Dual-mode rotor composite adsorption type curtain wall cleaning unmanned aerial vehicle

Abstract

The present application relates to the technical field of curtain cleaning, and discloses a double-mode rotor composite adsorption type curtain cleaning unmanned aerial vehicle, which comprises a composite power system, an omnidirectional adsorption walking system, an intelligent control system and a cleaning system; the composite power system comprises a double-stage composite gear coaxial reverse transmission mechanism and a brushless motor, and the switching between the flight mode and the adsorption mode is realized through the control of three degrees of freedom; the omnidirectional adsorption walking system is arranged at the bottom of the fuselage and is electrically connected with the composite power system; the intelligent control system is electrically connected with the composite power system, the omnidirectional adsorption walking system and the cleaning system respectively; the cleaning system is arranged at the lower part of the fuselage and is used for performing the glass surface cleaning action; the composite power system is used for realizing the cooperative control of the flight mode and the adsorption mode, the unmanned aerial vehicle has the aerial maneuvering capability, can quickly reach different operation areas, can stably adhere to the glass surface through the mode switching, is suitable for various facade forms, and the adaptability and stability are improved.

Description

Technical Field

[0001] This invention relates to the field of curtain wall cleaning technology, specifically to a dual-mode rotor composite adsorption curtain wall cleaning drone. Background Technology

[0002] As an important component of modern architecture, the cleaning and maintenance of high-rise building curtain walls is essential to ensure the building's appearance and the quality of indoor lighting. Currently, the cleaning of high-rise curtain walls mainly relies on technologies such as manual suspended platform operations, track-mounted cleaning robots, and drones equipped with cleaning devices. Different technical solutions have their own applications in specific scenarios, but with the diversification of building facade forms and the continuous improvement of requirements for operational safety, efficiency, and environmental protection, existing technologies are gradually revealing many limitations. Existing track-based cleaning robots are limited by preset tracks and can only operate on specific building facades. They have poor mobility and cannot cover irregular facades and discontinuous glass surfaces. Traditional drones equipped with cleaning devices are difficult to stably adhere to glass surfaces due to the interference of rotor airflow on the body posture. Especially when operating on non-vertical surfaces such as tilted glass and skylights, they are prone to slippage and falling due to gravity. In addition, they lack a reliable continuous adsorption mechanism, resulting in insufficient operational stability. Most existing cleaning equipment is noisy during operation, which can easily disturb the surrounding environment; the use of external water and power grids limits the operating range and consumes a lot of water during the cleaning process, which does not meet the requirements of green operation; at the same time, most existing equipment adopts a general cleaning method, which lacks the ability to accurately identify stains, resulting in low cleaning efficiency and difficulty in differentiating treatment for stubborn stains. Summary of the Invention

[0003] The purpose of this invention is to provide a dual-mode rotor composite adsorption curtain wall cleaning drone to solve the problems mentioned in the background art.

[0004] To address the aforementioned technical problems, this invention provides the following technical solution: a dual-mode rotor composite adsorption curtain wall cleaning drone, comprising a composite power system, an omnidirectional adsorption and walking system, an intelligent control system, and a cleaning system; the composite power system includes a two-stage composite gear coaxial reversing transmission mechanism and a brushless motor, achieving switching between flight mode and adsorption mode through three degrees of freedom control; the omnidirectional adsorption and walking system is located at the bottom of the fuselage and is electrically connected to the composite power system; the intelligent control system is electrically connected to the composite power system, the omnidirectional adsorption and walking system, and the cleaning system respectively; the cleaning system is located at the lower part of the fuselage and is used to perform glass surface cleaning actions.

[0005] Preferably, the two-stage compound gear coaxial reversing transmission mechanism includes an upper cylindrical gear set, a central shaft, and a lower bevel gear set. The upper cylindrical gear set and the lower bevel gear set are coaxially connected through the central shaft to achieve reverse rotation.

[0006] Preferably, the composite power system also integrates a silent power module, which includes a carbon fiber silent propeller and a synchronous belt drive structure. The carbon fiber silent propeller is connected to a two-stage composite gear coaxial reversing transmission mechanism.

[0007] Preferably, the omnidirectional adsorption walking system includes an electromagnetic negative pressure suction cup array and a McCann wheel track. The electromagnetic negative pressure suction cup array is integrated on the surface of the McCann wheel track, and the McCann wheel track controls the direction of movement through a vector synthesis algorithm.

[0008] Preferably, it also includes a sustainable energy system, which comprises a solar power supply module and a circulating water purification module. The solar power supply module is electrically connected to the intelligent control system, and the circulating water purification module is connected to the cleaning system pipeline.

[0009] Preferably, the intelligent control system includes a visual recognition module and a multi-sensor fusion navigation system. The visual recognition module is used to acquire images of the glass surface, and the multi-sensor fusion navigation system is used to plan the cleaning path.

[0010] Preferably, the cleaning system includes a roller brush and a drum, the roller brush being connected to a stepper motor via gear transmission, and the drum being connected to the same stepper motor via belt transmission.

[0011] Preferably, the main frame of the fuselage adopts an aluminum alloy-carbon fiber composite structure with topology optimization design, and the key transmission components are verified by FEA transient dynamics simulation.

[0012] Compared with the prior art, the beneficial effects achieved by the present invention are: First, this invention achieves coordinated control of flight mode and adsorption mode through a composite power system, which not only has the aerial maneuverability of a UAV, enabling it to quickly reach different work areas, but also can stably adhere to the glass surface through mode switching, adapting to various facade forms such as vertical and inclined surfaces, thereby improving the adaptability and stability of the operation.

[0013] Secondly, the omnidirectional adsorption walking system of this invention integrates the motion vector principle of the McCann wheel with the electromagnetic chuck track structure, enabling movement in any direction on the glass surface. This breaks through the limitations of the traditional cleaning robot's degree of freedom of movement, improving the coverage and movement efficiency of cleaning operations.

[0014] Third, this invention integrates a silent power module, which reduces noise during operation and minimizes interference with the surrounding environment through optimized rotor airfoil and synchronous belt drive architecture, making it suitable for noise-sensitive scenarios such as residential areas and office areas.

[0015] Fourth, this invention adopts a sustainable energy system, combining solar power supply and circulating water purification technology, to realize the recycling of energy and water resources, extend the single operation time of the equipment, reduce resource consumption during operation, and meet the requirements of green environmental protection.

[0016] Fifth, this invention is equipped with an intelligent control system that uses machine vision technology to accurately identify stains and automatically evaluate cleaning results. It can dynamically adjust cleaning parameters according to the stain condition, thereby improving cleaning efficiency and quality.

[0017] Sixth, the main frame of the fuselage of this invention adopts a lightweight composite structure. Through topology optimization design, the weight of the fuselage is reduced while ensuring structural strength and fatigue life, thereby improving the overall reliability and service life of the equipment. Attached Figure Description

[0018] Figure 1 This is an isometric view of the overall structure of the present invention; Figure 2 This is an isometric view of the internal structure of the present invention; Figure 3 This is a structural diagram of each module of the present invention; Figure 4 This is a front view of the overall structure of the present invention; Figure 5 This is a top view of the overall structure of the present invention; Figure 6 This is a left view of the overall structure of the present invention; Figure 7 This is a front view of the composite power system of the present invention; Figure 8 This is an isometric view of the composite power system and silent power module of the present invention; Figure 9 This is an isometric view of the omnidirectional adsorption walking system of the present invention; Figure 10 This is a diagram illustrating the sustainable energy system and water cycle of the present invention. Figure 11 This is an isometric view of the cleaning system of the present invention; Figure 12 is a schematic diagram of the movement of the components of the omnidirectional adsorption walking system of the present invention as they move forward. Figure 13 is a schematic diagram of the movement of each component of the omnidirectional adsorption walking system of the present invention moving diagonally upward to the right at 45°. Figure 14 is a schematic diagram of the movement of each component of the omnidirectional adsorption walking system of the present invention rotating counterclockwise in place; Figure 15 This is a schematic diagram of the movement of the components of the omnidirectional adsorption walking system of the present invention as it moves to the left.

[0019] Among them: 100, Composite Power System; 200, Silent Power Module; 300, Omnidirectional Adsorption Walking System; 400, Sustainable Energy System; 500, Intelligent Control System; 600, Cleaning System; 110, Two-Stage Composite Gear Coaxial Reverse Transmission Mechanism; 111-112, Upper Cylindrical Gear Set; 113, Central Shaft; 114-116, Lower Bevel Gear Set; 210, Carbon Fiber Silent Propeller; 220, Synchronous Belt Drive Structure; 310, Electromagnetic Negative Pressure Suction Cup Array; 320, Electromagnetic Negative Pressure Suction Cup Array; 410, Solar Power Supply Module; 420, Circulating Water Purification Module; 510, Visual Recognition Module; 520, Multi-Sensor Fusion Navigation System; 610, Roller Brush; 620, Drum. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-15 A dual-mode rotor composite adsorption curtain wall cleaning drone. Step 1: Pre-operation preparation: Place the drone in a flat take-off area, complete the equipment self-check through the intelligent control system 500, and after confirming that each system is operating normally, input the facade information of the building to be cleaned and plan the initial operation path. Step 2, Flight Approach Phase: The composite power system 100 is activated, and the UAV enters flight mode. Guided by the multi-sensor fusion navigation system 520, it flies along the planned path to the vicinity of the glass surface to be cleaned. During the flight, the dual-stage composite gear coaxial reversing transmission mechanism 110 drives the rotor to rotate, counteracting the anti-torque disturbance and maintaining the stability of the fuselage attitude. Step 3, Mode Switching and Adhesion Stage: When the drone approaches the surface to be cleaned, the intelligent control system 500 acquires surface images through the visual recognition module 510 and adjusts the rotor tilt angle of the composite power system 100 to maintain a constant distance between the fuselage and the glass surface. Subsequently, the composite power system 100 switches to the adsorption mode, adjusts the thrust direction towards the glass surface, and simultaneously activates the dynamic negative pressure maintenance system of the omnidirectional adsorption walking system 300 to ensure that the electromagnetic negative pressure suction cup array 310 is tightly adhered to the glass surface, completing the seamless switch from flight mode to adsorption walking mode. Step 4, Omnidirectional Movement and Cleaning Operation: After bonding, the omnidirectional adsorption walking system 300 moves omnidirectionally across the glass surface according to the cleaning path planned by the intelligent control system 500 through the vector synthesis motion of the McCannum wheel track 320. During the movement, the cleaning system 600 is activated, and the stepper motor drives the roller brush 610 to rotate through gear transmission, which in turn drives the roller 620 to rotate through belt transmission, simultaneously completing the brushing and water delivery operations on the glass surface. The intelligent control system 500 identifies the distribution of stains in real time through the vision recognition module 510, dynamically adjusts the movement speed and cleaning intensity, and focuses on cleaning stubborn stain areas. Step 5, Energy and Water Resource Recycling: During the operation, the solar power module 410 of the sustainable energy system 400 converts solar energy into electrical energy, which is prioritized to power the omnidirectional adsorption walking system 300 and replenish the lithium battery. The circulating water purification module 420 collects the wastewater generated during cleaning, and after multi-stage filtration, it is transported to the cleaning system 600 for reuse, reducing water resource consumption. Step Six: Cleaning Effect Evaluation and Return: After completing the cleaning operation of the preset area, the intelligent control system 500 collects images of the cleaned surface through the visual recognition module 510 and evaluates the cleaning effect in combination with environmental parameters. If the cleaning effect does not meet the requirements, the unqualified area is cleaned again. If the cleaning effect meets the requirements, the negative pressure system of the omnidirectional adsorption walking system 300 is turned off, the composite power system 100 switches back to flight mode, and the drone is controlled to return to the takeoff point along the planned path.

[0022] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A dual-mode rotor composite adsorption curtain wall cleaning drone, characterized in that: The system includes a composite power system (100), an omnidirectional adsorption walking system (300), an intelligent control system (500), and a cleaning system (600). The composite power system (100) includes a two-stage composite gear coaxial reversing transmission mechanism (110) and a brushless motor, which achieves the switching between flight mode and adsorption mode through three degrees of freedom control. The omnidirectional adsorption walking system (300) is located at the bottom of the fuselage and is electrically connected to the composite power system (100). The intelligent control system (500) is electrically connected to the composite power system (100), the omnidirectional adsorption walking system (300), and the cleaning system (600) respectively. The cleaning system (600) is located at the lower part of the fuselage and is used to perform glass surface cleaning operations.

2. The dual-mode rotor composite adsorption curtain wall cleaning drone according to claim 1, characterized in that: The dual-stage compound gear coaxial reversing transmission mechanism (110) includes an upper cylindrical gear set (111-112), a central shaft (113), and a lower bevel gear set (114-116). The upper cylindrical gear set (111-112) and the lower bevel gear set (114-116) are coaxially connected through the central shaft (113) to achieve reverse rotation.

3. The dual-mode rotor composite adsorption curtain wall cleaning drone according to claim 1, characterized in that: The composite power system (100) also integrates a silent power module (200), which includes a carbon fiber silent propeller (210) and a synchronous belt drive structure (220). The carbon fiber silent propeller (210) is connected to a two-stage composite gear coaxial reverse transmission mechanism (110).

4. The dual-mode rotor composite adsorption curtain wall cleaning drone according to claim 1, characterized in that: The omnidirectional adsorption walking system (300) includes an electromagnetic negative pressure suction cup array (310) and a McCann wheel track (320). The electromagnetic negative pressure suction cup array (310) is integrated on the surface of the McCann wheel track (320), and the McCann wheel track (320) controls the direction of movement through a vector synthesis algorithm.

5. The dual-mode rotor composite adsorption curtain wall cleaning drone according to claim 1, characterized in that: It also includes a sustainable energy system (400), which includes a solar power module (410) and a circulating water purification module (420). The solar power module (410) is electrically connected to the intelligent control system (500), and the circulating water purification module (420) is connected to the cleaning system (600) via pipeline.

6. The dual-mode rotor composite adsorption curtain wall cleaning drone according to claim 1, characterized in that: The intelligent control system (500) includes a visual recognition module (510) and a multi-sensor fusion navigation system (520). The visual recognition module (510) is used to acquire images of the glass surface, and the multi-sensor fusion navigation system (520) is used to plan the cleaning path.

7. The dual-mode rotor composite adsorption curtain wall cleaning drone according to claim 1, characterized in that: The cleaning system (600) includes a roller brush (610) and a roller (620). The roller brush (610) is connected to a stepper motor via gear transmission, and the roller (620) is connected to the same stepper motor via belt transmission.

8. The dual-mode rotor composite adsorption curtain wall cleaning drone according to claim 1, characterized in that: The main frame of the fuselage adopts an aluminum alloy-carbon fiber composite structure with topology optimization design, and the key transmission components are verified by FEA transient dynamics simulation.

Images