A cable-controlled autonomous window cleaning robot system with passive adhesion

Abstract

A cable-driven autonomous window cleaning robot system, consisting of: a main housing (1a) containing a vacuum compressor (2a), motors, water connections and control electronics; a cable-driven navigation unit supported by U-shaped brackets (1h-1k) for vertical and horizontal movement across a building surface; Wheels (5a, 5b) equipped with suction pores for passive adhesion to the surface and enabling secure attachment without external power supply; two cleaning modules, including an upper cleaning module (6a) and a lower cleaning module (7a), each having rotating bristles and water inlets and driven by a vacuum unit for water removal; a rack and pinion mechanism for independent movement of the cleaning modules along the surface to ensure complete coverage.

Description

[0001] The present invention relates generally to the field of automatic cleaning systems, and more particularly to an autonomous robot for cleaning windows and facades of buildings. Specifically, it concerns a cable-driven robot that operates with passive adhesion, dual cleaning modules, and a sustainable water recycling system, offering a safe and efficient solution for cleaning high-rise buildings.

[0002] The exterior cleaning of tall buildings, such as office towers and skyscrapers, presents a significant challenge in terms of safety, efficiency, and cost. Conventional cleaning methods for building facades and windows typically involve manual labor, with workers suspended from cradles or scaffolding. While still widely used, these methods are both time-consuming and dangerous. Workers are exposed to potential risks from extreme heights, harsh weather conditions, and accidents during operations. Furthermore, these manual processes are generally inefficient, requiring frequent breaks for safety reasons, resulting in higher labor costs and slower project completion.

[0003] Conventional automated systems such as window cleaning robots have been introduced to minimize human involvement. Many existing cleaning robots are designed only to clean smooth, flat surfaces, such as glass. However, building facades can be made of a variety of materials, including glass, metal, stone, and composite panels, requiring different cleaning techniques. Conventional systems often lack the flexibility to adapt to different surface textures, resulting in poor cleaning performance on non-glass surfaces. Most automated systems consume a significant amount of water during the cleaning process, with no mechanisms for reusing or minimizing water consumption. This not only results in high operating costs but also contributes to environmental problems, especially in water-stressed regions.Conventional robots typically rely on active adhesion systems such as suction pumps or electromagnets to adhere to vertical surfaces. These systems consume significant power, limiting the robot's operating time and making it dependent on frequent recharging or external power sources. This dependence also increases the robot's overall size and weight and reduces its maneuverability. Many existing systems require complex setups with multiple components, such as scaffolding or additional support structures. The integration of such systems is time-consuming and cumbersome, and the robots themselves require frequent maintenance, especially when exposed to environmental factors such as dust, moisture, and corrosion. Conventional automated cleaning robots often struggle to fully cover a building's facade.They may struggle to handle complex geometries, such as corners, curves, and other architectural details. As a result, manual intervention is required to clean areas the robot cannot reach, negating the benefits of automation.

[0004] To solve the problem, the present invention provides a cable-controlled autonomous window cleaning robot system with passive adhesion.

[0005] The cable-controlled autonomous window cleaning robot system with passive adhesion that automates the window cleaning process without the need for human involvement, reducing the risk of accidents.

[0006] The wired passive adhesion autonomous window cleaning robot system, which uses passive adhesion systems such as suction wheels to reduce energy consumption compared to traditional active adhesion robots.

[0007] The wired autonomous window cleaning robot system with passive adhesion that cleans a wide range of surface materials, including glass, metal and stone, using customizable cleaning modules.

[0008] The wired autonomous window cleaning robot system with passive adhesion that includes a water recycling system to minimize waste and operating costs while promoting sustainability.

[0009] The cable-controlled autonomous window cleaning robot system with passive adhesion, providing a fully autonomous cleaning solution capable of navigating complex geometries and architectural features without human assistance.

[0010] One embodiment is a cable-controlled, autonomous window cleaning robot system with passive adhesion. The robot is equipped with two cleaning modules, each equipped with rotating bristles that remove dirt and debris from the surfaces. The robot moves both vertically and horizontally via a cable mechanism supported by U-bolts to enable safe and controlled movement. An integrated vacuum compressor system ensures the reuse of used water, thus promoting environmental sustainability.

[0011] The robot's passive adhesion system ensures secure attachment to glass, marble, polished surfaces, and other building facades and reduces energy consumption compared to active adhesion systems. The system also features water recycling tanks to reduce water waste. The dual-module cleaning system alternates between upper and lower cleaning modules, ensuring comprehensive surface coverage. The design eliminates the need for manual alignment adjustments, making the robot more efficient at cleaning large building facades.

[0012] The invention is explained again below with reference to the figures. They show: Fig. shows a vacuum compressor Fig. shows the movement mechanism of the double cleaning module Fig. shows the movement mechanism of the double cleaning module

[0013] Fig. shows a vacuum compressor. The cable-driven autonomous window cleaning robot system comprises a main body housing (1a), a vacuum compressor (2a), a main body housing (1a), a vacuum compressor (2a), U-brackets (1h-1k), wheels (5a, 5b), an upper cleaning module (6a), and a lower cleaning module (7a). The main body housing (1a) houses a vacuum compressor (2a), motors, water connections, and the control electronics. The cable-driven navigation unit is supported by U-brackets (1h-1k), enabling vertical and horizontal movement across a building surface. The wheels (5a, 5b) are equipped with suction pores that passively adhere to the surface, enabling secure attachment without external power. The two cleaning modules comprise an upper cleaning module (6a) and a lower cleaning module (7a), each equipped with rotating bristles and water inlets and driven by a vacuum system for water removal.The rack and pinion mechanism allows the cleaning modules to move independently along the surface, ensuring complete coverage. The vacuum compressor (2a) is connected to water outlets (6e, 7e) and pipes (6f, 7f) to remove dirty water from the upper cleaning module (6a) and the lower cleaning module (7a), respectively. The suction wheels (5a, 5b) passively adhere to various surfaces such as glass, marble, polished tiles, and concrete, enabling stable operation on different building facades. The two cleaning modules (6a, 7a) are equipped with rotating bristles (6c, 6d, 7c, 7d) that rotate around an x-axis to clean surfaces while the robot moves vertically or horizontally.The rack and pinion mechanism includes motors (8e, 9e) and spur gears (8b, 9b) that drive the upper cleaning module (6a) and the lower cleaning module (7a) to move along racks (8a, 9a) for better coverage of the building surface. The U-brackets (1h, 1i, 1j, 1k) are configured to support the robot's suspension cables and enable controlled movement along vertical and horizontal axes on a building facade. The contaminated water collected by the vacuum compressor (2a) is directed into a container for reuse or treatment, creating a sustainable cleaning solution. The grooves (1b, 1c, 1d, 1e, 1f, 1g) on ​​the main housing (1a) serve to securely accommodate electrical cables and water inlets connected to the respective modules. The vacuum compressor “2a”, which is firmly connected to the housing “1a”.The compressor "2a" is also connected to the water outlet connection "2b." The motors "3a" and "3b," which rotate around the z-axis, are connected to the wheels "5a" and "5b" via the connection "4a" and "4b," respectively. The U-brackets "1h, 1i, 1j, 1k" are rigidly connected to "1a." The brackets support the suspension cables in the cable harnesses from the top of the building, enabling the robot's vertical and horizontal movement. The grooves "1b, 1c, 1d, 1e, 1f, 1g" serve to securely connect electrical cables and water inlets to the respective modules. Two cleaning modules are attached to "1a": the upper module "6a" and the lower module "7a." The housing of the upper cleaning module "6a" encloses the water inlet "6b," which is rigidly connected. Bristles "6c" and "6d" are connected, rotating around the x-axis. The contaminated water is sucked out by the vacuum compressor "2a" via the water outlet "6e" and the line "6f."The housing of the lower cleaning module "7a" encloses the permanently connected water inlet "7b." Bristles "7c" and "7d" are connected, rotating around the x-axis. The contaminated water is sucked out by the vacuum compressor "2a" via the water outlet "7e" and the line "7f."

[0014] Fig. shows the movement mechanism of the double cleaning module. The rack, 8a, is rigidly connected to 1a. The motor housing 8f is rigidly connected to the housing of the cleaning module 6a. The motor 8e is rigidly connected to the motor housing 8f and is also connected to the spur gear 8b, which rotates around the X-axis. The spur gear 8c is connected to 8b via the connection 8d and rotates around the X-axis. The gears 8b and 8c move along the rack 8a. In this way, the cleaning module can move along the Y-axis (assuming the reference frame specified here). The Fig. The drawing shows the movement mechanism of the double cleaning module. The rack "9a" is rigidly connected to "1a". The motor housing "9f" is rigidly connected to the housing of the cleaning module "7a". The motor "9e" is rigidly connected to the motor housing "9f" and is also connected to the spur gear "9b", which rotates around the X-axis. The spur gear "9c" is connected to "9b" via the connection "9d" and rotates around the X-axis. The gears "9b" and "9c" move along the rack "9a". In this way, the cleaning module can move along the Y-axis (assuming the reference frame specified here). In the present Fig. the robot body is in the xz plane. List of reference symbols 1a main body 2a Vacuum compressor 2b Water outlet connection 3a, 3b, 8e, 9e engines 5a, 5b Wheels with intake pores 4a, 4b, 8d, 9d connections 1h, 1i, 1j, 1k U-bracket for suspension 1b, 1c, 1d, 1e, 1f, 1g Grooves for electrical and water connections 6a Upper cleaning module 6b Water inlet 6c, 6d Rotating bristles 6e Water outlet 6f pipe 7a Lower cleaning module 7b Water inlet 7c, 7d Rotating bristles 7e Water outlet 7f pipe 8a Frame for movement (upper module) 8b, 8c Spur gear (upper module) 8f Motor housing (upper module) 9a Rack for movement (lower module) 9b, 9c Spur gear (lower module) 9f Motor housing (lower module)

Claims

[1] A cable-driven autonomous window cleaning robot system consisting of: a main housing (1a) housing a vacuum compressor (2a), motors, water connections and control electronics; a cable-driven navigation unit supported by U-brackets (1h-1k) for vertical and horizontal movement across a building surface; Wheels (5a, 5b) equipped with suction pores for passive adhesion to the surface and enabling secure attachment without external power supply; two cleaning modules, including an upper cleaning module (6a) and a lower cleaning module (7a), each having rotating bristles and water inlets and driven by a vacuum unit for water removal; a rack and pinion mechanism for independent movement of the cleaning modules along the surface to ensure complete coverage. [2] Autonomous window cleaning robot according to claim 1, wherein the vacuum compressor (2a) is connected to water outlets (6e, 7e) and pipes (6f, 7f) to remove contaminated water from the upper cleaning module (6a) and the lower cleaning module (7a), respectively. [3] An autonomous window cleaning robot according to claim 1, wherein the suction wheels (5a, 5b) provide passive adhesion to various surface types, including glass, marble, polished tiles and concrete, enabling stable operation on various building facades. [4] Autonomous window cleaning robot according to claim 1, wherein the two cleaning modules (6a, 7a) are equipped with rotating bristles (6c, 6d, 7c, 7d) that rotate about an x-axis to clean surfaces while the robot moves vertically or horizontally. [5] Autonomous window cleaning robot according to claim 1, wherein the rack and pinion mechanism comprises motors (8e, 9e) and spur gears (8b, 9b) that drive the upper cleaning module (6a) and the lower cleaning module (7a) to move along racks (8a, 9a) to achieve better coverage of the building surface. [6] An autonomous window cleaning robot according to claim 1, wherein the U-brackets (1h, 1i, 1j, 1k) are configured to support the suspension cables of the robot, enabling controlled movement across vertical and horizontal axes on a building facade. [7] An autonomous window cleaning robot according to claim 1, wherein the contaminated water collected by the vacuum compressor (2a) is directed into a container for reuse or treatment, thereby providing a sustainable cleaning solution. [8] An autonomous window cleaning robot according to claim 1, further comprising grooves (1b, 1c, 1d, 1e, 1f, 1g) on ​​the main body (1a) for securely accommodating electrical cables and water inlets connected to respective modules.

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