High-altitude glass cleaning unmanned aerial vehicle

Abstract

The utility model discloses a high-altitude glass cleaning unmanned aerial vehicle which comprises an unmanned aerial vehicle body, a wall attaching self-adaption mechanism, a cleaning liquid supply module, a sponge assembly and a scraper device. The sponge assembly is used for wiping and cleaning glass; the cleaning liquid supply module is used for spraying the cleaning liquid onto the glass; the scraper device is used for scraping residues on the cleaned glass; the wall attaching self-adaption mechanism comprises a multi-rod linkage structure, a panel and a pressure sensor, the multi-rod linkage structure is connected with the unmanned aerial vehicle body and the panel, the sponge assembly and the scraping piece device are both arranged on the panel, and the contact angle between the sponge assembly and the glass surface and the contact angle between the scraping piece device and the glass surface are adjusted through the multi-rod linkage structure; the pressure sensor is used for detecting pressure data when the sponge assembly and the scraper device make contact with the glass surface. Through cooperative operation of rotary wiping and scraping, the problems that traditional high-altitude cleaning is low in efficiency and high in safety risk and existing equipment is not thorough in cleaning are solved, and the cleaning quality is improved.

Description

Technical Field

[0001] This utility model relates to the field of drone technology and cleaning equipment, and in particular to a high-altitude glass cleaning drone. Background Technology

[0002] With the increasing prevalence of high-rise buildings in cities, the demand for cleaning high-rise glass curtain walls is growing. Traditional manual cleaning relies on suspended platforms or lifting equipment, which poses risks of falls from heights, is inefficient, and is costly. In recent years, drone cleaning technology has gradually emerged as a new approach to solving the problem of cleaning high-rise glass curtain walls.

[0003] However, existing drone cleaning technologies still have some shortcomings. For example, patent application CN117429637A discloses a glass exterior wall cleaning drone, which includes: a storage base, a water tank, propellers, a water collection mechanism, a hydraulic rod, a scrubbing seat, and a brushing and scraping mechanism. The water tank is fixedly connected to the storage base; multiple propellers are fixedly connected to the perimeter of the storage base; the water collection mechanism is fixedly connected to the bottom of the storage base; the hydraulic rod is fixedly connected to the inside of the storage base; the scrubbing seat is fixedly connected to the hydraulic rod; and the brushing and scraping mechanism is rotatably connected to the scrubbing seat. Although this solution solves the problem of wastewater collection through the water collection mechanism, when cleaning glass, it mainly relies on the brush handle and scraper for cleaning, which has limited effectiveness in cleaning stubborn stains. Patent CN118343318B discloses a drone for cleaning building exterior glass. The drone includes a fixed component at its lower end, a cleaning component distributed below the fixed component, a stabilizing component at the lower center of the fixed component, and a balancing component at the upper end of the stabilizing component. The cleaning component is installed below the stabilizing component and is used to clean the glass. This solution, by incorporating the cleaning, stabilizing, and balancing components, can improve the cleaning effect and drone stability to some extent. However, the cleaning component in this technical solution mainly uses an electric slider to drive the cleaning roller and scraping assembly for cleaning, which is insufficient for complex-shaped glass surfaces (such as curved glass).

[0004] Therefore, existing drone cleaning technologies still have room for improvement in terms of cleaning effectiveness, adaptability, and stability. There is an urgent need for a high-altitude glass cleaning drone that can clean high-altitude glass more efficiently, adaptably, and thoroughly. Utility Model Content

[0005] In order to at least solve one of the problems of the existing technology, this utility model provides a high-altitude glass cleaning drone that can solve the problems of limited cleaning effect on stubborn stains and insufficient adaptability to complex glass surfaces (such as curved glass) in the existing technology.

[0006] To achieve the purpose of this utility model, this utility model provides a high-altitude glass cleaning drone, including a drone body, a wall-adaptive mechanism, a cleaning fluid supply module, a sponge assembly, and a scraper device.

[0007] The sponge assembly includes a rotatable sponge head for wiping and cleaning the glass;

[0008] The cleaning fluid supply module is used to spray cleaning fluid onto the glass;

[0009] The scraper device is used to scrape off residue on the glass after cleaning;

[0010] The wall-adaptive mechanism is mounted on the drone body and includes a multi-link linkage structure, a panel, and a pressure sensor. The multi-link linkage structure connects the drone body and the panel. The sponge assembly and the scraper device are both mounted on the panel. The multi-link linkage structure is used to adjust the contact angle between the sponge assembly and the scraper device and the glass surface. The pressure sensor is used to detect the pressure data when the sponge assembly and the scraper device are in contact with the glass surface.

[0011] Furthermore, the surface of the sponge head is provided with micropores to enhance the adsorption and diffusion capabilities of the cleaning solution;

[0012] Furthermore, it also includes a flight control system and a multimodal perception system. The pressure sensor is connected to the flight control system, and the multimodal perception system includes a vision camera for scanning the glass to identify the distribution of stains and geometric features on the glass surface, an IMU inertial unit for providing real-time attitude, and a lidar for constructing a three-dimensional point cloud map of the glass surface.

[0013] The flight control system can control the attitude adjustment of the drone body and synchronously coordinate the rotation of the sponge head and control the up and down movement of the drone, thereby driving the scraper to rise and fall.

[0014] The multimodal sensing system captures images of the glass surface using a visual camera. If it detects that the area of ​​stubborn stains is larger than a preset value, it controls the sponge assembly to rotate, extending the local cleaning time and increasing the cleaning fluid flow.

[0015] Furthermore, the cleaning fluid supply module includes a storage box, a delivery pipe, a micro pump, and a nozzle. The storage box is connected to the nozzle via the delivery pipe and the micro pump, and is used to store the cleaning fluid.

[0016] Furthermore, the cleaning fluid supply module dynamically adjusts the output of cleaning fluid based on the rotation speed of the sponge head and the degree of glass contamination (detected by a vision camera).

[0017] Furthermore, it also includes a mounting base, which is located at the bottom of the drone body, and the liquid storage box is mounted on the mounting base.

[0018] Furthermore, the wall-adaptive mechanism is mounted on a fixed base.

[0019] Furthermore, the sponge assembly also includes a drive motor and a linkage mechanism, with the output end of the drive motor equipped with the linkage mechanism, and the end of the linkage mechanism being detachably connected to the sponge head.

[0020] Furthermore, the scraper device includes a telescopic mechanism and a scraper strip. The length of the telescopic mechanism is adjustable, one end of the telescopic mechanism is connected to the panel, and the scraper strip is detachably disposed at the end of the telescopic mechanism.

[0021] Furthermore, the edges of the scraper are smooth.

[0022] Furthermore, the scraper is made of silicone.

[0023] Furthermore, the telescopic mechanism is a scissor mechanism.

[0024] Furthermore, the scraper device also includes a magnetic buckle, and the scraper is connected to the telescopic mechanism through the magnetic buckle, supporting quick replacement of scraper blades of different specifications.

[0025] Furthermore, the multi-link linkage structure includes two opposing linkage components and a first connecting rod connecting the two linkage components, with each link in the linkage component being rotatably connected to the corresponding first connecting rod.

[0026] Furthermore, the wall-adaptive mechanism also includes a spring damping assembly, which is mounted on the multi-link linkage structure.

[0027] Compared with the prior art, the present invention can achieve at least the following beneficial effects:

[0028] (1) Through the coordinated action of the sponge head rotation and the scraper, the sponge head wipes the glass while rotating, and the scraper scrapes the foam vertically along the glass surface, which can avoid water stains and realize the integrated process of "cleaning-stain removal" to avoid secondary pollution;

[0029] (2) It can support quick replacement of sponge head and scraper, adapting to various cleaning scenarios;

[0030] (3) The wall-adaptive mechanism detects the glass contact force through a pressure sensor and adjusts the contact angle between the sponge head and the scraper through a multi-rod linkage structure to ensure that the sponge assembly and scraper device can fit tightly on special glass such as inclined or curved glass, thus ensuring cleaning quality. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of a high-altitude glass cleaning drone provided in an embodiment of this utility model;

[0032] Figure 2This is a schematic diagram of the wall-adaptive mechanism in an embodiment of this utility model;

[0033] Figure 3 This is a schematic diagram of the scissor mechanism of the sponge assembly and scraper device in an embodiment of this utility model;

[0034] In the diagram, 100-UAV body; 110-Flight control system; 120-Multimodal perception system; 121-Vision camera; 122-IMU inertial unit; 123-LiDAR; 200-Wall-adaptive mechanism; 210-Spring damping assembly; 220-Multi-link linkage structure; 230-Panel; 240-Pressure sensor; 2201-Parallelogram component; 2202-First connecting rod; 300-Cleaning fluid supply module; 310-Reservoir box; 320-Delivery pipe; 330-Micro pump; 340-Nozzle; 400-Sponge assembly; 410-Drive motor; 420-Linkage mechanism; 430-Sponge head; 500-Scraper device; 510-Scissor mechanism; 511-Second connecting rod; 512-Screw; 520-Scraper strip; 521-Magnetic buckle. Detailed Implementation

[0035] The technical solution of this utility model will be described in detail below with reference to the accompanying drawings and embodiments.

[0036] Please see Figures 1-3 The present invention provides a high-altitude glass cleaning drone, including a drone body 100, a wall-adaptive mechanism 200, a cleaning fluid supply module 300, a sponge assembly 400, and a scraper device 500.

[0037] The wall-adhesive adaptive mechanism 200 is installed at the bottom of the drone body 100 and is used to dynamically adjust the contact angle between the sponge assembly 400 and the scraper device 500 and the glass surface. Please refer to [link / reference needed]. Figure 1 and Figure 2 The wall-adaptive mechanism 200 includes a spring damping assembly 210, a multi-link linkage structure 220, a panel 230, and a pressure sensor 240. The panel 230 and the pressure sensor 240 are installed at the end of the multi-link linkage structure 220. When the sponge assembly 400 and the scraper device 500 located at the front end of the panel 230 come into contact with the glass surface, the pressure sensor 240 provides real-time feedback of pressure data to the flight control system 110 (the flight control system is an existing mature system and will not be described in detail here) to facilitate the adjustment of the UAV's attitude. The spring damping assembly 210 is located on the multi-link linkage structure 220 and can play a buffering role.

[0038] The multi-link linkage structure 220 includes two opposing linkage members and a first connecting rod 2202 connecting the two linkage members. Each link in the linkage member is rotatably connected to the corresponding first connecting rod 2202. In one embodiment of this utility model, please refer to... Figure 2 The linkage component is a parallelogram, defined as a parallelogram component 2201, and is provided with four first connecting rods 2202. Two parallelogram components 2201 are connected by the four first connecting rods 2202, and the four component rods of the two parallelogram components 2201 are rotatably connected to the corresponding first connecting rods 2202. The spring damping assembly 210 includes two springs, which are arranged in parallel, and the two ends of the two springs are respectively connected to the two first connecting rods 2202 located diagonally.

[0039] The cleaning fluid supply module 300 installed on the main body 100 of the drone includes a storage box 310, a delivery pipe 320, a micro pump 330 and a nozzle 340. The storage box 310 is connected to the nozzle 340 through the delivery pipe 320 and the micro pump 330. The storage box 310 sprays the cleaning fluid from the nozzle 340 through the micro pump 330.

[0040] In one embodiment of this utility model, a fixed base is provided at the bottom of the drone body 100, a liquid storage box 310 is disposed at the bottom of the fixed base, and the front end of the multi-link linkage structure 220 of the wall-adhesive adaptive mechanism 200 is disposed on the fixed base. Preferably, the fixed base is made of metal. The fixed base can stabilize the center of gravity.

[0041] Please see Figure 3 The sponge assembly 400 includes a drive motor 410, a linkage mechanism 420, and a sponge head 430. The output end of the drive motor 410 is connected to the sponge head 430 through the linkage mechanism 420 to drive the sponge head 430 to rotate. Driven by the drive motor 410, the sponge head 430 can rotate continuously for 360°. In one embodiment of this invention, the drive motor 410 is a servo motor.

[0042] Please see Figure 3 The scraper device 500 is used to scrape away residual foam and liquid after cleaning. It includes a scissor mechanism 510 and a scraper 520. One end of the scissor mechanism 510 is connected to the panel 230, and the scraper 520 is detachably mounted on the other end. In one embodiment of this utility model, the scissor mechanism 510 includes multiple second connecting rods 511 and screws 512. The length of the scissor mechanism 510 can be adjusted by loosening the screws 512. The drone body 100 moves up and down, causing the scraper 520 to move vertically along the glass surface to remove foam.

[0043] In one embodiment of this invention, the scraper 520 is made of silicone. In other embodiments, other materials may also be used.

[0044] In one embodiment of this utility model, the edge of the scraper 520 is flat, and the thickness of the scraper 520 is 2-5mm.

[0045] In one embodiment of this utility model, the scraper 520 is connected to the scissor mechanism 510 via a magnetic buckle 521, supporting quick replacement of scraper 520 of different specifications.

[0046] The UAV body 100 is equipped with a multimodal perception system 120, which includes a vision camera 121, an IMU inertial unit 122, and a lidar 123. This system is used to construct a 3D point cloud map of the glass surface in real time and plan the cleaning path. In the UAV glass cleaning system, the IMU inertial unit 122 provides the UAV's attitude (orientation), angular velocity, and acceleration in real time, which is deeply fused with the vision camera (this fusion is an existing technology, as disclosed in "Tang Guangsheng. Direct Method-Feature Point Method Fusion UAV Monocular Vision-Inertial Navigation SLAM [D]. Tianjin: Nankai University, 2024."). This overcomes the challenge of insufficient glass surface texture, assists the lidar in motion distortion correction, improves 3D modeling accuracy, and provides necessary motion state information for accurate cleaning path planning and real-time trajectory tracking.

[0047] The cleaning fluid supply module 300 dynamically adjusts the output of cleaning fluid based on the rotation speed of the sponge head 430 and the degree of glass contamination detected by the vision camera 121.

[0048] The multimodal sensing system 120 captures images of the glass surface through the vision camera 121. If a stubborn stain is detected with a residual area larger than a preset value, such as greater than 5 cm², the system will detect it. 2 Effective cleaning can be achieved by extending the local cleaning time and increasing the cleaning fluid flow rate through the sponge component 400.

[0049] The specific implementation steps of the cleaning drone provided in this embodiment are as follows:

[0050] 1. System initialization and glass surface positioning

[0051] Step 1.1: Turn on the drone power supply. The flight control system 110 will perform a self-check of the status of each module. After confirming that there are no faults, it will enter standby mode.

[0052] Step 1.2: The vision camera 121 of the multimodal perception system 120 scans the target glass area to identify the distribution of surface stains and geometric features such as tilt angle and curvature; the IMU inertial unit 122 provides accurate real-time attitude; the lidar 123 simultaneously constructs a three-dimensional point cloud map of the glass surface, marking the cleaning path and obstacle positions, and the data is transmitted to the flight control system 110 in real time. (Scanning the target glass area and identifying the distribution of stains and geometric features, marking the cleaning path and obstacle positions, etc., are achievable with existing technology, and this utility model does not involve any improvement in method.)

[0053] Step 1.3: The flight control system 110 plans the initial cleaning path based on the three-dimensional point cloud map of the glass surface and controls the drone to hover at a preset distance, such as 0.5-1m, in front of the glass.

[0054] 2. Wall-mounted adaptive cleaning platform fixation

[0055] Step 2.1: Make the sponge head 430 of the sponge assembly 400 contact the glass surface. The pressure sensor 240 provides real-time feedback of contact force data. If the contact force at a single point is less than the preset value, such as less than 5N, the flight control system 110 adjusts the attitude of the drone body 100 until the contact force is evenly distributed (10-20N per point).

[0056] Step 2.2: For tilted or curved glass (tilt angle > 15° or curvature radius < 1m), the support angle of the sponge component 400 is automatically adjusted by the wall-adaptive structure 200 to ensure that the sponge head 430 is in close contact with the glass surface.

[0057] 3. Cleaning solution supply and sponge rotation wiping

[0058] Step 3.1: The micro pump 330 of the cleaning fluid supply module 300 is started, and the liquid storage box 310 sprays the cleaning fluid from the nozzle 340 onto the glass through the micro pump 330.

[0059] Step 3.2: Drive motor 410 drives linkage mechanism 420, which in turn drives sponge head 430 to rotate at a speed of 60-120 rpm to clean the glass;

[0060] Treatment of stubborn stains: If the visual camera 121 detects a local stain area > 5cm² 2 Then, the sponge head 430 is controlled to stay in that area for an extended period of time.

[0061] 4. The scraper lifts and lowers to remove foam and residual liquid.

[0062] Step 4.1: After the rotating sponge head 430 has finished wiping, the drone flies back to the ground to clean the sponge head 430; manually loosen the screw 512, and adjust the length of the scissor mechanism 510 by adjusting the second connecting rod 511 so that it is longer than the length of the sponge assembly 400; then the drone takes off again and flies to the front of the glass to be cleaned. By moving the drone downward, it drives the scraper 520 to move vertically down from the top of the glass, thereby removing foam and residual liquid.

[0063] 5. Mission Completion and Return Maintenance

[0064] Step 5.1: After a single cleaning task is completed, the scissor mechanism 510 is reset to the storage position, and the drone automatically detaches from the glass surface and returns to the ground; the scraper 520 can be removed by the magnetic buckle 521 and its surface residue can be cleaned.

[0065] Step 5.2: Inspect the wear of the sponge head 430 and the flatness of the scraper 520. If the sponge is worn or the scraper is deformed, replace it.

[0066] Compared to existing technologies (such as patents CN117429637A and CN118343318B), the aforementioned embodiments of this utility model, through the combination of a wall-adaptive mechanism to adjust to special glass such as tilted or curved glass, a scraper device to remove residue, and a multimodal sensing system, can comprehensively improve the cleaning quality of high-altitude glass cleaning. The output of cleaning fluid in the reservoir can be dynamically adjusted according to the sponge head rotation speed and the degree of glass contamination, reducing waste and improving cleaning efficiency.

[0067] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A high-altitude glass cleaning drone, characterized in that, It includes the drone body (100), wall-adaptive mechanism (200), cleaning fluid supply module (300), sponge assembly (400) and scraper device (500); The sponge assembly (400) includes a rotatable sponge head (430) for wiping and cleaning the glass; The cleaning fluid supply module (300) is used to spray cleaning fluid onto the glass; The scraper device (500) is used to scrape off residue on the glass after cleaning; The wall-adaptive mechanism (200) is mounted on the drone body (100) and includes a multi-link linkage structure (220), a panel (230), and a pressure sensor (240). The multi-link linkage structure (220) connects the drone body (100) and the panel (230). The sponge assembly (400) and the scraper device (500) are both mounted on the panel (230). The multi-link linkage structure (220) is used to adjust the contact angle between the sponge assembly (400) and the scraper device (500) and the glass surface. The pressure sensor (240) is used to detect the pressure data when the sponge assembly (400) and the scraper device (500) are in contact with the glass surface.

2. The high-altitude glass cleaning drone according to claim 1, characterized in that, It also includes a flight control system (110) and a multimodal perception system (120). The pressure sensor (240) is connected to the flight control system (110). The multimodal perception system (120) includes a vision camera (121) for scanning the glass to identify the distribution of stains and geometric features on the glass surface, an IMU inertial unit (122) for providing real-time attitude, and a lidar (123) for constructing a three-dimensional point cloud map of the glass surface.

3. The high-altitude glass cleaning drone according to claim 1, characterized in that, The cleaning fluid supply module (300) includes a storage box (310), a delivery pipe (320), a micro pump (330), and a nozzle (340). The storage box (310) is connected to the nozzle (340) through the delivery pipe (320) and the micro pump (330). The storage box (310) is used to store cleaning fluid.

4. The high-altitude glass cleaning drone according to claim 1, characterized in that, It also includes a mounting base, which is located at the bottom of the drone body (100), and the liquid storage box (310) is mounted on the mounting base.

5. A high-altitude glass cleaning drone according to claim 1, characterized in that, The sponge assembly (400) also includes a drive motor (410) and a linkage mechanism (420). The output end of the drive motor (410) is provided with the linkage mechanism (420), and the end of the linkage mechanism (420) is detachably connected to the sponge head (430).

6. The high-altitude glass cleaning drone according to claim 1, characterized in that, The scraper device (500) includes a telescopic mechanism and a scraper (520). The length of the telescopic mechanism is adjustable. One end of the telescopic mechanism is connected to the panel (230). The scraper (520) is detachably disposed at the end of the telescopic mechanism.

7. A high-altitude glass cleaning drone according to claim 6, characterized in that, The telescopic mechanism is a scissor mechanism (510).

8. A high-altitude glass cleaning drone according to claim 6, characterized in that, The scraper device (500) also includes a magnetic buckle (521), and the scraper (520) is connected to the telescopic mechanism through the magnetic buckle (521).

9. A high-altitude glass cleaning drone according to claim 1, characterized in that, The multi-link linkage structure (220) includes two opposing linkage components and a first connecting rod connecting the two linkage components. Each link in the linkage component is rotatably connected to the corresponding first connecting rod.

10. A high-altitude glass cleaning drone according to any one of claims 1-9, characterized in that, The wall-adaptive mechanism (200) further includes a spring damping assembly (210), which is mounted on the multi-link linkage structure (220).

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