn stain based on the data changes of the first sensors on the multiple cleaning components (large area stain model: the data on the first sensor increases over time; small area stain model: the data on the first sensor changes over a shorter period of time); Step S211: If it is determined that the stain is a large area stubborn stain model, the walking device 200 is controlled to stop moving forward, and the cleaning device 300 and the scraping assembly are controlled to clean the glass curtain wall simultaneously; Step S212: If it is determined that the stain is a small area stubborn stain model, the cleaning device 300 is controlled to stop moving forward, and the scraping component is controlled to clean the glass curtain wall synchronously with the cleaning device 300 only in the area where the first sensor data is greater than the preset value; Step S22: If the data from the first sensor in step S2 is less than the first preset value, then determining whether the data from the second sensor is greater than a second preset value (the second preset value is between the data obtained when the cleaning device 300 is operating on a very clean glass curtain wall without stains and the data obtained when the cleaning device 300 is operating on a glass curtain wall with a lot of stains); Step S221: If the data of the second sensor in step S22 is greater than the second preset value, the walking device 200 adjusts its speed according to the change in the data on the second sensor. The speed of the walking device 200 is negatively correlated with the data on the second sensor. Step S222: If the data of the second sensor in step S22 is less than the second preset value, the walking device 200 moves forward at the initial speed.

[0048] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0049] The above-described embodiments merely illustrate several embodiments of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A building glass curtain wall cleaning device, characterized in that: The machine comprises a frame on which a traveling device, a cleaning device and a scraping assembly are arranged, and the traveling device can drive the cleaning device and the scraping assembly to move on the glass curtain wall; The cleaning device includes a rotating assembly and a cleaning assembly. The rotating assembly is evenly distributed with a plurality of cleaning assemblies. The rotation of the rotating assembly can drive the cleaning assemblies to clean the glass curtain wall. The cleaning assembly is provided with a first sensor and a second sensor. The first sensor can sense the degree of adhesion of stains on the glass curtain wall, and the scraping component can assist the cleaning component in cleaning the glass curtain wall according to the data on the first sensor; The second sensor can sense the turbidity of the sewage on the cleaning component, and the forward speed of the walking device can be adjusted according to the data of the second sensor. The forward speed of the walking device is negatively correlated with the turbidity of the sewage.

2. The building glass curtain wall cleaning equipment according to claim 1, characterized in that: The cleaning assembly includes a sponge bar, a first nozzle, a second nozzle and a dehydration rod. The sponge bar is arranged on the rotating assembly and abuts against the glass curtain wall. The first nozzle can moisten the sponge bar, the dehydration rod can dehydrate the sponge bar, and the second nozzle can clean the sponge bar.

3. The building glass curtain wall cleaning equipment according to claim 2, characterized in that: The first sensor is arranged on the side of the sponge bar away from the glass curtain wall, and the second sensor is arranged on the dehydration rod.

4. The building glass curtain wall cleaning equipment according to claim 1, characterized in that: The scraping assembly includes a scraper and an electromagnetic push rod, one end of the electromagnetic push rod is connected to the scraper, and the other end of the electromagnetic push rod is connected to the rotating assembly. The scraper can move in a direction close to the glass curtain wall, and the scraper can scrape off stubborn stains on the glass curtain wall. The scraper can move synchronously with the cleaning assembly. When stubborn stains on the glass curtain wall are detected, the scraper moves in a direction close to the glass curtain wall, and the rotating assembly drives the scraper and the cleaning assembly to scrape off the stubborn stains on the glass curtain wall at the same time.

5. The building glass curtain wall cleaning equipment according to claim 1, characterized in that: The walking device includes a driving component and an adsorption component. Several adsorption components are evenly distributed on the driving component. The adsorption components can be adsorbed on the glass curtain wall. When the driving component is working, the building glass curtain wall cleaning equipment can move horizontally on the glass curtain wall.

6. The building glass curtain wall cleaning equipment according to claim 5, characterized in that: There are two drive assemblies, which are distributed vertically up and down. The two drive assemblies can rotate synchronously. A telescopic part is provided between the two drive assemblies, and the telescopic part can adjust the distance between the two drive assemblies, so that the building glass curtain wall cleaning equipment can move in the vertical direction on the glass curtain wall.

7. The building glass curtain wall cleaning equipment according to claim 6, characterized in that: The adsorption assembly includes a suction cup and a control valve, and the control valve can control the adsorption state of the suction cup on the glass curtain wall. When the telescopic member is extended, the control valve controls the suction cup on the upper drive assembly to be in the adsorption state and the suction cup on the lower drive assembly to be in the detached state. When the telescopic member is shortened, the control valve controls the suction cup on the upper drive assembly to be in the detached state and the suction cup on the lower drive assembly to be in the adsorption state.

8. The building glass curtain wall cleaning equipment according to claim 1, characterized in that: It also includes a detection device, which is arranged on the frame. The detection device can detect the vertical deviation of the building glass curtain wall cleaning equipment when it is working. When deviation occurs, the detection device can send a signal to adjust the walking device to the correct position.

9. The building glass curtain wall cleaning device according to claim 8, characterized in that: The detection device includes rollers arranged on both sides of the frame, and the rollers are in contact with the glass curtain wall. When the walking device is working, the rollers on both sides of the frame are in a stationary state. When the walking device deviates, the rollers can rotate around their own axes, and the angle of rotation of the rollers around their own axes is positively correlated with the amount of deviation of the walking device.

10. A method for cleaning a building glass curtain wall, characterized in that: The building glass curtain wall cleaning method is applied to the building glass curtain wall cleaning device according to any one of claims 1 to 9, and comprises the following steps: Step S1: Acquire data from the first sensor and the second sensor; Step S2: comparing the data of the first sensor during the operation of the cleaning device with a first preset value; Step S21: If the data of the first sensor in step S2 is greater than the first preset value, determining whether the stain model is a large area stubborn stain or a small area stubborn stain based on the data changes of the first sensors on the multiple cleaning components; Step S211: If it is determined that the stain is a large area of ​​stubborn stains, the walking device is controlled to stop moving forward, and the cleaning device and the scraping assembly are controlled to clean the glass curtain wall simultaneously; Step S212: If it is determined that the stain is a small area stubborn stain model, the cleaning device is controlled to stop moving forward, and the scraping component is controlled to clean the glass curtain wall synchronously with the cleaning device only in the area where the first sensor data is greater than the preset value; Step S22: If the data of the first sensor in step S2 is less than the first preset value, determine whether the data of the second sensor is greater than the second preset value; Step S221: If the data of the second sensor in step S22 is greater than the second preset value, the walking device adjusts its speed according to the change in the data on the second sensor. The speed of the walking device is negatively correlated with the data on the second sensor. Step S222: If the data of the second sensor in step S22 is less than the second preset value, the walking device moves forward at the initial speed.

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