CN112006594A - Cleaning system, traction apparatus, and cleaning method - Google Patents
Cleaning system, traction apparatus, and cleaning method Download PDFInfo
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- CN112006594A CN112006594A CN201910464313.5A CN201910464313A CN112006594A CN 112006594 A CN112006594 A CN 112006594A CN 201910464313 A CN201910464313 A CN 201910464313A CN 112006594 A CN112006594 A CN 112006594A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 326
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000004891 communication Methods 0.000 claims abstract description 58
- 238000010408 sweeping Methods 0.000 claims description 40
- 238000001514 detection method Methods 0.000 claims description 21
- 230000008569 process Effects 0.000 claims description 16
- 230000008859 change Effects 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 5
- 239000000356 contaminant Substances 0.000 claims description 4
- 239000003344 environmental pollutant Substances 0.000 claims description 3
- 231100000719 pollutant Toxicity 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 238000007726 management method Methods 0.000 description 24
- 238000010586 diagram Methods 0.000 description 11
- 230000004044 response Effects 0.000 description 6
- 238000011109 contamination Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L3/00—Safety devices for use in window-cleaning
- A47L3/04—Safety ropes
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- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
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- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The application discloses a cleaning system, traction equipment and a cleaning method, and belongs to the technical field of electronics. This cleaning system includes: the device comprises a traction device and an outer wall cleaning device which is in communication connection with the traction device. When the outer wall cleans equipment and removes at the course of the work, can send removal data to traction equipment, this traction equipment can be according to this removal data through the removal of traction control subassembly control haulage rope, guarantee the length of the haulage rope between outer wall cleans equipment and the traction equipment, it is less than the length threshold value with the difference of the distance of outer wall cleans equipment and traction equipment, do not have the haulage rope of redundant length in the haulage rope, or, the haulage rope of redundant length in the haulage rope is shorter, thereby reduce the probability of the phenomenon that the haulage rope twines outer wall and cleans equipment, the efficiency of cleaning of outer wall cleans equipment has been improved.
Description
Technical Field
The present disclosure relates to electronic technologies, and in particular, to a cleaning system, a traction device, and a cleaning method.
Background
The outer wall cleaning work of high-rise buildings is mostly manually cleaned, the efficiency of manual cleaning is low, and the risk coefficient of high-altitude operation is large. In order to solve these problems, an outer wall cleaning apparatus may be used to clean the outer wall of a high-rise building.
The current outer wall cleaning equipment can bind one end of a traction rope on the outer wall cleaning equipment before working, and the other end of the traction rope is fixed at a specified position in a space such as an indoor space or a roof. After the accident falls in the working process of the outer wall cleaning equipment, the outer wall cleaning equipment can be tensioned through the traction rope, and the outer wall cleaning equipment is prevented from being damaged or smashing pedestrians. Under the general condition, in order to enable the outer wall cleaning equipment to work normally, the length of the traction rope needs to be ensured to be greater than the farthest moving distance of the outer wall cleaning equipment and to be smaller than the height of the wall surface. If the distance between the outer wall cleaning equipment and the designated position is smaller, the traction ropes bound on the outer wall cleaning equipment have the traction ropes with longer redundant length.
Cleaning equipment at the outer wall and cleaning the removal of equipment, the longer haulage rope of redundant length can influence the outer wall and clean the equipment, very easily takes place the phenomenon that the haulage rope twined outer wall and cleans equipment, and after haulage rope twined outer wall and cleaned equipment, this outer wall cleaned equipment can't normally work, need artifical this outer wall of pulling back to clean equipment and arrange in order the back, controls this outer wall again and cleans equipment and continues to work. Therefore, the cleaning efficiency of the existing external wall cleaning equipment is low.
Disclosure of Invention
The embodiment of the application provides a cleaning system, traction equipment and a cleaning method. The problem of the outer wall of prior art clean equipment clean the efficiency lower can be solved, technical scheme is as follows:
in a first aspect, a sweeping system is provided, comprising:
the device comprises a traction device and an outer wall cleaning device which is in communication connection with the traction device;
the pulling device comprises: the outer wall cleaning device comprises a traction rope and a traction control assembly connected with a first end of the traction rope, wherein a second end of the traction rope is connected with the outer wall cleaning device;
the outer wall cleaning equipment is used for sending mobile data to the traction equipment in the working process of the outer wall cleaning equipment;
the traction equipment is used for controlling the traction rope to move through the traction control assembly based on the movement data after receiving the movement data sent by the outer wall cleaning equipment, so that the difference between the length of the traction rope between the outer wall cleaning equipment and the traction equipment and the distance between the outer wall cleaning equipment and the traction equipment is smaller than a length threshold value.
Optionally, the moving data includes: the moving state of the traction rope comprises a rope receiving state or a rope releasing state;
the outer wall cleaning equipment is used for determining the movement data based on the movement speed, the movement distance and the movement direction of the outer wall cleaning equipment.
Optionally, the moving data includes: the moving speed, the moving distance and the moving direction of the outer wall cleaning equipment;
the traction equipment is used for determining the movement state of the traction rope, the movement distance and the movement speed of the traction rope based on the movement data; controlling the movement of the traction rope through the traction control component based on the movement state of the traction rope, the movement distance and the movement speed of the traction rope, wherein the movement state of the traction rope comprises a rope winding state or a rope unwinding state.
Optionally, the traction apparatus further comprises: a tension detection assembly;
the pulling device is further configured to: detecting, by the tension detection assembly, a tension of the pull-cord; if the tension change curve of the tension of the traction rope in a specified time length is detected to be the change curve of a falling state; and controlling the traction rope to stop moving through the traction control assembly.
Optionally, the traction device is further configured to: after the traction control assembly controls the traction rope to stop moving, if the tension detection assembly detects that the tension of the traction rope is unchanged within a set time length, the traction control assembly controls the traction rope to move towards the direction close to the traction equipment.
Optionally, the traction device is further configured to: after a cleaning completion instruction sent by the outer wall cleaning equipment is received, the traction control assembly controls the traction rope to move towards the direction close to the traction equipment.
Optionally, the sweeping system further includes: the terminal establishes communication connection with the traction equipment;
the terminal is used for sending an instruction to the outer wall cleaning equipment through the traction equipment, and the instruction comprises: the external wall cleaning device comprises a control instruction for controlling the external wall cleaning device to be turned on or turned off, and/or an inquiry instruction for inquiring the cleaning area and the cleaning time of the external wall cleaning device.
Optionally, the traction apparatus further comprises: the first communication module is used for being in communication connection with the outer wall cleaning equipment, and the second communication module is used for being in communication connection with the terminal;
the communication connection range of the first communication module is larger than that of the second communication module.
Optionally, the traction apparatus further comprises: the power management module is electrically connected with the traction control assembly, and the direct power supply module and the standby power supply module provide electric energy for the power management module;
the haulage rope includes: and the first end of the wire is electrically connected with the power management module, and the second end of the wire is electrically connected with the outer wall cleaning equipment.
Optionally, the outer wall cleaning device includes: a contaminant detection assembly;
the outer wall cleaning equipment is also used for: detecting the pollution degree of a cleaning area of the outer wall cleaning equipment through the pollutant detection assembly; determining the pollution degree of the cleaning area and the target power supply required by the outer wall cleaning equipment; and after the current power supply power of the outer wall cleaning equipment is not matched with the target power supply power, sending a power supply power adjusting instruction to the traction equipment, wherein the power supply power adjusting instruction is used for indicating the traction equipment to adjust the power supply power of the outer wall cleaning equipment to the target power supply power through the power management module and the electric wire.
Optionally, the hauling cable further comprises: the first end of the protection rope is fixedly connected with the traction control assembly, and the second end of the protection rope is fixedly connected with the outer wall cleaning equipment.
Optionally, the traction control assembly includes: the first end of the traction rope is connected with the driving structure, and the driving motor is configured to control the driving structure to rotate so as to drive the traction rope to move.
Optionally, the traction apparatus further comprises: a tank for storing cleaning liquid, the leash further comprising: and a pipeline, wherein the first end of the pipeline is communicated with the water tank, and the second end of the pipeline is communicated with the outer wall cleaning equipment.
In a second aspect, there is provided a traction apparatus comprising:
a pull rope, and a traction control assembly coupled to a first end of the pull rope, a second end of the pull rope configured to couple to an exterior wall cleaning apparatus;
the traction equipment is in communication connection with the outer wall cleaning equipment, and the traction equipment is used for controlling the movement of the traction rope through the traction control assembly based on the movement data after receiving the movement data sent by the outer wall cleaning equipment in the working process, so that the difference between the length of the traction rope between the outer wall cleaning equipment and the traction equipment and the distance between the outer wall cleaning equipment and the traction equipment is smaller than a length threshold value.
In a third aspect, a sweeping method is provided, which is applied to a sweeping system, and the sweeping system includes: traction equipment to and with outer wall cleaning equipment that traction equipment established communication connection, traction equipment includes: a pull rope, and a traction control assembly coupled to a first end of the pull rope, a second end of the pull rope being coupled to the exterior wall cleaning apparatus, the method comprising:
in the working process of the outer wall cleaning equipment, the outer wall cleaning equipment sends mobile data to the traction equipment;
after the traction equipment receives the movement data sent by the outer wall cleaning equipment, the traction control assembly controls the movement of the traction rope based on the movement data, so that the difference between the length of the traction rope between the outer wall cleaning equipment and the traction equipment and the distance between the outer wall cleaning equipment and the traction equipment is smaller than a length threshold value.
The technical scheme provided by the embodiment of the application has the following beneficial effects:
this cleaning system includes: the device comprises a traction device and an outer wall cleaning device which is in communication connection with the traction device. When the outer wall cleaning equipment moves in the working process, the mobile data can be sent to the traction equipment, the traction equipment can control the movement of the traction rope through the traction control assembly according to the mobile data, the length of the traction rope between the outer wall cleaning equipment and the traction equipment is ensured, the distance difference between the traction equipment and the outer wall cleaning equipment is smaller than a length threshold value, the traction rope with redundant length does not exist in the traction rope, or the traction rope with redundant length in the traction rope is shorter, the probability of the phenomenon that the traction rope winds the outer wall cleaning equipment is reduced, and the cleaning efficiency of the outer wall cleaning equipment is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a sweeping system provided in an embodiment of the present application;
FIG. 2 is a diagram illustrating the effectiveness of the sweeping system shown in FIG. 1;
FIG. 3 is a schematic structural diagram of a traction device provided in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of another sweeping system provided in the embodiments of the present application;
FIG. 5 is a schematic structural diagram of another sweeping system provided in the embodiments of the present application;
FIG. 6 is a schematic structural diagram of another sweeping system provided in an embodiment of the present application;
FIG. 7 is a flow chart of a cleaning method provided by an embodiment of the present application;
FIG. 8 is a flow chart of another sweeping method provided by embodiments of the present application;
FIG. 9 is a flow chart of another cleaning method provided by an embodiment of the present application;
fig. 10 is a flowchart of another cleaning method provided in an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a cleaning system according to an embodiment of the present disclosure. The sweeping system may include: a traction apparatus 100 and an exterior wall cleaning apparatus 200. The traction device 100 is in communication connection with the exterior wall cleaning device 200. The communication connection may be a communication connection established through a wired network or a wireless network.
Referring to fig. 2, fig. 2 is a view showing an effect of the cleaning system shown in fig. 1 when it is operated, for cleaning an outer wall 00 of, for example, a high-rise building. Wherein the pulling device 100 is located in a space such as a room or a roof; the outer wall cleaning apparatus 200 may be attached to the outer wall 00 by a moving member such as a suction cup provided therein and may move on the outer wall 00, and during the movement, the outer wall cleaning apparatus 200 may clean the outer wall 00 by the cleaning member provided therein.
The outer wall cleaning apparatus 200 is used to transmit mobile data to the traction apparatus 100 during the operation of the outer wall cleaning apparatus 200.
The traction device 100 is used for controlling the movement of the traction rope 101 through the traction control component 102 based on the movement data after receiving the movement data sent by the exterior wall cleaning device 200, so that the difference between the length of the traction rope 101 between the exterior wall cleaning device 200 and the traction device 100 and the distance between the exterior wall cleaning device 200 and the traction device 100 is smaller than a length threshold value.
In summary, the cleaning system provided in the embodiment of the present application includes: the device comprises a traction device and an outer wall cleaning device which is in communication connection with the traction device. When the outer wall cleaning equipment moves in the working process, the mobile data can be sent to the traction equipment, the traction equipment can control the movement of the traction rope through the traction control assembly according to the mobile data, the length of the traction rope between the outer wall cleaning equipment and the traction equipment is ensured, the distance difference between the traction equipment and the outer wall cleaning equipment is smaller than a length threshold value, the traction rope with redundant length does not exist in the traction rope, or the traction rope with redundant length in the traction rope is shorter, the probability of the phenomenon that the traction rope winds the outer wall cleaning equipment is reduced, and the cleaning efficiency of the outer wall cleaning equipment is improved.
Optionally, as shown in fig. 3, fig. 3 is a schematic structural diagram of a traction apparatus provided in an embodiment of the present application, and the traction control assembly 102 in the traction apparatus 100 may include: a driving motor 102a, and a driving structure 102b fixedly connected with the driving motor 102 a. The first end of the pull-cord 101 in the pulling device 100 may be fixedly connected to the driving structure 102 b. The drive motor 102a is configured to: the driving structure 102b is controlled to rotate to drive the pulling rope 101 to move. Illustratively, the driving motor 102a has a driving shaft (not labeled in fig. 3), the driving structure 102b can be fixedly connected with the driving shaft of the driving motor 102a, the driving shaft can be driven by the driving motor 102a to rotate, so that the driving structure 102b rotates therewith, and when the driving structure 102b rotates, the traction rope 101 can be wound around the driving structure 102b or loosened from the driving structure 102b, so as to realize the movement of the traction rope 101 b.
As shown in fig. 1 and 2, when the traction apparatus 100 controls the movement of the traction rope 101 through the traction control assembly 102, it is required to previously acquire the movement state of the traction rope 101, and the movement distance and the movement speed of the traction rope 101, and the movement state of the traction rope 101 may include: a rope-retracting state or a rope-releasing state. The traction device 100 is used for controlling the movement of the traction rope 101 through the traction control assembly 102 based on the movement state of the traction rope 101, and the movement distance and the movement speed of the traction rope 101. The moving state of the pulling rope 101, and the moving distance and moving speed of the pulling rope 101 are determined based on the moving speed, moving distance, and moving direction of the outer wall cleaning device 200. In the embodiment of the present application, the process of determining the moving state of the pulling rope 101, the moving distance and the moving speed of the pulling rope 101 based on the moving speed, the moving distance and the moving direction of the outer wall cleaning apparatus 200 may be performed in the pulling apparatus 100 or the outer wall cleaning apparatus 200. The embodiment of the present application provides the following two implementation manners as examples for schematic illustration:
in a first alternative implementation, when executed in the exterior wall cleaning apparatus 200, the exterior wall cleaning apparatus is configured to determine the moving state of the traction rope 101, and the moving distance and moving speed of the traction rope 101 based on the moving speed, moving distance, and moving direction of the exterior wall cleaning apparatus 200. At this time, the mobile data sent by the external wall cleaning device 200 to the traction device includes: which determines the moving state of the traction rope 101 and the moving distance and moving speed of the traction rope 101.
In a second alternative implementation, when executed in the traction device 100, the movement data sent by the exterior wall cleaning device 200 to the traction device includes: the moving speed, the moving distance and the moving direction of the outer wall cleaning apparatus 200, and the traction apparatus 100 are used to determine the moving state of the traction rope 101, and the moving distance and the moving speed of the traction rope 101 based on the moving data.
It should be noted that, when the external wall cleaning apparatus 200 is in operation, the external wall cleaning apparatus 200 can determine the position information of the position where it is located on the external wall 00 through its own position detection component; the outer wall cleaning apparatus 200 can generate the moving speed, the moving distance, and the moving direction of the outer wall cleaning apparatus 200 based on the position information.
In connection with the above two alternative implementations, assuming that the exterior wall cleaning apparatus 200 moves downward 3 meters in the gravity direction at a speed of 0.2 m/s, the traction apparatus 100 needs to control the traction rope 101 to be in a rope unwinding state through the traction control assembly 102 and control the traction rope 101 to move 3 meters at a speed of 0.2 m/s. The movement of the outer wall cleaning apparatus 200 and the movement of the traction rope 101 in the traction apparatus 100 are synchronized, so that the difference between the length of the traction rope 101 between the outer wall cleaning apparatus 200 and the traction apparatus 100 and the distance between the outer wall cleaning apparatus 200 and the traction apparatus 100 is always smaller than the length threshold.
It should be noted that, in the above embodiment, when the traction apparatus 100 controls the movement of the traction rope 101 through the traction control component 102, the movement state of the traction rope 101, the movement distance and the movement speed of the traction rope 101 are required to be acquired in advance, which is schematically described as an example. In other alternative implementations, when the traction device 100 is controlling the movement of the traction rope 101 through the traction control assembly 102, only the movement state and the movement distance of the traction rope 101 need to be acquired. The embodiment of the present application does not limit this.
Optionally, referring to fig. 4, fig. 4 is a schematic structural diagram of another sweeping system provided in an embodiment of the present application, where the traction device 100 in the sweeping system may further include: a tension detection assembly 103.
The pulling device 100 is also used for: detecting the tension of the hauling rope 101 through a tension detecting component 103; if the tension variation curve of the tension of the traction rope 101 in a specified time is detected to be the variation curve of the falling state, the outer wall cleaning equipment 200 is determined to be in the falling state. In the embodiment of the application, in the working process of the outer wall cleaning device 200, if the outer wall cleaning device 200 is used to clean the outer wall normally, the tension of the pulling rope 101 detected by the tension detecting component 103 is small, and the tension of the pulling rope 101 is usually 0; if the outer wall cleaning device 200 falls down accidentally, the tension detection component 103 can detect that the tension of the pulling rope 101 changes, and if the change curve of the detected tension of the pulling rope 101 within a specified time is the change curve of the falling state, the pulling device 100 can determine that the outer wall cleaning device 200 is in the falling state. Note that the specified time period is usually short, and may be, for example, 2 seconds; the change curve of the falling state is obtained by detecting through a plurality of times of simulated falling experiments.
The pulling device 100 is also used for: after determining that the exterior wall cleaning apparatus 200 is in the falling state, the traction rope 101 is controlled by the traction control assembly 102 to stop moving. In the embodiment of the application, the traction device 100 controls the traction rope 101 to stop moving through the traction control component 102, so that the outer wall cleaning device 200 can be prevented from being damaged or smashing pedestrians due to falling on the premise that the traction rope 101 is ensured not to have redundant length, or the traction rope 101 with redundant length is shorter.
Optionally, the traction device 100 is further configured to: after the traction control assembly 102 controls the traction rope 101 to stop moving, if the tension detection assembly 103 detects that the tension of the traction rope 101 is constant within a set time period, the traction control assembly 102 controls the traction rope 101 to move towards the traction device 100. In this embodiment of the application, the tension detecting component 103 may continuously detect the tension of the pulling rope 101, when the pulling device 100 detects that the tension of the pulling rope 101 is not changed within a set time (for example, 30 seconds) through the tension detecting component 103, the pulling device 100 may determine that the outer wall cleaning device 200 is in a prohibited suspended state, at this time, the pulling device 100 may recover the outer wall cleaning device 200 through the pulling control component 102 and the pulling rope 101, and it is not necessary to manually pull back the outer wall cleaning device 200, so that the recovery efficiency of the outer wall cleaning device 200 is improved.
In the embodiment of the present application, after the cleaning of the external wall cleaning apparatus 200 is completed, the moving component in the external wall cleaning apparatus 200 needs to stop adsorbing on the external wall, and send a cleaning completion instruction to the external wall cleaning apparatus. The pulling device 100 is also used for: after receiving a cleaning completion instruction sent by the outer wall cleaning device 200, the traction control assembly 102 controls the traction rope 101 to move towards the traction device 100. After the cleaning of the outer wall cleaning device 200 is completed, the outer wall cleaning device 200 can be directly recovered through the traction device 100 without being moved by the outer wall cleaning device 200, or the outer wall cleaning device 200 is manually pulled back by manpower, so that the recovery efficiency of the outer wall cleaning device 200 is further improved.
Referring to fig. 5, fig. 5 is a schematic structural diagram of another cleaning system provided in the embodiment of the present application. The sweeping system may further include: the terminal 300 may be a smart phone, a computer, a smart television, an e-reader, or a wearable device, etc. The terminal 300 establishes a communication connection with the towing device 100, which may be a communication connection established over a wireless network.
The terminal 300 is used to send instructions to the exterior wall cleaning apparatus 200 via the pulling apparatus 100, which may include: a control instruction for controlling the on or off of the outer wall cleaning device 200, and/or an inquiry instruction for inquiring the cleaning area and the cleaning time of the outer wall cleaning device 200. In the embodiment of the present application, after the exterior wall cleaning apparatus 200 receives the control instruction, the operation may be started or stopped; after receiving the query instruction at the exterior wall cleaning apparatus 200, the exterior wall cleaning apparatus 200 may transmit a query response carrying the cleaning area and the cleaning time cleaned by the exterior wall cleaning apparatus 200 to the terminal 300 through the traction apparatus 100.
For example, referring to fig. 5, the towing apparatus 100 may further include: a first communication module 104 for communication connection with the exterior wall cleaning apparatus 200, and a second communication module 105 for communication connection with the terminal 300. Wherein, the communication connection range of the first communication module 104 is larger than that of the second communication module 105.
Because the traction device 100 is in communication connection with the outer wall cleaning device 200 through the second communication module 105 with a large communication connection range, the stability of the communication connection between the outer wall cleaning device 200 and the traction device 100 is high in the working process of the outer wall cleaning device 200, and the probability that the outer wall cleaning device 200 cannot be in communication connection with the traction device 100 when the outer wall cleaning device 200 is far away from the traction device 100 is reduced. Furthermore, the terminal 300 communicates with the exterior wall cleaning device 200 through the traction device 100, and the stability of the communication connection between the exterior wall cleaning device 200 and the traction device 100 is high, so that the stability of the communication connection between the terminal 300 and the exterior wall cleaning device 200 through the traction device 100 is also high, and the probability that the exterior wall cleaning device 200 cannot be in communication connection with the terminal 300 when the exterior wall cleaning device 200 is far away from the terminal 300 when the communication connection between the terminal 300 and the exterior wall cleaning device 200 is directly performed is reduced.
For example, the first communication module 104 may include: a WIFI (wireless fidelity) module, a ZiBee (zigbee) module, a bluetooth module, or the like, wherein the frequency of the wireless signal sent by the first communication module 104 is high, and the communication connection range is small; the second communication module 105 may include: a 433M communication module, an FM communication module, an AM communication module, or the like, and the frequency of the wireless signal transmitted by the second communication module 105 is low, and the communication connection range is wide.
Optionally, please refer to fig. 6, fig. 6 is a schematic structural diagram of another sweeping system provided in an embodiment of the present application, and the traction apparatus 100 may further include: a power management module 106 electrically coupled to the traction control assembly 102, and a direct power module 107 and a backup power module 108 that provide power to the power management module 106. The power management module 107 is configured to be electrically connected to the backup power module 108 after the electrical connection with the direct power supply module 107 is disconnected. The traction rope 101 in the traction device 100 may comprise: and a first end of the wire 101a needs to pass through the traction control assembly 102 and then be electrically connected with the power management module 106, and a second end of the wire 106 is electrically connected with the outer wall cleaning device 200. The power management module 106 can provide power not only to the traction device 100, but also to the exterior wall cleaning device 200.
In this embodiment of the application, an external power source needs to be connected to the outside of the direct power supply module 107, the power management module 106 is preferably electrically connected to the direct power supply module 107, and after the external power source has an unexpected power failure, the power management module 107 needs to be electrically connected to the standby power supply module 108, so as to ensure that the cleaning system can continuously work. The backup power supply 107 may be an energy storage battery having a charge/discharge function. After the external power supply is recovered to normal, the power management module 106 is electrically connected to the direct power supply module 107, the electrical connection between the power management module 106 and the standby power supply module 107 is not immediately disconnected, the power management module 106 can also charge the standby power supply module 107, and after the charging of the standby power supply module 107 is completed, the electrical connection between the power management module 106 and the standby power supply module 107 can be disconnected. At this time, the power management module 106 only needs to provide power for the traction apparatus 100 and the exterior wall cleaning apparatus 200.
Alternatively, as shown in fig. 6, the outer wall cleaning apparatus 200 may include: the contaminant detection assembly 201. The outer wall cleaning apparatus 200 is also used for: detecting the degree of contamination of the cleaning area of the exterior wall cleaning apparatus 200 by the contaminant detection module 201; determining the pollution degree of the cleaning area and the target power supply required by the outer wall cleaning equipment 200; after the current power supply of the external wall cleaning device 200 is not matched with the target power supply, a power supply adjustment instruction is sent to the traction device 100, where the power supply adjustment instruction is used to instruct the traction device 100 to adjust the power supply of the external wall cleaning device 200 to the target power supply through the power management module 106 and the electric wire 101 a. The pulling device 100 is also used for: after receiving the power supply adjustment command sent by the external wall cleaning device 200, the power supply management module 106 and the electric wire 101a transmit an electric signal to the external wall cleaning device 200 to adjust the power supply to the target power supply.
In general, if the degree of pollution of the cleaning area of the external wall cleaning device 200 is large, the external wall cleaning device 200 needs to be driven by large power supply to clean the cleaning area, so as to ensure that the cleaning area can be cleaned quickly; if the degree of contamination of the cleaning area of the outer wall cleaning apparatus 200 is small, the outer wall cleaning apparatus 200 only needs to clean the cleaning area by driving with a small supply power, and the cleaning area can be cleaned. Therefore, the power supply of the external wall cleaning equipment 200 is adjusted by detecting the pollution degree of the cleaning area, and the energy consumption of the external wall cleaning equipment 200 can be reduced on the premise of ensuring that the cleaning area is cleaned completely.
Optionally, as shown in fig. 6, the traction rope 101 in the traction device 100 may further include: and a protection rope 101b, wherein a first end of the protection rope 101b can be fixedly connected with the traction control assembly 102, and a second end of the protection rope 101b can be fixedly connected with the outer wall cleaning device 200. The protective rope 101b can protect the electric wire 101a, and the probability of the electric wire 101a failing due to the overlarge tension borne by the electric wire 101a is reduced.
Optionally, as shown in fig. 6, the traction apparatus 100 may further include: a tank 109 for storing cleaning liquid. The traction rope 101 in the traction device 100 may further include: a pipeline 101c, which pipeline 101c may be a flexible pipeline. A first end of the line 101c may communicate with the tank 109 and a second end of the line 101c may communicate with the exterior wall cleaning apparatus 200. Illustratively, the second end of the line 101c may be in communication with a cleaning assembly in the exterior wall sweeping device 200. The cleaning liquid stored in the water tank 109 can be provided to the outer wall cleaning apparatus 200 through the pipeline 101c, so that the outer wall can be cleaned when the outer wall cleaning apparatus 200 cleans the outer wall. And, the water tank 109 is provided in the traction apparatus 100, and need not be provided in the external wall cleaning apparatus 200, which effectively reduces the weight of the external wall cleaning apparatus 200, so that the external wall cleaning apparatus 200 can be more easily moved on the external wall. It should be noted that after the first end of the pipeline 101c is communicated with the water tank 109, it is also connected to the traction control assembly 102 in the traction device 100 to ensure that the pipeline 101c can move under the control of the traction control assembly 102.
In summary, the cleaning system provided in the embodiment of the present application includes: the device comprises a traction device and an outer wall cleaning device which is in communication connection with the traction device. When the outer wall cleaning equipment moves in the working process, the mobile data can be sent to the traction equipment, the traction equipment can control the movement of the traction rope through the traction control assembly according to the mobile data, the length of the traction rope between the outer wall cleaning equipment and the traction equipment is ensured, the distance difference between the traction equipment and the outer wall cleaning equipment is smaller than a length threshold value, the traction rope with redundant length does not exist in the traction rope, or the traction rope with redundant length in the traction rope is shorter, the probability of the phenomenon that the traction rope winds the outer wall cleaning equipment is reduced, and the cleaning efficiency of the outer wall cleaning equipment is improved.
The embodiment of the application also provides a traction device, and the structure of the traction device can refer to the traction device 100 in the sweeping system shown in fig. 1, 4, 5 or 6. The internal structure of the traction device can be referred to the traction device 100 shown in fig. 3.
The traction device may include: the outer wall cleaning device comprises a pulling rope and a pulling control assembly connected with a first end of the pulling rope, and a second end of the pulling rope is configured to be connected with the outer wall cleaning device. The traction equipment is in communication connection with the outer wall cleaning equipment, and the traction equipment is used for controlling the movement of the traction rope through the traction control assembly based on the movement data after receiving the movement data sent by the outer wall cleaning equipment in the working process, so that the difference between the length of the traction rope between the outer wall cleaning equipment and the traction equipment and the distance between the outer wall cleaning equipment and the traction equipment is smaller than a length threshold value.
Optionally, the moving data includes: the moving speed, the moving distance and the moving direction of the outer wall cleaning equipment; the traction equipment is used for determining the movement state of the traction rope, the movement distance and the movement speed of the traction rope based on the movement data; and controlling the movement of the traction rope through the traction control assembly based on the movement state of the traction rope, the movement distance and the movement speed of the traction rope, wherein the movement state of the traction rope comprises a rope retracting state or a rope releasing state.
Optionally, the traction device further comprises: a tension detection assembly; the pulling device is also configured to: detecting tension of the hauling rope through a tension detecting assembly; if the tension change curve of the tension of the traction rope in a specified time is detected to be the change curve of the falling state, determining that the outer wall cleaning equipment is in the falling state; and controlling the traction rope to stop moving through the traction control assembly.
Optionally, the traction device is further configured to: after the traction control assembly controls the traction rope to stop moving, if the tension detection assembly detects that the tension of the traction rope is unchanged within a set time length, the traction control assembly controls the traction rope to move towards the direction close to the traction equipment.
Optionally, the traction device is further configured to: after a cleaning completion instruction sent by the outer wall cleaning equipment is received, the traction control assembly controls the traction rope to move towards the direction close to the traction equipment.
Optionally, the traction device further comprises: the traction control system comprises a power supply management module, a direct power supply module and a standby power supply module, wherein the power supply management module is electrically connected with the traction control assembly, and the direct power supply module and the standby power supply module are used for providing electric energy for the power supply management module; the haulage rope includes: and the first end of the wire is electrically connected with the power management module, and the second end of the wire is electrically connected with the outer wall cleaning equipment.
Optionally, the hauling cable further comprises: the first end and the traction control subassembly fixed connection of protection rope, the second end and the outer wall of protection rope clean equipment fixed connection.
Optionally, the traction device further comprises: a tank for storing cleaning liquid, the leash further comprising: the first end of pipeline and water tank intercommunication, the second end and the outer wall of pipeline clean equipment intercommunication.
Optionally, the traction control assembly comprises: the drive mechanism comprises a drive motor and a drive structure fixedly connected with the drive motor, wherein the first end of the traction rope is connected with the drive structure, and the drive motor is configured to control the drive structure to rotate so as to drive the traction rope to move.
It should be noted that, the working principle of the traction device described in the foregoing embodiment may refer to the corresponding description in the foregoing embodiment of the cleaning system, and the embodiment of the present application is not described herein again.
An embodiment of the present application further provides a cleaning method, please refer to fig. 7, and fig. 7 is a flowchart of the cleaning method provided in the embodiment of the present application. The sweeping method is applied to the sweeping system shown in fig. 1. The sweeping method may include:
In the embodiment of the present application, there are various optional implementation manners for the mobile data sent by the external wall cleaning device to the traction device, and the embodiment of the present application takes the following two optional implementation manners as examples for description:
in a first alternative implementation, the movement data includes: the moving state of the traction rope comprises a rope collecting state or a rope releasing state, and the moving distance and the moving speed of the traction rope. At this time, the step 701 may include: determining the movement data based on the movement speed, the movement distance and the movement direction of the outer wall cleaning equipment in the working process of the outer wall cleaning equipment; the outer wall cleaning device sends the mobile data to the traction device.
In a second alternative implementation, the movement data includes: the moving speed, the moving distance and the moving direction of the outer wall cleaning equipment. At this time, the step 702 may include: after receiving the movement data sent by the outer wall cleaning equipment, the traction equipment determines the movement state of the traction rope, the movement distance and the movement speed of the traction rope based on the movement data; and controlling the movement of the traction rope through a traction control assembly based on the movement state of the traction rope, the movement distance and the movement speed of the traction rope, wherein the movement state of the traction rope comprises a rope winding state or a rope unwinding state.
Referring to fig. 8, fig. 8 is a flowchart of another cleaning method according to an embodiment of the present disclosure. The sweeping method is applied to the traction device 100 in the sweeping system shown in fig. 4, and the method may further include:
And step 802, if the tension change curve of the tension of the traction rope in a specified time is detected to be the change curve of the falling state, determining that the outer wall cleaning equipment is in the falling state.
And 803, controlling the traction rope to stop moving through the traction control assembly.
And 804, if the tension of the traction rope is detected to be unchanged within a set time length through the tension detection assembly, controlling the traction rope to move towards the direction close to the traction equipment through the traction control assembly.
Referring to fig. 9, fig. 9 is a flowchart of another cleaning method according to an embodiment of the present application. The cleaning method is applied to the cleaning system shown in fig. 5, and the method may further include:
and step 901, the terminal sends an instruction to the traction equipment. The instructions include: the external wall cleaning device comprises a control instruction for controlling the on or off of the external wall cleaning device and/or an inquiry instruction for inquiring the cleaning area and the cleaning time of the external wall cleaning device. It should be noted that the embodiments of the present application only schematically list several types of instructions sent by the terminal to the traction device, and in other alternative implementations, the terminal may also send other types of instructions to the traction device, for example, the instructions may further include: the external wall cleaning device comprises a planning instruction for planning the cleaning road strength of the external wall cleaning device, a control instruction for controlling the cleaning mode of the external wall cleaning device and the like. The embodiment of the present application does not limit this.
And step 902, after receiving the instruction, the traction equipment forwards the instruction to the outer wall cleaning equipment.
And step 903, generating a response by the outer wall cleaning equipment based on the instruction. The response is generated by the exterior wall device based on the instruction after receiving the instruction, and carries information used for indicating the terminal that the corresponding operation has been executed, and/or carries information that the terminal needs to inquire.
Step 904, the exterior wall cleaning device sends the response to the pulling device.
Step 905, after receiving the response, the traction device forwards the response to the terminal.
Referring to fig. 10, fig. 10 is a flowchart illustrating another cleaning method according to an embodiment of the present disclosure. The cleaning method is applied to the cleaning system shown in fig. 6, and the method may further include:
step 1001, the outer wall cleaning equipment detects the pollution degree of the cleaning area of the outer wall cleaning equipment through a pollutant detection assembly.
Step 1002, the outer wall cleaning equipment determines the pollution degree of the cleaning area and the target power supply required by the outer wall cleaning equipment.
And 1003, sending a power supply power adjusting instruction to the traction equipment after the current power supply power of the external wall cleaning equipment is not matched with the target power supply power. The power supply power adjusting instruction is used for instructing the traction equipment to adjust the power supply power of the outer wall cleaning equipment to the target power supply power through the power supply management module and the electric wire.
And step 1004, after receiving the power supply power adjustment instruction sent by the outer wall cleaning equipment, the traction equipment transmits an electric signal for adjusting the power supply power to the outer wall cleaning equipment to the target power supply power through the power management module and the electric wire.
It should be noted that, the working principle of the traction method described in the foregoing embodiment may refer to the corresponding description in the foregoing embodiment of the cleaning system, and the embodiment of the present application is not described herein again.
To sum up, the cleaning method that this application embodiment provided, when cleaning equipment through the outer wall and removing in the course of the work, send removal data to pulling equipment, this pulling equipment can be according to this removal data through the removal of traction control subassembly control haulage rope, guarantee the length of the haulage rope between outer wall cleaning equipment and the pulling equipment, it is less than the length threshold value to clean the difference of the distance of equipment and pulling equipment with the outer wall, do not have the haulage rope of redundant length in the haulage rope, perhaps, the haulage rope of redundant length in the haulage rope is shorter, thereby the probability of the phenomenon that the haulage rope twines outer wall cleaning equipment has been reduced to appear, the efficiency of cleaning of outer wall cleaning equipment has been improved.
In this application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is intended to be exemplary only, and not to limit the present application, and any modifications, equivalents, improvements, etc. made within the spirit and scope of the present application are intended to be included therein.
Claims (15)
1. A sweeping system, comprising:
the device comprises a traction device and an outer wall cleaning device which is in communication connection with the traction device;
the pulling device comprises: the outer wall cleaning device comprises a traction rope and a traction control assembly connected with a first end of the traction rope, wherein a second end of the traction rope is connected with the outer wall cleaning device;
the outer wall cleaning equipment is used for sending mobile data to the traction equipment in the working process of the outer wall cleaning equipment;
the traction equipment is used for controlling the traction rope to move through the traction control assembly based on the movement data after receiving the movement data sent by the outer wall cleaning equipment, so that the difference between the length of the traction rope between the outer wall cleaning equipment and the traction equipment and the distance between the outer wall cleaning equipment and the traction equipment is smaller than a length threshold value.
2. The sweeping system of claim 1,
the movement data includes: the moving state of the traction rope comprises a rope receiving state or a rope releasing state;
the outer wall cleaning equipment is used for determining the movement data based on the movement speed, the movement distance and the movement direction of the outer wall cleaning equipment.
3. The sweeping system of claim 1,
the movement data includes: the moving speed, the moving distance and the moving direction of the outer wall cleaning equipment;
the traction equipment is used for determining the movement state of the traction rope, the movement distance and the movement speed of the traction rope based on the movement data; controlling the movement of the traction rope through the traction control component based on the movement state of the traction rope, the movement distance and the movement speed of the traction rope, wherein the movement state of the traction rope comprises a rope winding state or a rope unwinding state.
4. The sweeping system according to any one of claims 1 to 3,
the pulling device further comprises: a tension detection assembly;
the pulling device is further configured to: detecting, by the tension detection assembly, a tension of the pull-cord; if the tension change curve of the tension of the traction rope in a specified time is detected to be the change curve of the falling state, determining that the outer wall cleaning equipment is in the falling state; and controlling the traction rope to stop moving through the traction control assembly.
5. The sweeping system of claim 4,
the pulling device is further configured to: after the traction control assembly controls the traction rope to stop moving, if the tension detection assembly detects that the tension of the traction rope is unchanged within a set time length, the traction control assembly controls the traction rope to move towards the direction close to the traction equipment.
6. The sweeping system according to any one of claims 1 to 3,
the pulling device is further configured to: after a cleaning completion instruction sent by the outer wall cleaning equipment is received, the traction control assembly controls the traction rope to move towards the direction close to the traction equipment.
7. The sweeping system according to any one of claims 1 to 3,
the sweeping system further comprises: the terminal establishes communication connection with the traction equipment;
the terminal is used for sending an instruction to the outer wall cleaning equipment through the traction equipment, and the instruction comprises: the external wall cleaning device comprises a control instruction for controlling the external wall cleaning device to be turned on or turned off, and/or an inquiry instruction for inquiring the cleaning area and the cleaning time of the external wall cleaning device.
8. The sweeping system of claim 7,
the pulling device further comprises: the first communication module is used for being in communication connection with the outer wall cleaning equipment, and the second communication module is used for being in communication connection with the terminal;
the communication connection range of the first communication module is larger than that of the second communication module.
9. The sweeping system according to any one of claims 1 to 3,
the pulling device further comprises: the power management module is electrically connected with the traction control assembly, and the direct power supply module and the standby power supply module provide electric energy for the power management module;
the haulage rope includes: and the first end of the wire is electrically connected with the power management module, and the second end of the wire is electrically connected with the outer wall cleaning equipment.
10. The sweeping system of claim 9,
the outer wall cleaning apparatus includes: a contaminant detection assembly;
the outer wall cleaning equipment is also used for: detecting the pollution degree of a cleaning area of the outer wall cleaning equipment through the pollutant detection assembly; determining the pollution degree of the cleaning area and the target power supply required by the outer wall cleaning equipment; and after the current power supply power of the outer wall cleaning equipment is not matched with the target power supply power, sending a power supply power adjusting instruction to the traction equipment, wherein the power supply power adjusting instruction is used for indicating the traction equipment to adjust the power supply power of the outer wall cleaning equipment to the target power supply power through the power management module and the electric wire.
11. The sweeping system of claim 9,
the haulage rope still includes: the first end of the protection rope is fixedly connected with the traction control assembly, and the second end of the protection rope is fixedly connected with the outer wall cleaning equipment.
12. The sweeping system of claim 11,
the pulling device further comprises: a tank for storing cleaning liquid, the leash further comprising: and a pipeline, wherein the first end of the pipeline is communicated with the water tank, and the second end of the pipeline is communicated with the outer wall cleaning equipment.
13. The sweeping system according to any one of claims 1 to 3,
the traction control assembly includes: the first end of the traction rope is connected with the driving structure, and the driving motor is configured to control the driving structure to rotate so as to drive the traction rope to move.
14. A traction apparatus, comprising:
a pull rope, and a traction control assembly coupled to a first end of the pull rope, a second end of the pull rope configured to couple to an exterior wall cleaning apparatus;
the traction equipment is in communication connection with the outer wall cleaning equipment, and the traction equipment is used for controlling the movement of the traction rope through the traction control assembly based on the movement data after receiving the movement data sent by the outer wall cleaning equipment in the working process, so that the difference between the length of the traction rope between the outer wall cleaning equipment and the traction equipment and the distance between the outer wall cleaning equipment and the traction equipment is smaller than a length threshold value.
15. A sweeping method is characterized by being applied to a sweeping system, and the sweeping system comprises: traction equipment to and with outer wall cleaning equipment that traction equipment established communication connection, traction equipment includes: a pull rope, and a traction control assembly coupled to a first end of the pull rope, a second end of the pull rope being coupled to the exterior wall cleaning apparatus, the method comprising:
in the working process of the outer wall cleaning equipment, the outer wall cleaning equipment sends mobile data to the traction equipment;
after the traction equipment receives the movement data sent by the outer wall cleaning equipment, the traction control assembly controls the movement of the traction rope based on the movement data, so that the difference between the length of the traction rope between the outer wall cleaning equipment and the traction equipment and the distance between the outer wall cleaning equipment and the traction equipment is smaller than a length threshold value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910464313.5A CN112006594A (en) | 2019-05-30 | 2019-05-30 | Cleaning system, traction apparatus, and cleaning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910464313.5A CN112006594A (en) | 2019-05-30 | 2019-05-30 | Cleaning system, traction apparatus, and cleaning method |
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| Publication Number | Publication Date |
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| CN112006594A true CN112006594A (en) | 2020-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910464313.5A Pending CN112006594A (en) | 2019-05-30 | 2019-05-30 | Cleaning system, traction apparatus, and cleaning method |
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| CN208769680U (en) * | 2017-12-15 | 2019-04-23 | 厦门华蔚物联网科技有限公司 | Curtain wall robot and multi-functional hawser synchronous lifting control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE19918312C1 (en) * | 1999-04-22 | 2000-10-05 | Dornier Tech Gmbh & Co | Automatic cleaning unit for building windows and facades is suspended by cables from the roof winder to be moved horizontally along the building with on-board cable winders to give vertical movements |
| CN1586384A (en) * | 2004-07-29 | 2005-03-02 | 上海交通大学 | High building glass curtain wall cleaner system |
| CN105476560A (en) * | 2015-12-30 | 2016-04-13 | 马鞍山清净环保科技有限公司 | Wall surface cleaning robot and control method thereof |
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