A method and equipment for cleaning building glass curtain walls

Abstract

This invention relates to the field of curtain wall cleaning technology, and provides a method and equipment for cleaning building glass curtain walls. The equipment includes a frame, on which a traveling device, a cleaning device, and a scraping component are mounted. The traveling device can drive the cleaning device to move on the glass curtain wall. The cleaning device includes a rotating component and a cleaning component. The cleaning component is equipped with a first sensor and a second sensor. The first sensor can sense the degree of stain adhesion on the glass curtain wall. The scraping component can assist the cleaning component in cleaning the glass curtain wall based on the data from the first sensor. The second sensor can sense the degree of turbidity of the wastewater on the cleaning component. The forward speed of the traveling device is negatively correlated with the degree of turbidity of the wastewater. This invention can adaptively adjust the traveling speed and cleaning force of the device according to the condition of the stains on the glass curtain wall, enabling more efficient cleaning of the glass curtain wall with good cleaning results.

Description

Technical Field

[0001] This invention relates to the field of curtain wall cleaning technology, and in particular to a method and equipment for cleaning building glass curtain walls. Background Technology

[0002] The advantages of glass facade structures are very obvious. Not only are they grand, eye-catching, and luxurious in appearance, but they are also very beneficial for the lighting and ventilation inside buildings, making them very popular. However, there are also many drawbacks. Due to the reflective properties of glass, in order to keep buildings looking new for a long time, especially in big cities where dust and acid rain are prevalent, glass curtain walls must be cleaned and maintained regularly.

[0003] For example, Chinese patent CN107811587A discloses a suspended basket-type high-altitude exterior wall and glass curtain wall cleaning device, including a suspended basket, a transmission system, a scrubbing system, a cleaning system, and an adsorption system. The transmission system is installed on the side of the suspended basket via an adjustment frame and includes a base plate. An adjustable fixing plate is provided on the side of the base plate. The scrubbing system is installed on the fixing plate and includes a scrubbing belt. The cleaning system is installed on the base plate below the scrubbing belt and includes a wastewater collection chamber and spray nozzles. The adsorption system is installed on the suspended basket and includes a suction cup that can move horizontally and a vacuum pump.

[0004] This solution uses a transmission system to move the equipment and employs a wiping system, a cleaning system, and an adsorption system to clean high-altitude exterior walls or glass curtain walls. However, during the cleaning process, the amount of dirt on the high-altitude exterior walls and glass curtain walls, as well as the degree of dirt adhesion, are all uncertain. The equipment using machine cleaning has a single cleaning method and cannot make adaptive adjustments according to the specific circumstances. Summary of the Invention

[0005] Therefore, it is necessary to provide a method and equipment for cleaning building glass curtain walls, addressing the problem that existing cleaning equipment has a single cleaning method and cannot be adapted to different situations.

[0006] The above objectives are achieved through the following technical solutions:

[0007] A building glass curtain wall cleaning device includes a frame, on which a walking device, a cleaning device and a scraping component are mounted. The walking device can drive the cleaning device and the scraping component to move on the glass curtain wall.

[0008] The cleaning device includes a rotating component and a cleaning component. Several cleaning components are evenly distributed on the rotating component. The rotation of the rotating component can drive the cleaning components to clean the glass curtain wall. A first sensor and a second sensor are provided on the cleaning component.

[0009] 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 based on the data from the first sensor.

[0010] The second sensor can sense the degree of turbidity of the wastewater 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 degree of turbidity of the wastewater.

[0011] Furthermore, the cleaning assembly includes a sponge strip, a first nozzle, a second nozzle, and a dehydration rod. The sponge strip is disposed on the rotating assembly and abuts against the glass curtain wall. The first nozzle can wet the sponge strip, the dehydration rod can dehydrate the sponge strip, and the second nozzle can clean the sponge strip.

[0012] Furthermore, the first sensor is provided on the side of the sponge strip away from the glass curtain wall, and the second sensor is provided on the dehydration rod.

[0013] 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 is connected to the rotating assembly. The scraper can move towards the glass curtain wall and can scrape off stubborn stains on the glass curtain wall. The scraper can move synchronously with the cleaning assembly. When stubborn stains are detected on the glass curtain wall, the scraper moves towards 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 simultaneously.

[0014] Furthermore, the walking device includes a driving component and an adsorption component. A plurality of adsorption components are evenly distributed on the driving component. The adsorption components can adsorb onto the glass curtain wall. When the driving component is working, it enables the building glass curtain wall cleaning equipment to move laterally on the glass curtain wall.

[0015] Furthermore, there are two drive components, which are distributed vertically and can rotate synchronously. A telescopic component is provided between the two drive components, which can adjust the distance between the two drive components, so that the building glass curtain wall cleaning equipment can move vertically on the glass curtain wall.

[0016] Furthermore, the adsorption assembly includes a suction cup and a suction cup control valve. The suction cup control valve can control the adsorption state of the suction cup on the glass curtain wall. When the telescopic member extends, the suction cup control valve controls the suction cup on the upper drive assembly to be in an adsorption state and the suction cup on the lower drive assembly to be in a disengaged state. When the telescopic member shortens, the suction cup control valve controls the suction cup on the upper drive assembly to be in a disengaged state and the suction cup on the lower drive assembly to be in an adsorption state.

[0017] Furthermore, it also includes a detection device mounted on the frame. The detection device can detect the vertical deviation of the building glass curtain wall cleaning equipment during operation. When deviation occurs, the detection device can send a signal to adjust the walking device to the correct position.

[0018] Furthermore, the detection device includes rollers disposed on both sides of the frame. The rollers are in contact with the glass curtain wall. When the traveling device is working, the rollers on both sides of the frame are in a stationary state. When the traveling device deviates, the rollers can rotate around their own axis. The angle of rotation of the rollers around their own axis is positively correlated with the amount of deviation of the traveling device.

[0019] A method for cleaning building glass curtain walls includes the following steps:

[0020] Step S1: Acquire data from the first sensor and the second sensor;

[0021] Step S2: Compare the data from the first sensor with the first preset value;

[0022] Step S21: If the data of the first sensor in step S2 is greater than the first preset value, then determine whether the stain model is a large area of ​​stubborn stain or a small area of ​​stubborn stain based on the data changes of the first sensor on multiple cleaning components.

[0023] Step S211: If it is determined that the model is a large area of ​​stubborn stains, control the walking device to stop moving forward, and control the cleaning device and scraping component to clean the glass curtain wall at the same time.

[0024] Step S212: If it is determined that it is a small area of ​​stubborn stain model, control the cleaning device to stop moving forward, and control the scraping component to clean the glass curtain wall synchronously with the cleaning device only in the area where the data of the first sensor is greater than the preset value.

[0025] Step S22: If the data from the first sensor in step S2 is less than the first preset value, then determine whether the data from the second sensor is greater than the second preset value;

[0026] Step S221: If the data of the second sensor in step S22 is greater than the second preset value, the walking device will adjust 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.

[0027] Step S222: If the data from the second sensor in step S22 is less than the second preset value, the walking device moves forward at the initial speed.

[0028] The beneficial effects of this invention are:

[0029] This invention provides a building glass curtain wall cleaning device, including a frame on which a walking device, a cleaning device, and a scraping component are mounted. The walking device can drive the cleaning device to move on the glass curtain wall. The cleaning device includes a rotating component and a cleaning component. The cleaning component is equipped with a first sensor and a second sensor. The first sensor can sense the degree of stain adhesion on the glass curtain wall. The scraping component can assist the cleaning component in cleaning the glass curtain wall based on the data from the first sensor. The second sensor can sense the degree of turbidity of the wastewater on the cleaning component. The forward speed of the walking device is negatively correlated with the degree of turbidity of the wastewater. This 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, enabling more efficient cleaning of the glass curtain wall and achieving better cleaning results. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of a building glass curtain wall cleaning device according to an embodiment of the present invention;

[0031] Figure 2 for Figure 1 A schematic diagram of the internal structure of a building glass curtain wall cleaning device provided in one embodiment;

[0032] Figure 3 This is a schematic diagram of the cleaning components of a building glass curtain wall cleaning equipment according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of the adsorption component of a building glass curtain wall cleaning device according to an embodiment of the present invention;

[0034] Figure 5 This is a structural schematic diagram of a building glass curtain wall cleaning device provided in one embodiment of the present invention from another angle.

[0035] in:

[0036] 100. Frame; 110. Water tank; 120. Dehydration rod; 130. First nozzle; 140. Pipe connector;

[0037] 200. Walking device; 210. Lifting ring; 220. Telescopic component; 230. Drive wheel; 240. Suction cup; 250. Control valve;

[0038] 300. Cleaning device; 310. Sponge strip; 320. Scraper; 330. Second nozzle; 340. Water inlet pipe;

[0039] 400. Detection device. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the 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 merely illustrative of the invention and are not intended to limit the invention.

[0041] The serial numbers assigned to components in this document, such as "first," "second," etc., are merely used to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages). In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0042] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] The following reference Figures 1-5 This application describes a method and equipment for cleaning building glass curtain walls, provided in one embodiment.

[0044] A building glass curtain wall cleaning device, suitable for cleaning the surface of glass curtain walls, includes a frame 100, on which a traveling device 200, a cleaning device 300, and scraping components are mounted. The traveling device 200 can drive the cleaning device 300 to move on the glass curtain wall, and the cleaning device 300 can rotate on the frame 100 to clean the surface of the glass curtain wall. The cleaning device 300 includes a rotating component and cleaning components. A plurality of cleaning components are evenly distributed on the rotating component, which can drive the cleaning components to rotate, so that the cleaning components clean the glass curtain wall. A first sensor and a second sensor are mounted on the cleaning components.

[0045] The first sensor can detect the degree of stain adhesion on the glass curtain wall. In other words, the degree of stain adhesion on the glass curtain wall can be determined by the first sensor. When the stain adhesion on the glass curtain wall is strong, the first sensor will detect that the stain adhesion 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.

[0046] The second sensor can detect the turbidity of the wastewater on the cleaning component. Multiple preset values ​​can be set on the second sensor, and the walking device 200 can adjust its speed according to the data from the second sensor. The forward speed of the walking device 200 is negatively correlated with the turbidity of the wastewater. It can be understood that when the data on the second sensor is higher, it indicates 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 that area is cleaned by the cleaning component, thus increasing the cleanliness of the glass curtain wall. When the data on the second sensor is lower, it indicates that there are fewer stains on the glass curtain wall. The walking device 200 can increase its speed according to the data from 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 that area is cleaned by the cleaning component, thus improving the cleaning efficiency.

[0047] In a further embodiment, such as Figure 2 and Figure 3As shown, the cleaning assembly includes a sponge strip 310, a first nozzle 130, a second nozzle 330, and a dehydration rod 120. The sponge strip 310 is mounted on the rotating assembly and abuts against the glass curtain wall. The first nozzle 130 is located on the side of the sponge strip 310 away from the glass curtain wall, and the first nozzle 130 wets the sponge strip 310. The second nozzle 330 is located on one side of the sponge strip 310 and cleans the sponge strip 310. If the data on the second sensor is large, it indicates that there are many stains on the glass curtain wall. The traveling device 200 will reduce its forward speed, so that the sponge strip 310 takes longer to clean the glass curtain wall per unit area, thereby increasing the cleanliness of the glass curtain wall. At the same time, due to the travel... The speed of the traveling device 200 decreases, but the speed at which the rotating component drives the sponge strip 310 to move on the glass curtain wall remains unchanged. In other words, within the same amount of time, the area cleaned by the sponge strip 310 becomes smaller, thus reducing the area cleaned by a single sponge strip 310 on the glass curtain wall. This results in less residue on the sponge strip 310, making it easier for the second nozzle 330 to clean the sponge strip 310. (If the traveling device 200 does not decrease its speed, a single sponge strip 310 will clean a larger area of ​​stains at the same time, resulting in too much stain on the sponge strip 310. The cleaning power of the second nozzle 330 will not be sufficient to clean the sponge strip 310, and stains will remain on the glass curtain wall after cleaning.)

[0048] For example, before the speed of the walking device 200 decreases, if it is assumed that 1 square meter of glass curtain wall is cleaned in 1 minute, there will be a lot of dirt on the sponge strip 310, which exceeds the cleaning range of the second nozzle 330, making it impossible for the sponge strip 310 to clean thoroughly, and thus the glass curtain wall cannot be cleaned thoroughly. If the speed of the walking device 200 decreases, it can clean 0.5 square meters of glass curtain wall in 1 minute, thereby reducing the dirt adhesion on the sponge strip 310, so that the second nozzle 330 can clean the sponge strip 310 thoroughly.

[0049] 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 mounted on the frame 100. The pipe connector 140 has multiple openings, and multiple water inlet pipes 340 are connected to the openings. When the rotating component rotates, the pipe connector 140 rotates synchronously. When the rotating component rotates, it can also deliver water to the first nozzle 130. The dewatering rod 120 is located on one side of the sponge strip 310. The dewatering rod 120 can squeeze and dewater the sponge strip 310. A water storage tank 110 is provided at the bottom of the cleaning component. The water storage tank 110 can store the sewage generated by the dewatering rod 120 squeezing the sponge strip 310 and the sewage generated by the second nozzle 330 cleaning the sponge strip 310.

[0050] It should be noted that the water storage tank 110 is located at the bottom of the cleaning assembly, and the water storage tank 110 is provided with an opening (not shown in the figure). One side of the opening contacts the glass curtain wall, and the upper edge of the opening slides in contact with the sponge strip 310. When the sponge strip 310 passes the dewatering rod 120, the sewage adsorbed inside it and the water adsorbed by the second nozzle 330 will enter the water storage tank 110 through the opening. Specifically, when cleaning the glass curtain wall, the sponge strip 310 will push the water stains on the glass curtain wall to move along the moving direction of the sponge strip 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 strip 310 slides in contact with the upper edge of the opening of the water storage tank 110, water stains are prevented from remaining on the glass curtain wall.

[0051] Specifically, a first sensor is installed on the side of the sponge strip 310 away from the glass curtain wall. That is, the first sensor is located 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, and the first sensor is installed 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 comes into contact with the large stain, the deformation of the sponge strip 310 when it comes into contact with 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 determined by the degree of change of the data of the first sensor.

[0052] The first sensor can be a pressure sensor, which detects changes in pressure on the sponge strip 310 to determine the condition of stains on the glass curtain wall. Since the stains are attached to the glass curtain wall, they will protrude. The pressure experienced by the sponge strip 310 when passing over a glass curtain wall with stubborn stains is different from the pressure experienced when passing over a glass curtain wall without stubborn stains. It should be noted that the sponge strip 310 in this invention is made of high-density elastic sponge material (density of 30-40 kg / m³), and its internal pores have a uniform honeycomb structure. Under a preset compression amount (5-8 mm), the deformation has linear recovery characteristics, which can effectively reduce the interference of water absorption on pressure transmission. When the sponge strip 310 comes into contact with the glass curtain wall, the traveling device 200 provides a constant pre-pressure (50-80 N) to keep the sponge strip 310 in a stable and conforming state. When stubborn stains are present on the glass curtain wall, the protruding stains exert an additional reaction force on the sponge strip 310. Due to the high density of the sponge strip 310, the loss rate of this reaction force during transmission is less than 15%, allowing it to be accurately transmitted to the pressure sensor on the side of the sponge strip 310 furthest from the glass curtain wall. Furthermore, the pressure sensor in this invention is a miniature thin-film pressure sensor with a range of 0-100N and a resolution of 0.1N, enabling real-time capture of pressure changes.

[0053] It is understandable that stubborn stains are more adherent and difficult to clean. Therefore, when the sponge strip 310 passes over stubborn stains, it will be affected by the stubborn stains, resulting in a greater force on the sponge strip 310 and a higher value on the pressure sensor. Stains with less adhesion are cleaned by the sponge strip 310 as it passes over them, resulting in a smaller force on the sponge strip 310 and a lower value on the pressure sensor. Therefore, the first sensor set on the sponge strip 310 detects the adhesion of stains by pressure changes. At the same time, when the dehydration rod 120 dehydrates the sponge strip 310, the first sensor does not directly contact the dehydration rod 120, as the sponge strip 310 acts as a barrier. Furthermore, because the size of a single sponge strip 310 is small, the dehydration force exerted by the dehydration rod 120 on the sponge strip 310 is relatively small. In this embodiment, the squeezing force of 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 value.

[0054] A second sensor is also provided on the dewatering rod 120. Since the dewatering rod 120 can dewater the sponge strip 310, the second sensor can come into contact with the sewage on the sponge strip 310 and thus detect the turbidity of the sewage. The second sensor can be a turbidity sensor, which judges the turbidity of the sewage by comprehensively considering the transmittance and scattering rate of the sewage.

[0055] 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 is connected to the rotating assembly. The scraper 320 can move towards the glass curtain wall. It is determined whether the data change model on the first sensor gradually increases over time. If so, it indicates the presence of a large area of ​​stubborn stains on the glass curtain wall. The walking device 200 stops working, meaning the building glass curtain wall cleaning equipment remains in the area of ​​the large area of ​​stubborn stains. The electromagnetic push rod pushes the scraper 320 towards the glass curtain wall. The scraper 320 stops after contacting the glass curtain wall. The rotating assembly drives the sponge strip 310 and the scraper 320 to simultaneously clean the large area. For cleaning stubborn stains, the simultaneous cleaning of the scraper 320 and sponge strip 310 improves the cleaning power of the cleaning components and effectively cleans stubborn stains on the glass curtain wall. If the distance increases only a small amount over time, it indicates 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 records the area with small stains. Whenever the cleaning components pass through this area, the scraper 320 will move closer to the glass curtain wall and come into contact with the glass curtain wall. The scraper 320 and sponge strip 310 clean this area, thereby improving the working efficiency of the building glass curtain wall cleaning equipment.

[0056] In a further embodiment, the walking device 200 is equipped with a lifting ring 210, which can be connected to a safety rope to prevent the building glass curtain wall cleaning equipment from falling off during operation and causing a safety accident. The rotation direction of the walking device 200 is opposite to the rotation direction of the rotating component, and the rotation speed of the walking device 200 can be adjusted, while the rotation speed of the rotating component remains constant during operation. The walking device 200 includes a driving component and an adsorption component. Several adsorption components are evenly distributed on the driving component. The adsorption components can adsorb onto 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 onto the glass curtain wall. When the driving component rotates, some adsorption components detach from the glass curtain wall, so that a portion of the adsorption components are always adsorbed onto the glass curtain wall, while another portion of the adsorption components are not in contact with the glass curtain wall. This allows the driving component to enable the building glass curtain wall cleaning equipment to move laterally on the glass curtain wall during operation.

[0057] Furthermore, the drive assembly includes a drive wheel 230 and a drive belt. There are two drive wheels 230 connected by a drive belt. When the two drive wheels 230 rotate, they drive the drive belt to rotate synchronously. Several adsorption components are evenly distributed on the drive belt, thereby driving several adsorption components to rotate with the drive belt.

[0058] Specifically, such as Figure 5 As shown, there are two drive components, vertically distributed, rotating synchronously. A telescopic component 220 is positioned between them. This component can be a hydraulic or pneumatic rod. The telescopic component 220 adjusts the distance between the two drive components. When the building glass curtain wall cleaning equipment has cleaned a section of the glass curtain wall horizontally and needs to move downwards, the suction components on the lower drive component detach from the glass curtain wall, while the suction components on the upper drive component remain attached. The telescopic component 220 then extends, causing the lower drive component to move away from the upper drive component. The telescopic component 220 extends to a preset position. When the length (preset length is the maximum cleaning height of the building glass curtain wall cleaning equipment in the vertical direction) is reached, the adsorption component on the lower drive component adheres to the glass curtain wall, and the adsorption component on the upper drive component detaches from the glass curtain wall. At the same time, the telescopic component 220 begins to shorten and return to its initial state, thereby driving the upper drive component to move downward. When the upper drive component moves to a distance between itself and the lower drive component, which is the distance the building glass curtain wall cleaning equipment moves laterally, the adsorption component on the upper drive component adheres to the glass curtain wall, enabling the building glass curtain wall cleaning equipment to move in the vertical direction. This allows the building glass curtain wall cleaning equipment to move to the next area for cleaning after cleaning one area laterally.

[0059] In a further embodiment, such as 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 onto 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 extends, the control valve 250 on the upper drive assembly controls the suction cup 240 to be adsorbed onto the glass curtain wall, and the control valve 250 on the lower drive assembly controls the suction cup 240 to detach from the glass curtain wall. When the telescopic member 220 retracts, the control valve 250 on the upper drive assembly controls the suction cup 240 to detach from the glass curtain wall, and the control valve 250 on the lower drive assembly controls the suction cup 240 to be adsorbed onto the glass curtain wall.

[0060] In a further embodiment, the building glass curtain wall cleaning equipment also includes a detection device 400, which is mounted on the frame 100. The detection device 400 can detect the vertical deviation of the building glass curtain wall cleaning equipment during operation. If the building glass curtain wall cleaning equipment deviates during operation, it will result in inadequate cleaning of the glass curtain wall. Therefore, it is necessary to set up the detection device 400. When a deviation occurs, the detection device 400 immediately detects the situation and sends a signal to the traveling device 200, so that the traveling device 200 adjusts in the vertical direction to restore the correct position.

[0061] Furthermore, the detection device 400 includes rollers mounted on both sides of the frame 100. The rollers are rotatably connected to the frame 100 and can rotate around their own axes. The rollers are always in contact with the glass curtain wall. The rollers remain stationary when the building glass curtain wall cleaning equipment moves laterally. The rollers only rotate when the building glass curtain wall cleaning equipment moves vertically. When the building glass curtain wall cleaning equipment deviates during operation, the rollers rotate because they are in contact with the glass curtain wall. The larger the angle of rotation of the rollers around their own axes, the greater the deviation of the traveling device 200, and vice versa. The detection device 400 will then detect the rotation of the rollers. The system adjusts its operation based on the situation. When the angle of the roller rotation exceeds a preset value (this preset value refers to the offset when it significantly affects the lateral movement of the cleaning equipment; the magnitude of this preset value is positively correlated with the lateral length of the glass curtain wall being cleaned, and is not specifically limited here), the detection device 400 sends a signal to the walking device 200. The walking device 200 stops moving laterally on the glass curtain wall and instead moves vertically through the drive 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 vertically. Specifically, the length of the telescopic component 220 is adjusted according to the offset detected by the detection device 400 to achieve the effect of correcting the vertical offset.

[0062] 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 installed on the roller shaft, which can detect the rotation angle of the roller in real time and provide timely feedback to the walking device 200.

[0063] The specific working process of the building glass curtain wall cleaning equipment provided in this application will be described based on the above embodiments:

[0064] The walking device 200 is activated, causing it to move on the glass curtain wall, which in turn moves the building glass curtain wall cleaning equipment on the glass curtain wall to clean it.

[0065] When the building glass curtain wall cleaning equipment is working on the glass curtain wall, it can acquire data from the first sensor and the second sensor. By comparing the data from the first sensor with a first preset value, if the data from the first sensor is greater than the first preset value, it is determined whether the encountered stain is a large area of ​​stubborn stain or a small area of ​​stubborn stain. If the data from the first sensor gradually increases over time, it indicates that the building glass curtain wall cleaning equipment has encountered a large area of ​​stubborn stain. At this time, the walking device 200 stops moving forward, and the scraper 320 is in electromagnetic mode. The device moves towards the glass curtain wall under the action of the push rod, so that the scraper 320 and the sponge strip 310 can clean the large area of ​​stubborn stains at the same time. After the large area of ​​stubborn stains is cleaned, the walking device 200 continues to move forward. If the data change on the first sensor lasts for a short time, it means that it is a small area of ​​stubborn stains. At this time, the walking device 200 stops working and records the area where the data change occurs. The scraper 320 only moves towards the glass curtain wall in this area through the electromagnetic push rod and cleans the small area of ​​stubborn stains in sync with the sponge strip 310. After cleaning is completed, the walking device 200 continues to move forward.

[0066] 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 indicates 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, the larger the data on the second sensor, the slower the forward speed of the walking device 200. By reducing the speed, the cleaning time of the sponge strip 310 on the glass curtain wall is increased, thereby increasing the cleanliness of the glass curtain wall. When the data on the second sensor returns to or is less than the second preset value, the speed of the walking device 200 returns to the initial speed.

[0067] A method for cleaning building glass curtain walls, applied to a building glass curtain wall cleaning device provided in the above embodiments, includes the following steps:

[0068] Step S1: Acquire data from the first sensor and the second sensor.

[0069] Step S2: During the operation of the cleaning device 300, the data from the first sensor is compared with the first preset value (the degree of adhesion of stains on the glass curtain wall is set to be slight adhesion and strong adhesion, and the first preset value is between the two degrees of strong adhesion and slight adhesion).

[0070] Step S21: If the data of the first sensor in step S2 is greater than the first preset value, then determine whether the stain model is a large-area stubborn stain or a small-area stubborn stain based on the data changes of the first sensor on 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).

[0071] Step S211: If it is determined that the model is a large area of ​​stubborn stains, control the walking device 200 to stop moving forward, and control the cleaning device 300 and the scraping component to clean the glass curtain wall at the same time.

[0072] Step S212: If it is determined that it is a small area of ​​stubborn stain model, control the cleaning device 300 to stop moving forward, and control the scraping component to clean the glass curtain wall synchronously with the cleaning device 300 only in the area where the data of the first sensor is greater than the preset value.

[0073] Step S22: If the data from the first sensor in step S2 is less than the first preset value, then determine whether the data from the second sensor is greater than the second preset value (the second preset value is between the data obtained when the cleaning device 300 is working on a very clean glass curtain wall without stains and when it is working on a glass curtain wall with a lot of stains).

[0074] Step S221: If the data of the second sensor in step S22 is greater than the second preset value, the walking device 200 will adjust 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.

[0075] Step S222: If the data from the second sensor in step S22 is less than the second preset value, the walking device 200 moves forward at the initial speed.

[0076] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0077] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A cleaning device for building glass curtain walls, characterized in that, It includes a frame, on which a traveling device, a cleaning device, and a scraping assembly are installed. The traveling device can move the cleaning device and the scraping assembly on the glass curtain wall. The cleaning device includes a rotating component and a cleaning component. Several cleaning components are evenly distributed on the rotating component. The rotation of the rotating component can drive the cleaning components to clean the glass curtain wall. The cleaning component includes a sponge strip, a first nozzle, a second nozzle, and a dehydration rod. The sponge strip is set on the rotating component and abuts against the glass curtain wall. The first nozzle can wet the sponge strip, the dehydration rod can dehydrate the sponge strip, and the second nozzle can clean the sponge strip. A first sensor is set on the side of the sponge strip away from the glass curtain wall, and a second sensor is set on the dehydration rod. 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 is connected to the rotating assembly. The scraper can move towards the glass curtain wall and scrape off stubborn stains on the glass curtain wall. The scraper can move synchronously with the cleaning assembly. When stubborn stains are detected on the glass curtain wall, the scraper moves towards 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. The first sensor is a pressure sensor, which determines the degree of adhesion of stains on the glass curtain wall by detecting changes in pressure on the sponge strip. The scraping component can assist the cleaning component in cleaning the glass curtain wall based on the data from the first sensor. The second sensor is a turbidity sensor. The second sensor can come into contact with the sewage on the sponge strip to detect the degree of turbidity of the sewage. 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 degree of turbidity of the sewage. If the data change on the first sensor gradually increases over time, it indicates that the cleaning equipment has encountered a large area of ​​stubborn stains. The walking device stops working, and the scraper and sponge strip clean the large area of ​​stubborn stains simultaneously until they are completely removed. If the data change on the first sensor lasts for a short period of time, it indicates that it is a small area of ​​stubborn stains. At this time, the walking device stops working and records the area where the data change occurs. The scraper and sponge strip clean the small area of ​​stubborn stains simultaneously only in this area.

2. 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 adhere to the glass curtain wall. When the driving component is working, it enables the building glass curtain wall cleaning equipment to move laterally on the glass curtain wall.

3. The building glass curtain wall cleaning equipment according to claim 2, characterized in that, There are two drive components, which are distributed vertically and can rotate synchronously. A telescopic component is provided between the two drive components, which can adjust the distance between the two drive components, so that the building glass curtain wall cleaning equipment can move vertically on the glass curtain wall.

4. The building glass curtain wall cleaning equipment according to claim 3, characterized in that, The adsorption assembly includes a suction cup and a control valve. The control valve can control the adsorption state of the suction cup on the glass curtain wall. When the telescopic component extends, the control valve controls the suction cup on the upper drive component to be in the adsorption state and the suction cup on the lower drive component to be in the detached state. When the telescopic component shortens, the control valve controls the suction cup on the upper drive component to be in the detached state and the suction cup on the lower drive component to be in the adsorption state.

5. The building glass curtain wall cleaning equipment according to claim 1, characterized in that, It also includes a detection device, which is mounted on the frame. The detection device can detect the vertical deviation of the building glass curtain wall cleaning equipment during operation. When deviation occurs, the detection device can send a signal to make the walking device adjust to the correct position.

6. The building glass curtain wall cleaning equipment according to claim 5, characterized in that, The detection device includes rollers on both sides of the frame. The rollers are in contact with the glass curtain wall. When the traveling device is working, the rollers on both sides of the frame are stationary. When the traveling device deviates, the rollers can rotate around their own axis. The angle of rotation of the rollers around their own axis is positively correlated with the amount of deviation of the traveling device.

7. A method for cleaning building glass curtain walls, characterized in that, The method for cleaning building glass curtain walls applies to the building glass curtain wall cleaning equipment according to any one of claims 1-6, and includes the following steps: Step S1: Acquire data from the first sensor and the second sensor; Step S2: Compare the data from the first sensor during the operation of the cleaning device with the first preset value; Step S21: If the data of the first sensor in step S2 is greater than the first preset value, then determine whether the stain model is a large area of ​​stubborn stain or a small area of ​​stubborn stain based on the data changes of the first sensor on multiple cleaning components. Step S211: If it is determined that the model is a large area of ​​stubborn stains, control the walking device to stop moving forward, and control the cleaning device and scraping component to clean the glass curtain wall at the same time. Step S212: If it is determined that it is a small area of ​​stubborn stain model, control the walking device to stop moving forward, and control the scraping component to clean the glass curtain wall synchronously with the cleaning device only in the area where the first sensor data is greater than the first preset value. Step S22: If the data from the first sensor in step S2 is less than the first preset value, then determine whether the data from 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 will adjust 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 from 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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