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WO2001017698A1 - Appareil automatise servant a nettoyer des façades d"immeubles - Google Patents

Appareil automatise servant a nettoyer des façades d"immeubles Download PDF

Info

Publication number
WO2001017698A1
WO2001017698A1 PCT/SG2000/000137 SG0000137W WO0117698A1 WO 2001017698 A1 WO2001017698 A1 WO 2001017698A1 SG 0000137 W SG0000137 W SG 0000137W WO 0117698 A1 WO0117698 A1 WO 0117698A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
cleaning apparatus
building
automated cleaning
facade
Prior art date
Application number
PCT/SG2000/000137
Other languages
English (en)
Inventor
Eng Hock Tay
Marcelo Huibonhoa Ang, Jr.
Aun Neow Poo
Original Assignee
National University Of Singapore
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by National University Of Singapore filed Critical National University Of Singapore
Publication of WO2001017698A1 publication Critical patent/WO2001017698A1/fr

Links

Classifications

    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
    • A62B1/00—Devices for lowering persons from buildings or the like
    • A62B1/02—Devices for lowering persons from buildings or the like by making use of rescue cages, bags, or the like
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present invention relates to an automated cleaning apparatus ideally suited for cleaning the external facade of a building structure or the like, such as a high-rise multi-storey building.
  • the apparatus has a user-defined cleaning sequence which caters for a wide variety of cleaning circumstances.
  • Automated systems are usually customized to the configuration of the window profile of a particular building and cannot be used on windows or facades having extended ledges, or on buildings having varying window profiles at different levels. This includes any other demanding architecture such as concave and/or convex features, and deeply recessed and/or protruding features.
  • an automated cleaning apparatus for cleaning the external facade of a building, said apparatus comprising:-
  • a gantry unit adapted to be mounted on and to traverse a running track adjacent to the outer perimeter of an upper roof or top wall of the building, said gantry unit including a support frame which extends outwardly beyond the perimeter of the building;
  • a mobile gondola unit suspended from the support frame of the gantry unit adjacent to the facade of the building by adjustable cable means, said gondola unit being adapted for vertical movement relative to the position of the gantry unit;
  • a cleaning unit mounted on the gondola including a high-pressure water pump operatively connected to one or more spray nozzles directed towards the building facade and adapted to oscillate from side to side circumscribing a horizontal arc; and
  • control means operatively connected to said gantry unit and to said gondola unit to control all aspects of operation and position of both said units.
  • the spray nozzles are provided in corresponding pairs, spaced apart equidistant from the centre of the gondola unit, with each nozzle of each pair adapted to circumscribe a horizontal arc in the same plane as its counterpart but moving in opposite directions.
  • the nozzles are in anti-phase, and the movement of one such nozzle substantially mirrors the movement of its counterpart nozzle to counteract any tendency for displacement of the gondola unit as a result of the side components of the reaction forces from each nozzle.
  • the apparatus comprises a movable gantry or roof unit and a mobile gondola unit.
  • the roof unit controls the ascending and descending of the gondola unit.
  • the gondola unit has a set of sweeping jets of pressurized water preferably from two nozzles. The jets of water sweep across the building facade to dislodge stains and dust.
  • the apparatus can be programmed to clean any particular section of walls and/or windows on the building in whichever manner the user deems most suitable.
  • Water jets can be programmed to shut off while transversing over areas of the facade which do not need to be cleaned to cut down on unnecessary wastage of water.
  • the roof unit is free to move around the periphery of the rooftop of the building so as to clean the entire building's windows or facade without dismantling.
  • the water jets will be projected onto the area that is to be cleaned, as circumscribed by the sweeping loci.
  • the ascending and descending sequence and speed of the mobile unit, sweeping loci and speed of the nozzles and the water pressure provided by the pump are controlled by a computer program. This permits the user to adjust the distance of the mobile unit from the face of the windows by changing the length of the tension cables.
  • the clearance of the roof unit from the window face is in turn determined by the by the building's architecture.
  • the water pressure will adjust accordingly so the water jets can reach the face of the window with the same cleaning efficiency.
  • the sweeping loci can be programmed to suit different window profiles.
  • the suspension cables linked to the mobile unit are suspended from the arms extended from the roof unit.
  • the arms are capable of pivoting about the front base plate of the roof unit to allow adjustment of clearance of the mobile unit from the face of the building.
  • a tension cable that runs from near the tip of the arms to the roof unit base keeps the arms in place.
  • the suspension cable, which is slung over the pulley at the end tip of each arm, is spooled, powered by a 3-phase A.C induction motor. This controls the ascending and descending of the mobile unit.
  • the suspension cable ideally passes through a cable guide unit.
  • the suspension cable is laid between a set of guideposts and in turn the guideposts are mounted onto a guide block.
  • the guide block is propelled in alternating directions by a ballscrew, which is in turn powered by a reversible single-phase A.C induction motor.
  • Perspex core cladded by a stainless steel metal detector serves as guideposts. This allows the suspension cable to spool evenly.
  • An induction motor powered set of wheels on the underside of the roof unit allows the entire apparatus to reel around the periphery of the building roof on rails. The building will then be able to have its facade, including all its windows, cleaned by having only one apparatus on its roof.
  • FIG. 1 is a perspective view of the movable gantry of roof unit, rail mounted on a track on the roof of a building adjacent to the outer perimeter thereof;
  • FIG. 2 is a perspective view of the mobile gondola unit suspended from the support frame of the movable gantry or roof unit of Figure 1 adjacent to the facade of the building.
  • a cleaning unit comprising a high-pressure water pump connected to spray nozzles arranged on either side of the mobile unit is adapted to spray pressurised water onto the adjacent portions of the building facade.
  • the apparatus catering to different configuration of building facade or window profile is comprised of a roof unit (Fig. 1) and a mobile unit (Fig. 2).
  • the roof unit is capable of raising and lowering the mobile unit.
  • the movable gantry or roof unit 1 comprises a carriage with wheels 2 mounted on the rails 3 of a running track adjacent to the outer periphery or perimeter 4 of the roof 3 A of a building.
  • the motorized wheels 2 fitted under the roof unit 1 allow it to transverse along the rails 3 that run the periphery of the rooftop 3 A.
  • Two arms 5 extend from the roof unit and pivot about its base, as at 6.
  • the arms 5 are held in its angle of tilt by the tension cable 7 which runs from near the tip of the arm 8 to the front base plate 9 of the roof unit.
  • the suspension cable 10 that held the mobile unit 16 (Fig. 2) are spooled by a motorized cable spool 11 powered by a 3 phase induction motor 12 mounted on the front base plate.
  • the suspension cable 10 thus extends from the cable spool 11, via the cable guide 13, slung around the pulley 14 at the tip of the arm and to the mobile unit 16.
  • the cable guide comprises of a set of guideposts which the suspension cable passes in between.
  • the set is in turn mounted on a guide block via a guide post mount.
  • the guide post block is constrained to move in a side along manner by a ballscrew and a dummy shaft (not shown).
  • the ballscrew is in turn powered by a single phase AC induction motor 15 which turns the ballscrew in an alternating clockwise and counterclockwise manner. This in turn moves the guide block from side to side.
  • a counter-balance weight 30 is attached to the inner side of the roof unit.
  • the mobile gondola unit 16 consists of an aluminium frame 17 with a set of sliding rods 18, 19 mounted lengthwise on each side of the frame.
  • a nozzle assembly 20, 21 is mounted such that it is free to slide along the sliding rods.
  • the nozzle assembly comprises of a set of nozzle base plate 22 and nozzle base plate fixtures.
  • a set of geared turntable 23 and driving gear 24 are mounted and meshed.
  • the geared turntable has the nozzle 25 mounted on it.
  • a stepper motor (not shown) drives the driving gear.
  • the two nozzles are set to circumscribe a horizontal arc, sweeping from side to side.
  • a high pressure water pump 27 sited in-between the two sets of sliding rods will provide two jets of pressurized water 28 via the nozzles for cleaning.
  • the pressure of the water jets can be changed according to the clearance of the roof unit from the facade or window face 31.
  • the motion of the corresponding pairs of nozzles will substantially mirror one another (in opposing motion).
  • any instability due to side components of the reaction forces from the nozzle will be eliminated.
  • the forward component of the reaction forces can also be kept constant.
  • the distance between the nozzles 25, 26 can be adjusted by sliding the nozzle assembly 20, 21 along the sliding rods 18, 19.
  • the angle of the arc, which the nozzle is required to circumscribe can also be changed together with the sweeping frequency by changing the computer program controlling the stepper motors.
  • a computer program synchronizing all the motors on board as well as the high-pressure water pump allows the user to custom its own cleaning sequence.
  • a computer integrates and controls all the functions of the gondola and the cleaning unit.
  • a graphical user interface serves as an operator interface for:
  • examples include speed of gondola and cleaning unit speed of reciprocation.
  • Offline programming the motion of the gondola for a cleaning sequence for a building including simulation of the cleaning motions.
  • Operation of the automated cleaning apparatus is ideally via a computer that controls the gondola and cleaning unit with a graphical user interface for operator monitoring and control. This allows for an operator in a remote control room operating the system via the graphical user interface, aided by a video monitoring system that feeds into the operator control room.
  • the spacing between the two nozzles 25 and 26 can be adjusted by sliding units 20 and 21 along the slider rods 18 and 19.
  • the oscillating movements of the nozzles is synchronized such that they are always 180 degrees out of phase, or at any one time, they are either swerving towards or away from each other. In this way, destabilizing side component of the reaction forces from the water jets, which can cause unit 16 to swing from side to side, can be eliminated.
  • By reducing the water pressure gradually as the nozzles 25 and 26 are turning towards the window forward component of the reaction forces from the water jets, which can periodically push unit 16 away from the window if it is not constant, can also be maintained at the same magnitude.
  • the high pressure water pump 27 can either be sited in situ between the sets of slider rods 18 and 19 and fed by an independent water hose 29 or it can be sited remotely and provides a pressurized hose to the nozzles 25 and 26.
  • roof unit 1 will be driven on the rails 3 to the desired position on the rooftop 3 A.
  • the suspension cable 10 will reel off the cable spool 11, sling over the pulley 14 at the tip of the aluminium arm 5 and extend downwards to the mobile gondola unit 16.
  • the high-pressure water pump 27 Upon reaching the desired level, the high-pressure water pump 27 will operate to supply pressurized water to the nozzles 25, 26.
  • the stepper motors will start rotating and hence set the nozzles into swerving motion.
  • the water jets 28 will project onto the area that is to be cleaned. The high velocity jets will impact the area and dislodge any dust and stain.
  • the cleaning apparatus may optionally include a waste water redirection kit for proper disposal or recycling of waste water.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Chemical & Material Sciences (AREA)
  • Emergency Management (AREA)
  • Business, Economics & Management (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

L"invention concerne un appareil de nettoyage automatisé (1, 16) servant à nettoyer la façade extérieure d"un immeuble, notamment les fenêtres et les parois. L"appareil comprend un support mobile (1) conçu pour être monté sur et traverser un rail courant ménagé sur un toit (3A) de l"immeuble adjacent au périmètre du support mobile. L"appareil comprend également une nacelle mobile (16) suspendue au support mobile (1) par des câbles adjacents à la façade (31) de l"immeuble et pouvant se déplacer verticalement relativement à la position du support mobile (1). L"appareil comprend enfin un poste de nettoyage (20, 21) monté sur la nacelle (16) et comprenant des becs pulvérisateurs haute pression (25, 26) dirigés vers la façade (31) et conçus pour se balancer d"un côté à l"autre décrivant un arc horizontal. Tous les éléments de l"appareil de nettoyage (1, 16) sont commandés par un logiciel qui règle tous les aspects relatifs au fonctionnement et au positionnement de l"appareil aux fins de l"adapter à différents profils de façade d"immeuble à nettoyer.
PCT/SG2000/000137 1999-09-06 2000-09-06 Appareil automatise servant a nettoyer des façades d"immeubles WO2001017698A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SG9904405A SG90065A1 (en) 1999-09-06 1999-09-06 Automated building facade cleaning apparatus
SG9904405-9 1999-09-06

Publications (1)

Publication Number Publication Date
WO2001017698A1 true WO2001017698A1 (fr) 2001-03-15

Family

ID=20430426

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SG2000/000137 WO2001017698A1 (fr) 1999-09-06 2000-09-06 Appareil automatise servant a nettoyer des façades d"immeubles

Country Status (2)

Country Link
SG (1) SG90065A1 (fr)
WO (1) WO2001017698A1 (fr)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2863855A1 (fr) * 2003-12-18 2005-06-24 Daforib Dispositif d'entretien d'une paroi d'immeuble equipee d'une structure d'arrimage tubulaire
DE102004036094A1 (de) * 2004-07-24 2006-02-16 Deutsches Zentrum für Luft- und Raumfahrt e.V. Waschapparat für einen Parabolrinnenkollektor
DE102007062565A1 (de) * 2007-12-13 2009-06-18 Sebastian Hermes Vorrichtung zum Reinigen der Oberflächen von Objekten und Gebäuden, wie Fassaden, Wände usw.
CN101306411B (zh) * 2007-05-18 2012-02-22 程大祥 化解反冲力式电动喷枪
ES2377309A1 (es) * 2009-02-04 2012-03-26 Optimiza Solar, S.L. Dispositivo para la limpieza de superficies.
WO2013105001A2 (fr) * 2013-05-07 2013-07-18 Wasfi Alshdaifat Appareil motorisé pour le nettoyage de vitres comprenant une cage
US20140061429A1 (en) * 2012-09-06 2014-03-06 Shun-Yuan CHEN Wall cleaner hanging structure
CN104210499A (zh) * 2014-08-20 2014-12-17 平湖普英特高层设备有限公司 运行手动机构
CN104438239A (zh) * 2014-11-19 2015-03-25 重庆勤俭节电科技有限公司 竖直抽油烟机管道的外壁自动清洗装置
CN105944248A (zh) * 2016-06-03 2016-09-21 曹伟 多功能高楼救生灭火装置
CN105979838A (zh) * 2013-12-18 2016-09-28 瓦斯菲·阿希达法特 具有旋转刷头之水平可延伸建物正面清理装置
WO2017042670A1 (fr) * 2016-06-24 2017-03-16 Universidad Tecnológica De Panamá Machine de nettoyage de fenêtre
RU2667426C1 (ru) * 2017-08-23 2018-09-19 Вячеслав Егорович Кокорев Устройство для ремонта и обслуживания наклонных поверхностей зданий и сооружений больших размеров
CN109157152A (zh) * 2018-02-28 2019-01-08 盛世瑶兰（深圳）科技有限公司 一种基于真空吸盘控制的高楼外墙玻璃清洗机器人
WO2020121954A1 (fr) * 2018-12-12 2020-06-18 裕之 本地川 Système monté sur nacelle destiné à mécaniser un travail sur des parois extérieures de structures de bâtiment
CN111513621A (zh) * 2020-04-15 2020-08-11 宁波巨谷智能装备有限公司 一种建筑外立面擦洗玻璃及墙面的机器人

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2654652A1 (fr) * 1989-11-21 1991-05-24 Nicolaieff Michel Installation de nettoyage automatique de parois lisses et notamment vitrees d'immeubles.
DE4415434A1 (de) * 1994-05-03 1995-11-09 Iren Dornier Automatisches Reinigungssystem für Fenster- und Fassadenflächen
GB2330297A (en) * 1997-09-29 1999-04-21 Shu Lin Automatic cleaning crawler

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2654652A1 (fr) * 1989-11-21 1991-05-24 Nicolaieff Michel Installation de nettoyage automatique de parois lisses et notamment vitrees d'immeubles.
DE4415434A1 (de) * 1994-05-03 1995-11-09 Iren Dornier Automatisches Reinigungssystem für Fenster- und Fassadenflächen
GB2330297A (en) * 1997-09-29 1999-04-21 Shu Lin Automatic cleaning crawler

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2863855A1 (fr) * 2003-12-18 2005-06-24 Daforib Dispositif d'entretien d'une paroi d'immeuble equipee d'une structure d'arrimage tubulaire
WO2005061820A1 (fr) * 2003-12-18 2005-07-07 Daforib, Sarl Dispositif d’entretien d’une paroi d’immeuble equipee d’une structure d’arrimage tubulaire
DE102004036094A1 (de) * 2004-07-24 2006-02-16 Deutsches Zentrum für Luft- und Raumfahrt e.V. Waschapparat für einen Parabolrinnenkollektor
DE102004036094B4 (de) * 2004-07-24 2007-11-22 Deutsches Zentrum für Luft- und Raumfahrt e.V. Waschapparat für einen Parabolrinnenkollektor
CN101306411B (zh) * 2007-05-18 2012-02-22 程大祥 化解反冲力式电动喷枪
DE102007062565A1 (de) * 2007-12-13 2009-06-18 Sebastian Hermes Vorrichtung zum Reinigen der Oberflächen von Objekten und Gebäuden, wie Fassaden, Wände usw.
ES2377309A1 (es) * 2009-02-04 2012-03-26 Optimiza Solar, S.L. Dispositivo para la limpieza de superficies.
US9505590B2 (en) * 2012-09-06 2016-11-29 Shun-Yuan CHEN Wall cleaner hanging structure
US20140061429A1 (en) * 2012-09-06 2014-03-06 Shun-Yuan CHEN Wall cleaner hanging structure
WO2013105001A3 (fr) * 2013-05-07 2014-01-16 Wasfi Alshdaifat Appareil motorisé pour le nettoyage de vitres comprenant une cage
CN105392405A (zh) * 2013-05-07 2016-03-09 瓦斯菲·阿希达法特 吊篮式自动化玻璃清洗总成
WO2013105001A2 (fr) * 2013-05-07 2013-07-18 Wasfi Alshdaifat Appareil motorisé pour le nettoyage de vitres comprenant une cage
CN105979838A (zh) * 2013-12-18 2016-09-28 瓦斯菲·阿希达法特 具有旋转刷头之水平可延伸建物正面清理装置
CN104210499A (zh) * 2014-08-20 2014-12-17 平湖普英特高层设备有限公司 运行手动机构
CN104438239A (zh) * 2014-11-19 2015-03-25 重庆勤俭节电科技有限公司 竖直抽油烟机管道的外壁自动清洗装置
CN105944248A (zh) * 2016-06-03 2016-09-21 曹伟 多功能高楼救生灭火装置
CN105944248B (zh) * 2016-06-03 2021-08-03 曹伟 多功能高楼救生灭火装置
WO2017042670A1 (fr) * 2016-06-24 2017-03-16 Universidad Tecnológica De Panamá Machine de nettoyage de fenêtre
RU2667426C1 (ru) * 2017-08-23 2018-09-19 Вячеслав Егорович Кокорев Устройство для ремонта и обслуживания наклонных поверхностей зданий и сооружений больших размеров
CN109157152A (zh) * 2018-02-28 2019-01-08 盛世瑶兰（深圳）科技有限公司 一种基于真空吸盘控制的高楼外墙玻璃清洗机器人
WO2020121954A1 (fr) * 2018-12-12 2020-06-18 裕之 本地川 Système monté sur nacelle destiné à mécaniser un travail sur des parois extérieures de structures de bâtiment
CN111513621A (zh) * 2020-04-15 2020-08-11 宁波巨谷智能装备有限公司 一种建筑外立面擦洗玻璃及墙面的机器人

Also Published As

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