Intelligent cleaning robot for high-risk smooth structure surface
By designing intelligent cleaning robots for high-risk smooth structural surfaces, combining flight and crawling methods, using laser radar and robotic arm drive modules and other technologies, the existing cleaning methods have solved the problem of poor cleaning effect of photovoltaic panels or photovoltaic glass on tops of high- and large buildings, and achieved the goal of Highly efficient and low damage cleaning effect.
Patent Information
- Application Number
- CN202421008462.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-10
- Publication Date
- 2024-12-27
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing cleaning methods have poor cleaning effect, poor practicality, high cost, low efficiency, and easy to damage photovoltaic modules for photovoltaic panels or photovoltaic glass on tops and curtain walls of tall buildings, making it difficult to meet the cleaning needs of high-risk smooth structural surfaces.
Design a high-risk smooth structural surface intelligent cleaning robot, combining flight and crawl, equipped with a lidar group, robotic arm drive module, vacuum cleaner component and water spray component, and build an autonomous navigation map through visual modules to achieve fast movement and high efficiency Clean and reduce damage to photovoltaic modules.
It realizes rapid cleaning of high-risk smooth structural surfaces, improves cleaning effect and efficiency, reduces damage to photovoltaic modules, and ensures the cleanliness and brightness of the cleaning effect.
Smart Images
Figure CN222237561U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of cleaning robots, in particular to an intelligent cleaning robot for high-risk smooth structure surfaces. Background Art
[0002] After searching the Chinese patent document with the existing announcement number CN215584054U, a curtain wall glass cleaning robot is disclosed, including a robot body, which is used for cleaning the curtain wall glass; a drum unit, which is arranged on the roof or indoors, and the drum unit is connected to the robot body through a steel wire hose, and the steel wire hose is used to prevent the robot body from falling, and the steel wire hose is also used to supply water to the robot body; a controller, which wirelessly communicates with the robot body, and the controller is used to control the movement of the robot body. The device protects the robot body from falling by setting a drum unit, and the pre-tensioning device ensures that the hose will not continue to drop and can also serve as a safety rope to prevent the robot from falling due to failure, thereby improving safety.
[0003] At present, with the continuous innovation of the height of urban high-rise buildings, the energy consumption of urban buildings is also increasing. Driven by the carbon peak and carbon neutrality policy, the roofs and curtain walls of high-rise buildings are gradually being replaced by photovoltaic panels and photovoltaic glass instead of ordinary glass. Due to the characteristics of the tall and energy-intensive urban rail transit buildings, they have been included in the category of large-scale high-energy-consuming buildings in the city. Due to the tall characteristics of urban rail transit buildings, the roofs and curtain walls of their photovoltaic panels or photovoltaic glass belong to a kind of high-risk smooth structural surface. After long-term operation, the fine dust particles, dust, and debris attached to their surfaces will affect the transmittance of light, and then affect the amount of radiation received by the surface of the photovoltaic module, reducing the power generation efficiency; and the local obstruction of stains such as surface mud and debris will cause local hot spot effects on photovoltaic panels or photovoltaic glass, affecting the power generation efficiency and causing the main photovoltaic components to burn. Therefore, in order to improve the power generation efficiency of photovoltaic panels or photovoltaic glass, it is necessary to regularly clean the photovoltaic panels or photovoltaic glass on the roofs and curtain walls of urban rail transit buildings. Due to the special characteristics of the material and installation location of photovoltaic panels or photovoltaic glass, which have high space, large area, and complex structure, manual cleaning is not suitable. The existing cleaning methods are rail cleaning, vehicle-mounted cleaning, adsorption cleaning, and high-pressure cleaning. Among these four methods, rail cleaning is not suitable for high-risk smooth structures of urban rail transit buildings due to its high installation cost, easy corrosion and damage, and affects the firmness of roofs and curtain walls; vehicle-mounted cleaning cannot completely clean tall and large buildings such as rail transit, and is easy to damage photovoltaic modules during the cleaning process; adsorption cleaning has slow movement efficiency and poor cleaning effect, which is not practical for tall urban rail buildings; high-pressure spray gun cleaning has high water pressure. In actual application, the damage rate of photovoltaic groups after each cleaning reaches more than 8%, and at the same time affects the firmness of high-risk smooth structures of rail transit buildings, resulting in poor cleaning effect, poor practicality, high cost, low efficiency, and easy damage to photovoltaic modules on the surfaces of high-risk smooth structures such as the tops and curtain walls of tall and large buildings. Utility Model Content
[0004] The technical problem to be solved by the utility model is to overcome the defects of the prior art and provide an intelligent cleaning robot for high-risk smooth structural surfaces, aiming to solve the technical problems of poor cleaning effect, poor practicality, high cost, low efficiency, and easy damage to photovoltaic components on high-risk smooth structural surfaces such as the tops and curtain walls of tall and large buildings.
[0005] In order to solve the above technical problems, the utility model provides the following technical solutions:
[0006] The utility model discloses an intelligent cleaning robot for high-risk smooth structure surface, comprising a water tank and a fuselage, wherein the fuselage is arranged on the top surface of the water tank, a flight control module is arranged in the middle of the top surface of the fuselage, a laser radar group is arranged on the top surface of the flight control module, wings are arranged at the four corners of the top surface of the fuselage, a mechanical arm driving module is arranged on one end surface of the water tank, a connecting rod is arranged on one end surface of the mechanical arm driving module, a cleaning brush is arranged on one end surface of the connecting rod, a depth camera group is arranged in the middle of the other end surface of the water tank, a crawling cleaning control module is arranged on the bottom surface of the water tank, rotating wheels are arranged on both sides of the crawling cleaning control module, a crawler is arranged on one side surface of the rotating wheel, a bottom plate is arranged on the bottom surface of the crawling cleaning control module, a water pipe is arranged on one end surface of the crawling cleaning control module, a nozzle is arranged on the bottom surface of the water pipe, and a dust suction component is arranged on the other end surface of the crawling cleaning control module.
[0007] As a further description of the above technical solution:
[0008] The water tank is fixedly connected to the fuselage, the fuselage includes a shell, a power supply assembly, a circuit board and a single-chip microcomputer, the fuselage is fixedly connected to the flight control module, the flight control module is fixedly connected to the laser radar group, and the laser radar group includes a visual module.
[0009] As a further description of the above technical solution:
[0010] The fuselage and the wing are movably connected, and the wing is provided with three blades, which are arranged in four groups in total and arranged in sequence in a square diagonal shape.
[0011] As a further description of the above technical solution:
[0012] The water tank and the robotic arm driving module are fixedly connected, and the robotic arm driving modules are arranged in two groups, which are arranged in sequence on the surface of one end of the water tank. The robotic arm and the connecting rod are fixedly connected, and the connecting rod includes three driving modules and multiple adapters.
[0013] As a further description of the above technical solution:
[0014] The connecting rod and the cleaning brush are fixedly connected, and the cleaning brush is a rectangular rubber scraper. The water tank and the depth camera group are fixedly connected, and the depth camera includes a visual module.
[0015] As a further description of the above technical solution:
[0016] The crawling cleaning control module and the rotating wheel are connected and fixed by a driving shaft, and two rotating wheels are formed into a group and are respectively placed at the two side ends of the crawling cleaning control module. The crawling cleaning control module and the water pipe are fixedly connected, and a water pump is arranged at the end of the water pipe.
[0017] As a further description of the above technical solution:
[0018] The water pipe and the nozzle are fixedly connected, and the nozzles are provided in multiples and are arranged laterally on the bottom surface of the water pipe in sequence. The crawling cleaning control module and the dust suction component are fixedly connected, and the dust suction component includes a dust suction roller brush, a motor and a fan.
[0019] The utility model has the following beneficial effects:
[0020] In the utility model, by using the two modes of flying and crawling to move alternately, rapid movement in a large space and micro-movement on the surface of high-risk smooth structures are achieved. The two cleaning modes of the dust suction component and the water spray cleaning component are combined to improve the cleaning effect and reduce the damage to the photovoltaic components. The visual module is used to scan the high-risk smooth structure area, build an autonomous navigation map, improve the cleaning efficiency, and collect cleaning effect images for analysis and evaluation, ensuring a clean and bright cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:
[0022] Figure 1 It is a front view schematic diagram of the overall structure of the utility model;
[0023] Figure 2 It is a side view schematic diagram of the overall structure of the utility model;
[0024] In the figure: 1. Water tank; 2. Fuselage; 3. Flight control module; 4. LiDAR group; 5. Wing; 6. Robotic arm drive module; 7. Connecting rod; 8. Cleaning brush; 9. Depth camera group; 10. Crawling cleaning control module; 11. Rotating wheel; 12. Track; 13. Bottom plate; 14. Water pipe; 15. Nozzle; 16. Dust collection component. DETAILED DESCRIPTION
[0025] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.
[0026] In the drawings, the same reference numerals all refer to the same components.
[0027] Example 1
[0028] Reference Figure 1-2The utility model provides an embodiment: a high-risk smooth structure surface intelligent cleaning robot, including a water tank 1 and a fuselage 2, the top surface of the water tank 1 is provided with the fuselage 2, the middle of the top surface of the fuselage 2 is provided with a flight control module 3, the top surface of the flight control module 3 is provided with a laser radar group 4, the top surface of the fuselage 2 is provided with wings 5 at the four corners of the top surface, the surface of one end of the water tank 1 is provided with a mechanical arm driving module 6, the surface of one end of the mechanical arm driving module 6 is provided with a connecting rod 7, and the surface of one end of the connecting rod 7 is provided with a cleaning A cleaning brush 8, a depth camera group 9 is arranged in the middle of the other end surface of the water tank 1, a crawling cleaning control module 10 is arranged on the bottom surface of the water tank 1, rotating wheels 11 are arranged on both sides of the crawling cleaning control module 10, a track 12 is arranged on one side surface of the rotating wheel 11, a bottom plate 13 is arranged on the bottom surface of the crawling cleaning control module 10, a water pipe 14 is arranged on one end surface of the crawling cleaning control module 10, a nozzle 15 is arranged on the bottom surface of the water pipe 14, and a dust suction component 16 is arranged on the other end surface of the crawling cleaning control module 10.
[0029] The water tank 1 and the fuselage 2 are fixedly connected, and the fuselage 2 includes a shell, a power supply component, a circuit board and a single-chip microcomputer. The fuselage 2 and the flight control module 3 are fixedly connected, and the flight control module 3 and the laser radar group 4 are fixedly connected, and the laser radar group 4 includes a visual module.
[0030] The fuselage 2 and the wing 5 are movably connected, and the wing 5 is provided with three blades, which are arranged in four groups in total and arranged in sequence in a square diagonal shape.
[0031] The water tank 1 and the robot drive module 6 are fixedly connected, and the robot drive module 6 is arranged in two groups, which are arranged in sequence on the surface of one end of the water tank 1. The robot arm and the connecting rod 7 are fixedly connected, and the connecting rod 7 includes three drive modules and multiple adapters.
[0032] The connecting rod 7 and the cleaning brush 8 are fixedly connected, wherein the cleaning brush 8 is a rectangular rubber scraper. The water tank 1 and the depth camera group 9 are fixedly connected, wherein the depth camera includes a visual module.
[0033] The crawling cleaning control module 10 and the rotating wheel 11 are connected and fixed by a driving shaft, and the rotating wheels 11 are grouped in two and respectively placed at the two side ends of the crawling cleaning control module 10. The crawling cleaning control module 10 and the water pipe 14 are fixedly connected, and a water pump is provided at the end of the water pipe 14.
[0034] The water pipe 14 and the nozzle 15 are fixedly connected, and the nozzle 15 is provided in multiples and arranged transversely on the bottom surface of the water pipe 14 in sequence. The crawling cleaning control module 10 and the dust suction component 16 are fixedly connected, and the dust suction component 16 includes a dust suction roller brush, a motor and a fan.
[0035] Specifically, the device forms an intelligent cleaning robot for high-risk smooth structure surfaces through a water tank 1, a fuselage 2, a flight control module 3, a laser radar group 4, a wing 5, a mechanical arm drive module 6, a connecting rod 7, a cleaning brush 8, a depth camera group 9, a crawling cleaning control module 10, a rotating wheel 11, a crawler 12, a base plate 13, a water pipe 14, a nozzle 15 and a dust suction component 16. The intelligent cleaning robot for high-risk smooth structure surfaces includes a control module, a drive device, a cleaning device, a visual module and a detection module. The control module includes a flight control module 3 and a crawling cleaning control module 10. The flight control module 3 is responsible for controlling the robot's take-off and landing, flight, image data calculation, route planning and communication; the crawling cleaning control module 10 is set on the base plate 13, and is responsible for controlling the crawling movement, route planning, image data calculation and communication of the intelligent cleaning robot on the high-risk smooth structure surface and for the operation and communication of the cleaning device. The driving device includes a flight driving device and a crawling driving device. The flight driving device includes wings 5 and a fuselage 2, and is responsible for driving the intelligent cleaning robot to move quickly in a large space, including flying from the ground to a high-risk smooth structure or flying back to the ground from a high-risk smooth structure. The crawling driving device includes a track 12, a rotating wheel 11, a track 12 and a motor, and is responsible for the movement of the intelligent cleaning robot during cleaning work in a high-risk smooth scene. When the flight driving device is running, the crawling driving device is in a stopped state. After reaching the cleaning area on the surface of the high-risk smooth structure and starting the cleaning operation, the flight driving device stops running and the crawling driving device starts running. When the intelligent cleaning robot detection module detects that the crawling cleaning control module 10 is in an unbalanced state while moving or working, the flight driving device will be adjusted to the started state to prevent the intelligent cleaning robot from tipping over while moving or working. The cleaning device includes a dust collection component 16, a water spray component, and a cleaning component. The dust collection component 16 includes a dust collection roller brush, a motor, a fan and accessories, which are responsible for absorbing dust and garbage such as leaves. The water spray component includes a water tank 1, a water pipe 14, a nozzle 15, a water pump and accessories, which are responsible for spraying water. The cleaning component includes a mechanical arm drive module 6, a connecting rod 7 and a cleaning brush 8, which are used to clean stubborn stains such as mud and bird droppings, and wipe water marks at the same time. The cleaning component mechanical arm is provided with three drive modules and multiple adapters, and the rotation in three directions is controlled by the drive module to form a mechanical arm with three degrees of freedom, so that the cleaning component can be flexibly cleaned in different directions. The visual module includes a laser radar group 4 and a depth camera group 9. The laser radar group 4 and the depth camera group 9 are respectively set at the front, back, upper and lower sides of the intelligent cleaning robot. The visual module obtains the line data and image of the robot. The control module uses the SLAM algorithm based on the acquired data to build an autonomous navigation map in real time. The detection module includes a water tank liquid level detection component and a battery power detection component. The detection module is connected to the control module and transmits the collected data to the control module in real time.The crawling control module and the cleaning control module 11 are arranged on the bottom plate 25, and control the crawling movement, route planning, image data calculation and communication of the intelligent cleaning robot on the high-risk smooth structure surface. The cleaning control module 11 is responsible for the operation and communication of the cleaning device 30, so that the intelligent cleaning robot for the high-risk smooth structure surface can realize intelligence, perform cleaning operations on demand, and can meet the cleaning needs of different high-risk smooth structure surfaces, with high practicality.
[0036] Working principle: The intelligent cleaning robot for high-risk smooth structure surface flies to the high-risk smooth structure surface according to the cleaning target coordinate position, preset height and route, scans the target structure surface and the surrounding environment through the laser radar group 4 and the depth camera group 9 of the visual module, and autonomously constructs the navigation map and automatically plans the cleaning route according to the calculation and analysis of the image data through the flight control module 3. The crawling cleaning control module 10 makes the whole body start to move, and cooperates with the cleaning device to clean the high-risk smooth structure surface. The cleaning process is divided into two parts. First, the dust suction component 16 absorbs dust and debris on the surface of the structure. After the dust and debris are cleaned, the water pipe 14 and the nozzle 15 are combined with the water pump to make the water spray component spray water, and the cleaning component wipes and cleans the dust and debris. The visual module collects images of the cleaned high-risk smooth structure surface and judges whether the cleaning meets the standard. If not, the control module issues a second cleaning instruction. The visual module continues to identify the cleaning effect. If it meets the standard, the control module controls the crawling drive device, combines the autonomous navigation map to automatically plan a new cleaning route and move forward to clean the next area. A liquid level detection component is installed in the water tank 1. After the flight control module 3 receives the lower threshold data detected by the liquid level detection component, it issues a return command, and the flight drive device starts to operate the fuselage 2 and the wing 5, and returns to the ground from the high-risk smooth structure; after the flight control module 3 receives the lower threshold data detected by the power detection component, it issues a return command, and the flight drive device starts to operate, returns to the ground from the surface of the high-risk smooth structure, and then adds water or charges. After the water addition or charging is completed, it returns to the area where the cleaning was completed last time according to the autonomous navigation map, and continues cleaning. The overall intelligent cleaning robot realizes flying and crawling modes that cooperate with each other and move alternately, which can effectively improve the cleaning effect and effectively reduce damage to photovoltaic components. In conjunction with the visual module, the cleaning efficiency is improved and the cleaning effect is guaranteed.
[0037] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.
Claims
1. An intelligent cleaning robot for high-risk smooth structure surfaces, comprising a water tank (1) and a body (2), characterized in that: The top surface of the water tank (1) is provided with a fuselage (2), the middle of the top surface of the fuselage (2) is provided with a flight control module (3), the top surface of the flight control module (3) is provided with a laser radar group (4), the four corners of the top surface of the fuselage (2) are provided with wings (5), one end surface of the water tank (1) is provided with a mechanical arm drive module (6), one end surface of the mechanical arm drive module (6) is provided with a connecting rod (7), one end surface of the connecting rod (7) is provided with a cleaning brush (8), and the middle of the other end surface of the water tank (1) is provided with a depth camera. A head group (9), a crawling cleaning control module (10) is arranged on the bottom surface of the water tank (1), rotating wheels (11) are arranged on both sides of the crawling cleaning control module (10), a crawler track (12) is arranged on one side surface of the rotating wheel (11), a bottom plate (13) is arranged on the bottom surface of the crawling cleaning control module (10), a water pipe (14) is arranged on one end surface of the crawling cleaning control module (10), a nozzle (15) is arranged on the bottom surface of the water pipe (14), and a dust suction component (16) is arranged on the other end surface of the crawling cleaning control module (10).
2. The intelligent cleaning robot for high-risk smooth structure surfaces according to claim 1, characterized in that: The water tank (1) and the fuselage (2) are fixedly connected, the fuselage (2) comprises a housing, a power supply assembly, a circuit board and a single-chip microcomputer, the fuselage (2) and the flight control module (3) are fixedly connected, the flight control module (3) and the laser radar group (4) are fixedly connected, and the laser radar group (4) comprises a visual module.
3. The intelligent cleaning robot for high-risk smooth structure surfaces according to claim 1, characterized in that: The fuselage (2) and the wing (5) are movably connected, and the wing (5) is provided with three blades, which are arranged in four groups in total and arranged in sequence in a square diagonal shape.
4. The intelligent cleaning robot for high-risk smooth structure surfaces according to claim 1, characterized in that: The water tank (1) and the mechanical arm driving module (6) are fixedly connected, and the mechanical arm driving modules (6) are arranged in two groups, which are arranged in sequence on the surface of one end of the water tank (1). The mechanical arm and the connecting rod (7) are fixedly connected, and the connecting rod (7) includes three driving modules and a plurality of adapters.
5. The intelligent cleaning robot for high-risk smooth structure surfaces according to claim 1, characterized in that: The connecting rod (7) and the cleaning brush (8) are fixedly connected, and the cleaning brush (8) is a rectangular rubber scraper. The water tank (1) and the depth camera group (9) are fixedly connected, and the depth camera includes a visual module.
6. The intelligent cleaning robot for high-risk smooth structure surfaces according to claim 1, characterized in that: The crawling cleaning control module (10) and the rotating wheel (11) are connected and fixed via a driving shaft, and two rotating wheels (11) form a group and are respectively disposed at the ends of both sides of the crawling cleaning control module (10). The crawling cleaning control module (10) and the water pipe (14) are fixedly connected, and a water pump is disposed at the end of the water pipe (14).
7. The intelligent cleaning robot for high-risk smooth structure surfaces according to claim 1, characterized in that: The water pipe (14) and the nozzle (15) are fixedly connected, and the nozzles (15) are provided in a plurality and are arranged transversely on the bottom surface of the water pipe (14) in sequence. The crawling cleaning control module (10) and the dust suction component (16) are fixedly connected, and the dust suction component (16) comprises a dust suction roller brush, a motor and a fan.