Textile fabric cleaning machine

Abstract

The utility model relates to a kind of Wen Luo type glass greenhouse obstacle avoidance roof cleaning machine device, including travelling device, obstacle avoidance device, intelligent cleaning device, main body structure and hydraulic device, hydraulic device is installed on main body structure, travelling device is installed on main body structure by hydraulic device, and located the bottom of main body structure, obstacle avoidance device is installed on the top of main body structure, and intelligent cleaning device is installed on main body structure by hydraulic device. The Wen Luo type glass greenhouse obstacle avoidance roof cleaning machine device of the utility model is adopted, realizes multidimensional technical breakthrough, in performance aspect, cleaning efficiency is high, with efficient energy-saving characteristics. Economic advantage is remarkable, replace imported scheme using domestic equipment, cooperate with intelligent operation mode to reduce artificial dependence, save cost. In the aspect of equipment adaptability, through modular structure design, Wen Luo type greenhouse is accurately adapted, intelligent obstacle avoidance device is carried, and the application limitation of traditional equipment in complex greenhouse environment is broken through.

Description

Technical Field

[0001] This utility model relates to the field of glass greenhouses, and more particularly to the field of cleaning greenhouses with shade nets, specifically referring to a Venlo-type glass greenhouse obstacle avoidance roof cleaning machine device. Background Technology

[0002] In modern agriculture, glass greenhouses are widely used, but their roofs are prone to accumulating dust, microorganisms, and other pollutants, leading to reduced light transmittance and severely impacting crop growth. However, traditional cleaning methods have significant drawbacks: manual cleaning is inefficient and unsafe, while imported equipment is not only expensive but also generally lacks adaptability, especially for greenhouse structures with shade netting.

[0003] Existing cleaning equipment is mostly designed for greenhouses without shade nets, and cannot automatically identify and cross shade net supports. Furthermore, imported equipment has high maintenance costs. More importantly, there is a lack of dedicated cleaning equipment for greenhouses with shade nets. Such equipment cannot automatically avoid shade net supports during operation, nor can it dynamically adjust water pressure, brushing speed, and travel speed according to the degree of soiling on the roof. This limits cleaning effectiveness and operational flexibility, becoming a critical technical bottleneck that urgently needs to be overcome in the greenhouse cleaning field. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a Venlo-type glass greenhouse obstacle avoidance roof cleaning machine device that is highly efficient, safe, and widely applicable.

[0005] To achieve the above objectives, the Venlo-type glass greenhouse obstacle-avoidance roof cleaning machine device of this utility model is as follows:

[0006] The Venlo-type glass greenhouse obstacle avoidance roof cleaning machine is characterized by the following features: the device includes a walking device, an obstacle avoidance device, an intelligent cleaning device, a main structure, and a hydraulic device. The hydraulic device is installed on the main structure, the walking device is installed on the main structure via the hydraulic device and is located at the bottom of the main structure, the obstacle avoidance device is installed on the top of the main structure, and the intelligent cleaning device is installed on the main structure via the hydraulic device.

[0007] Preferably, the walking device includes four liftable walking wheels and two fixed auxiliary wheels. The four liftable walking wheels are mounted on a hydraulic device and are located at the four corners of the bottom of the main structure. The two fixed auxiliary wheels are mounted on a hydraulic device and are located at the front and rear ends of the main structure. The fixed auxiliary wheels are close to the gutter and are supported on the glass greenhouse roof by the gutter.

[0008] Preferably, the obstacle avoidance device includes a lidar and dual cameras. The lidar is installed on the top of the main structure and on the left and right sides of the main structure, respectively, and the dual cameras are installed on the main structure.

[0009] Preferably, the intelligent cleaning device includes a column brush and a disc brush assembly, both of which are installed at the bottom of the main structure.

[0010] Preferably, the hydraulic device includes four independent oil circuits: a brush drive module, a travel drive module, a wheel set lifting module, and a cable / water pipe winch control module. The travel drive module is connected to the liftable travel wheel of the travel device. The wheel set lifting module is connected to the liftable travel wheel and the fixed auxiliary wheel of the travel device. The cable / water pipe winch control module is connected to the cable, water pipe, and winch. The travel drive module uses hydraulic power to drive the liftable travel wheel to move. The wheel set lifting module uses hydraulic power to drive the liftable travel wheel and the fixed auxiliary wheel to lift and avoid obstacles.

[0011] Preferably, the hydraulic device further includes a proportional valve, which is connected to the brush drive module and the travel drive module respectively.

[0012] Preferably, the device further includes safety devices, including a proximity switch and a ventilation window collision detection assembly, both mounted on the main structure.

[0013] This utility model of a Venlo-type glass greenhouse obstacle-avoidance roof cleaning machine achieves multi-dimensional technological breakthroughs. In terms of performance, it boasts a cleaning efficiency of 24-40㎡ / min, with power consumption controlled below 2000W, exhibiting high efficiency and energy saving. Actual test data shows that the greenhouse light transmittance increases by ≥30% after cleaning, contributing over 95% to crop yield increases. It offers significant economic advantages, using domestically produced equipment to replace imports, reducing direct costs by 50%, and with intelligent operation modes reducing reliance on manual labor, saving up to 80% in labor costs. Regarding equipment adaptability, its modular structure design precisely adapts to Venlo-type greenhouses, and the intelligent obstacle avoidance device allows it to flexibly cross shading net supports with a spacing of ≥1.5m, overcoming the application limitations of traditional equipment in complex greenhouse environments. Attached Figure Description

[0014] Figure 1 This is a perspective view of the Venlo-type glass greenhouse obstacle avoidance roof cleaning machine device of this utility model.

[0015] Figure 2 This is a side view of the Venlo-type glass greenhouse obstacle avoidance roof cleaning machine device of this utility model.

[0016] Figure 3 This is a front view of the Venlo-type glass greenhouse obstacle avoidance roof cleaning machine device of this utility model.

[0017] Figure label:

[0018] 1. Liftable walking wheels

[0019] 2. Fixed auxiliary wheels

[0020] 3 Sensors

[0021] 4. Intelligent cleaning device

[0022] 5 Safety devices

[0023] 6. LiDAR Detailed Implementation

[0024] To more clearly describe the technical content of this utility model, the following description is provided in conjunction with specific embodiments.

[0025] The Venlo-type glass greenhouse obstacle avoidance roof cleaning machine of this utility model includes a walking device, an obstacle avoidance device, an intelligent cleaning device, a main structure, and a hydraulic device. The hydraulic device is installed on the main structure, the walking device is installed on the main structure via the hydraulic device and is located at the bottom of the main structure, the obstacle avoidance device is installed on the top of the main structure, and the intelligent cleaning device is installed on the main structure via the hydraulic device.

[0026] In a preferred embodiment of this utility model, the walking device includes four liftable walking wheels and two fixed auxiliary wheels. The four liftable walking wheels are mounted on a hydraulic device and are located at the four corners of the bottom of the main structure. The two fixed auxiliary wheels are mounted on a hydraulic device and are located at the front and rear ends of the main structure. The fixed auxiliary wheels are close to the gutter and are supported on the glass greenhouse roof by the gutter.

[0027] In a preferred embodiment of this utility model, the obstacle avoidance device includes a lidar and dual cameras. The lidar is installed on the top of the main structure and on the left and right sides of the main structure, respectively, and the dual cameras are installed on the main structure.

[0028] In a preferred embodiment of this utility model, the intelligent cleaning device includes a combination of column brushes and disc brushes. Both the column brushes and disc brushes are installed at the bottom of the main structure and are driven to rotate by a hydraulic device.

[0029] In a preferred embodiment of this utility model, the hydraulic device includes four independent oil circuits: a brush drive module, a walking drive module, a wheel set lifting module, and a cable / water pipe winch control module. The walking drive module is connected to the liftable walking wheel of the walking device. The wheel set lifting module is connected to the liftable walking wheel and the fixed auxiliary wheel of the walking device. The cable / water pipe winch control module is connected to the cable, water pipe, and winch. The walking drive module uses hydraulic power to drive the liftable walking wheel to move. The wheel set lifting module uses hydraulic power to drive the liftable walking wheel and the fixed auxiliary wheel to lift and avoid obstacles.

[0030] In a preferred embodiment of this utility model, the hydraulic device further includes a proportional valve, which is connected to the brush drive module and the walking drive module respectively.

[0031] In a preferred embodiment of the present invention, the device further includes a safety device, which includes a proximity switch and a ventilation window collision detection component, both of which are mounted on the main structure.

[0032] In a specific embodiment of this utility model, a Venlo-type glass greenhouse obstacle avoidance roof cleaning machine is provided, which solves the problems of automated obstacle avoidance, dynamic parameter adjustment and efficient collaborative control in the cleaning of glass greenhouse roofs with shade nets.

[0033] The utility model of a cleaning robot for glass greenhouse roofs with shade netting includes a walking device, an obstacle avoidance device, and an intelligent cleaning device.

[0034] The walking and obstacle avoidance devices include liftable walking wheels and auxiliary wheels, namely 4 liftable walking wheels and 2 fixed auxiliary wheels.

[0035] Four liftable wheels, driven by a hydraulic system, achieve stepless speed regulation of 6-10 m / min. This not only meets the travel requirements for efficient cleaning but also allows for rapid elevation of the wheel assembly when encountering obstacles such as shade net supports. Two fixed auxiliary wheels remain firmly attached to the greenhouse gutters, providing stable support through the rigid structure of the gutters. This creates a three-point balance point during equipment movement, preventing tipping or swaying. Furthermore, it serves as a guide, directing the wheels smoothly along the greenhouse structure. Especially when crossing complex roof surfaces such as gutter junctions, the close contact between the auxiliary wheels and the gutter significantly enhances the equipment's maneuverability, ensuring the continuity and stability of cleaning operations. This wheel configuration retains the mobility of traditional walking devices while overcoming movement limitations in complex greenhouse environments through the gutter support structure.

[0036] The obstacle avoidance device uses a LiDAR and dual cameras working together to identify and cross the sunshade net poles. The LiDAR is responsible for real-time distance measurement and obstacle location detection, while the dual cameras use visual recognition technology to detect the pole's shape and surface dirt level.

[0037] The obstacle avoidance process is as follows:

[0038] When the support pole is detected, the device first controls the front wheel assembly to lift rapidly, for example, within 5 seconds. Then, the auxiliary wheels utilize the greenhouse gutter structure to provide stable support. Next, the rear wheel assembly lifts synchronously, and finally, the entire machine safely crosses the support pole in an optimized posture. The entire process dynamically adjusts the actions of each mechanism through a multi-sensor fusion algorithm, ensuring flexible obstacle avoidance and maintaining operational continuity in complex greenhouse environments.

[0039] The intelligent cleaning device includes a combination of column brushes and disc brushes driven by a hydraulic motor, with adjustable rotation speed.

[0040] The column brush is cylindrical in shape, with bristles tightly arranged within a cylindrical frame. It rotates during operation, utilizing its cylindrical surface to make large-area contact with flat surfaces such as glass. Through rolling and wiping, it removes surface dust and dirt, making it suitable for routine large-area cleaning of greenhouse glass.

[0041] The disc brush has a disc-shaped structure with bristles fixed to the edge or surface of the disc. It rotates at high speed during operation, generating strong cleaning power through circular motion, specifically targeting stubborn stains (such as water stains and mud), and deeply cleaning surfaces through rotational friction.

[0042] The intelligent cleaning device can achieve visual closed-loop control. Visual closed-loop control refers to the use of cameras to detect the degree of dirt before and after cleaning, and dynamically adjusting water pressure, brush speed, and walking speed by comparing the images before and after cleaning.

[0043] The motor for the hydraulic system is located inside the entire device. The hydraulic system comprises four independent oil circuits: brush drive, travel drive, wheel assembly lifting, and cable / water pipe winch control. The hydraulic system regulates flow rate via proportional valves to achieve coordinated control of brush speed and travel speed. These proportional valves are located within the drive unit.

[0044] The hydraulic system has four independent oil circuits, each performing a different function, as follows:

[0045] The brush drive hydraulic circuit powers the hydraulic motor of the brush (such as a column brush or disc brush), driving the brush to rotate via hydraulic pressure to clean the greenhouse glass surface. The brush speed can be precisely controlled by adjusting the hydraulic pressure to suit different stain cleaning needs.

[0046] The hydraulic drive circuit transmits hydraulic power to the drive unit of the walking wheels, providing the cleaning machine with the power to move smoothly on the greenhouse roof and ensuring the continuity of the cleaning operation.

[0047] The hydraulic system controls the lifting and lowering of wheel sets (such as auxiliary wheels and wheel sets related to the obstacle avoidance mechanism). When encountering an obstacle, the hydraulic system drives the cylinders, using hydraulic pressure to lift the wheel sets, helping the equipment overcome the obstacle and ensuring smooth operation.

[0048] The hydraulic motor of the cable and water pipe winch is driven by the control oil circuit. The oil circuit controls the winding and unwinding action of the winch, realizing the orderly winding and unwinding of cables and water pipes during operation, avoiding pipeline tangling and ensuring flexible operation of the equipment.

[0049] Safety devices include mechanical levers, proximity switches, and ventilation window collision detection.

[0050] The mechanical swing arm is a physical rod that can swing at the front end of the equipment. When it comes into contact with the greenhouse structure (such as the shade net support rod or the edge of the ventilation window), it triggers an emergency braking device through mechanical linkage to avoid hard collision.

[0051] The proximity switch uses non-contact sensors arranged around the device to detect obstacles 0.3-0.5 meters in advance, triggering an alarm signal and automatically reducing walking speed, allowing time for manual intervention. The proximity switch is used for obstacle detection. Sensor 3 includes dual cameras and a LiDAR.

[0052] The ventilation window collision detection system is designed for the operable ventilation windows on the top of the greenhouse. It uses pressure sensors or limit switches to monitor the distance between the equipment and the window frame in real time. When the equipment enters the danger zone, it automatically stops moving and retracts the brush to prevent pinching or structural damage.

[0053] The triple protection measures cover the entire process from proactive early warning to passive protection, ensuring the safe operation of equipment in complex greenhouse environments while avoiding secondary damage to fragile greenhouse facilities.

[0054] The core innovations of this device are reflected in the following points:

[0055] First, there is the multi-sensor fusion obstacle avoidance device. Through the collaborative work of lidar and cameras, it can accurately identify and measure the distance of the shade net support poles, ensuring that the equipment can flexibly avoid obstacles in complex greenhouse environments.

[0056] Secondly, the device employs visual recognition closed-loop control technology. Through visual comparison and analysis before and after cleaning, the device can automatically adjust water pressure (0.5-2MPa), brush speed (50-200rpm), and walking speed (6-10m / min) to achieve dynamic matching between cleaning parameters and the degree of dirt. Finally, the device features a lightweight structural design with an all-aluminum body, effectively reducing its weight while maintaining mechanical strength, ensuring that the equipment meets the greenhouse roof weight requirement of ≤100kg / m² during operation. 2The weight-bearing limitations are significantly reduced, improving operational safety. The combination of these three innovative technologies enables the equipment to achieve industry-leading levels in obstacle avoidance, cleaning efficiency, and environmental adaptability.

[0057] For the specific implementation scheme of this embodiment, please refer to the relevant descriptions in the above embodiments, which will not be repeated here.

[0058] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0059] It should be noted that in the description of this utility model, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this utility model, unless otherwise stated, "a plurality of" means at least two.

[0060] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0061] This utility model of a Venlo-type glass greenhouse obstacle-avoidance roof cleaning machine achieves multi-dimensional technological breakthroughs. In terms of performance, it boasts a cleaning efficiency of 24-40㎡ / min, with power consumption controlled below 2000W, exhibiting high efficiency and energy saving. Actual test data shows that the greenhouse light transmittance increases by ≥30% after cleaning, contributing over 95% to crop yield increases. It offers significant economic advantages, using domestically produced equipment to replace imports, reducing direct costs by 50%, and with intelligent operation modes reducing reliance on manual labor, saving up to 80% in labor costs. Regarding equipment adaptability, its modular structure design precisely adapts to Venlo-type greenhouses, and the intelligent obstacle avoidance device allows it to flexibly cross shading net supports with a spacing of ≥1.5m, overcoming the application limitations of traditional equipment in complex greenhouse environments.

[0062] In this specification, the present invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, the specification and drawings should be considered illustrative rather than restrictive.

Claims

1. A Venlo-type glasshouse roof cleaning machine device for avoiding obstacles, characterized in that The device includes a walking device, an obstacle avoidance device, an intelligent cleaning device, a main structure, and a hydraulic device. The hydraulic device is installed on the main structure, the walking device is installed on the main structure via the hydraulic device and is located at the bottom of the main structure, the obstacle avoidance device is installed on the top of the main structure, and the intelligent cleaning device is installed on the main structure via the hydraulic device.

2. The Wen-Lo glass greenhouse roof cleaning machine device according to claim 1, wherein, The walking device includes four liftable walking wheels and two fixed auxiliary wheels. The four liftable walking wheels are mounted on a hydraulic device and are located at the four corners of the bottom of the main structure. The two fixed auxiliary wheels are mounted on a hydraulic device and are located at the front and rear ends of the main structure. The fixed auxiliary wheels are close to the gutter and are supported on the glass greenhouse roof by the gutter.

3. The VIG roof obstacle avoidance cleaning machine apparatus of claim 1, wherein, The obstacle avoidance device includes a lidar and dual cameras. The lidar is installed on the top of the main structure and on the left and right sides of the main structure, respectively. The dual cameras are installed on the main structure.

4. The Wen-Lo glass greenhouse roof obstacle avoidance cleaning machine apparatus of claim 1, wherein, The intelligent cleaning device includes a column brush and a disc brush assembly, both of which are installed at the bottom of the main structure.

5. The Venlo-type glass greenhouse obstacle avoidance roof cleaning machine device according to claim 1, characterized in that, The hydraulic device includes four independent oil circuits: a brush drive module, a walking drive module, a wheel set lifting module, and a cable / water pipe winch control module. The walking drive module is connected to the liftable walking wheel of the walking device. The wheel set lifting module is connected to the liftable walking wheel and the fixed auxiliary wheel of the walking device. The cable / water pipe winch control module is connected to the cable, water pipe, and winch. The walking drive module uses hydraulic power to drive the liftable walking wheel to move. The wheel set lifting module uses hydraulic power to drive the liftable walking wheel and the fixed auxiliary wheel to lift and avoid obstacles.

6. The Venlo-type glass greenhouse obstacle avoidance roof cleaning machine device according to claim 5, characterized in that, The hydraulic device also includes a proportional valve, which is connected to the brush drive module and the walking drive module respectively.

7. The Venlo-type glass greenhouse obstacle avoidance roof cleaning machine device according to claim 1, characterized in that, The device also includes safety devices, which include a proximity switch and a ventilation window collision detection assembly, both of which are mounted on the main structure.

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