DESC:FIELD OF THE INVENTION
The present disclosure generally relates to cleaning arrangements for buildings such as superstructures, towers and so forth. More particularly, the present disclosure relates to modular automated cleaning device for cleaning walls of buildings. Furthermore, the present disclosure provides a modular automated cleaning device and a control module for cleaning the buildings.
BACKGROUND OF THE INVENTION
In general, walls and outer surfaces of the buildings are prone to dirt, dust, pollution, and other atmospheric influences such as humidity, moisture, and so forth. Furthermore, the traditional means of cleaning the walls and surfaces of the buildings are performed through involvement of humans directly to the site of cleaning by incorporating scaffolds. Moreover, the sites that are meant to be cleaned may be any part or portion of the building. In an instance, the site may be at high end heights such as the height may be 20 in a range of 50 meters to 200 meters. Therefore, a direct involvement of humans to such heights is subjected to high risk of accidents.
In recent past years, advancements have been done to achieve hassle-free and risk-free techniques to clean the outer surfaces of the buildings. Such techniques involve water jets connected through long pipes, tower cranes with brushes and manned trollies that can reach up to a certain height for cleaning purposes and the like. However, such techniques are also inefficient of cleaning the walls and building since there are limitations such as lower height coverage, needs clear visibility, and so forth.
One possible solution for cleaning up to greater heights can be achieved by robots or drones. But these unmanned aerial vehicles are not smart enough to determine the status or condition of the surface to be cleaned. The conventional drones are unable to identify any specific surface profile or any irregularity in the surface from which certain cleaning requirements are determined. The lack of determining the cleaning requirements lead to wastage of energy in performing cleaning functions that are not actually required and are avoidable.
Therefore, in light of foregoing discussion, there is a need to overcome the drawbacks related to techniques and arrangements for cleaning the walls of the buildings by determining the state of the wall or building.
SUMMARY OF THE INVENTION
In view of the foregoing, an embodiment herein provides a robotic device (100) for cleaning the surface efficiently, by optimising the usage of cleaning resources such as detergent, soap and water.
In an embodiment, a robotic device (100) is provided with a processing module (102). A plurality of end effectors (110) for cleaning a surface of the building are actuated by a number of actuators (114) mounted on a chassis (104) of the robotic device (102). A plurality of imaging devices (118) and sensors (120) are arranged on the chassis (104) for receiving an input from the surface such as cracks, profile and crevices on the surface to be cleaned. The input is processed by the processing module (102) of the robotic device (100) to plan the surface cleaning operation accordingly.
A pair of propellers (106) are provided on either side of the chassis (104) for advancing the robotic device (100) along the surface. A guide member (124) for guiding the robotic device (100) while climbing up along the surface of the building.
In the embodiment, a control module (300) is provided with a control transceiver (302) and a remote controller (304) to control the robotic device (100) remotely.
In an embodiment, the robotic device (100) is adapted to traverse along horizontal, vertical and a truncated surface for surveillance and inspection purposes along-with execution of cleaning operations.
In an embodiment, the end effectors (110) of the robotic device (100) are provided with a spout (not shown) to dispense at least water, paint, detergent or sanitizer to perform various operations on the surface such as sanitizing and painting the surface.
In an embodiment, a force sensor is mounted on the pair of articulating arms (108) and the attachment plate (116) to detect the force exerted on the end effectors (110) while performing multiple operations. The force sensor ensures optimized transmittal of the forces through the articulating arms (108) and the attachment plate (116) to prevent the robotic device (100) from any damage meanwhile maintaining required pressure on the end effectors (110) to perform the operations efficiently.
In another embodiment, a parachute (not shown) is provided inside the robotic device (100) that deploys in immediate fall-back situations.

BRIEF DESCRIPTION OF DRAWINGS
The above and still further features and advantages of embodiments of the present invention becomes apparent upon consideration of the following detailed description of embodiments thereof, especially when taken in conjunction with the accompanying drawings, and wherein:
Figs. 1A and 1B are isometric views of a robotic device, according to an embodiment herein;
Fig. 2 is an isometric view of a robotic device, cleaning a surface thereof, according to an embodiment herein; and
Fig. 3 is a block diagram of a control module for controlling the robotic device, according to an embodiment herein;
To facilitate understanding, like reference numerals have been used, where possible, to designate like elements common to the figures.
DETAILED DESCRIPTION OF THE DRAWINGS
The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and processing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
It is understood that when an element or layer is referred to as being “on,” “connected to,” or “coupled to” another element or layer, it can be directly on, connected to, or coupled to the other element or layer or intervening elements or layers that may be present. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items.
Spatially relative terms, such as “top,” “bottom,” and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It is to be understood that the spatially relative terms are intended to encompass different orientations of the structure in use or operation in addition to the orientation depicted in the figures.
Embodiments described herein refer to plan views and/or cross-sectional views by way of ideal schematic views. Accordingly, the views may be modified depending on simplistic assembling or manufacturing technologies and/or tolerances. Therefore, example embodiments are not limited to those shown in the views but include modifications in configurations formed on basis of assembling process. Therefore, regions exemplified in the figures have schematic properties and shapes of regions shown in the figures exemplify specific shapes or regions of elements, and do not limit the various embodiments including the example embodiments.
The subject matter of example embodiments, as disclosed herein, is described with specificity to meet statutory requirements. However, the description itself is not intended to limit the scope of this patent. Rather, the inventors have contemplated that the claimed subject matter might also be embodied in other ways, to include different features or combinations of features similar to the ones described in this document, in conjunction with other technologies.
As mentioned, there remains a need for an efficient surface cleaning device and method thereof. An embodiment herein provides a robotic device with a number of imaging devices and sensors for determining the state of the surface of the building, based upon which the surface can be cleaned.
Referring now to the drawings, and more particularly to FIGS. 1 through FIG. 3, where similar reference characters denote corresponding features consistently throughout the figures, there are shown several embodiments.
Fig. 1A and 1B illustrates an isometric view of a robotic device (100) for cleaning a surface of the building.
The robotic device (100) includes a processing module (102), a chassis (104), a pair of propellers (106), a pair of articulating arms (108), a number of end effectors (110), a number of pneumatic/electric actuators (114), an attachment element (116), a number of imaging devices (118) and a number of sensors (120).
The end effectors (110) further include a wiper (126), a roller (128), a brush (130) and a central roller (132).
The processing module (102) is communicably connected to the number of imaging devices (118) and the number of sensors (120) of the robotic device (100).
The chassis (104) further includes a number of slots (122) arranged at the periphery of the chassis (104). A guide member (124) is passed through the slots (122) of the chassis (104).
The pair of propellers (106) are positioned on either side of the chassis (104). The wiper (126) and the roller (128) are connected with the chassis (104) through the actuator (114) mounted on the chassis (104). The wiper (126) and the roller (128) are connected with the actuator (114) through the pair of articulating arms (108). The wiper (126) and the roller (128) are removably coupled to the distal end of the articulating arms (108).
The brush (130) and the central roller (132) are connected with the chassis (104) through the actuator (114). The brush (130) and the central roller (132) are connected with the actuator (114) through the attachment element (116) of the robotic device (100).
The number of imaging devices (118) and the number of sensors (120) are arranged spaced apart to each other on the chassis (104) of the robotic device (100).
The pair of propellers (106) are mounted on the chassis (104) enabling the robotic device (100) to advance along the surface of a building. The actuator (114) actuates the pair of articulating arms (108) and the attachment plate (116). The pair of articulating arms (108) are configured to actuate in horizontal and vertical direction, thereby actuating the wiper (126) and the roller (128) that are mounted on the distal end of the pair of articulating arms (108) in horizontal and vertical direction. Upon actuation, the wiper (126) and the roller (128) translate along the surface to be treated. The attachment plate (116) is configured to roll and pitch in different planes, therefore enabling the brush (130) and the central roller (132) to clean truncated surfaces having complex profiles with a greater ease.
The shape of the chassis (104) of the robotic device (100) is chosen aerodynamically to reduce drag experienced by the robotic device (100) while manoeuvring along the surface of the building to perform cleaning operation on the surface of the building.
While climbing up along the surface of the building, the number of imaging devices (118) inspect the surface of the building by using machine learning algorithm. The number of imaging devices (118) are configured to capture various images of the surface to be treated. The captured images unveil information regarding profile and cracks (crevices) of the surface. The captured images are then received by the processing module (102) of the robotic device (100) to process the images for identifying cracks/crevices/roughness or any other surface characteristics. The processed images are then used for deriving planning instructions for the surface cleaning operation to clean the surface in an efficient manner. The sensors (120) are proximity sensors that detects any obstacle in the vicinity of the robotic device (100) while cleaning the surface of the building. The robotic device (100) is adaptive in following the path, if varied in case of any obstacle identification on the planned route.
Fig. 2 illustrates the robotic device (100) cleaning a vertical surface (202) of the building.
The guide member (124) is hooked at the ends of the building and extend across the surface (202) of the building. Since, the guide member (124) is passed through the number of slots (122) provided on the chassis (104) of the robotic device (102), therefore the guide member (124) hold/guide the robotic device (100) adjacent to the vertical surface (202) for cleaning.
The robotic device (100) climbs vertically along the surface (202) of the building following the path of the guide member (124) and therefore ensure stability in manoeuvring the robotic device (100) along the surface (202) for cleaning. The guide member (124) is provided with a pull-back arrangement for pulling the robotic device (100) from a certain height back to the ground, whenever required.
For cleaning operation, a spout (not shown) is provided with the end effectors (110). The spout is configured to dispense water and detergent or other cleansing agent to produce foam on the surface (202) for cleaning. The end effectors (110) have flexible bristles assisting in cleaning crevices of windows or the like.
In an embodiment, the robotic device (100) is configured to perform variety of functions such as painting and sanitizing the surface of the building. For sanitizing, the spout is configured to dispense sanitizer to kill the germs present on the surface. For painting, the spout is configured to dispense paints of multiple colours on the surface that is then spread by the end effectors (209) to make an even film of the paint on the surface of the building.
In an embodiment, the robotic device (100) can travel vertically, horizontally or on a slope for inspection, reconnaissance and surveillance purposes along with cleaning, sanitizing and painting the surface of the building.
In another embodiment, a number of force sensors (not shown) are provided on the pair of articulating arms (108) and the attachment plate (116) to detect the force experienced by the number of end effectors (110) of the robotic device (100) and gives feedback to the processing module (102) of the robotic device (100) to maintain optimised pressure on the end effectors (110).
Fig. 3 illustrates a block diagram of a control module (300) to control the robotic device (100).
The control module (300) includes a control transceiver (302) and a remote controller (304).
The remote controller (304) is communicably connected to the control transceiver (302) placed inside the robotic device (102).
The remote controller (304) enables the user to control the robotic device (100) manually by setting various instructions for the end effectors (110) of the robotic device (100) to perform the tasks mentioned above.
In an embodiment, the robotic device (100) is provided with a parachute (not shown) inside the chassis (104) for instant deployment in cases of failure or immediate fall-back situations.
The foregoing discussion of the present disclosure has been presented for purposes of illustration and description. It is not intended to limit the present invention to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the present invention are grouped together in one or more embodiments, configurations, or aspects for the purpose of streamlining the disclosure. The features of the embodiments, configurations, or aspects may be combined in alternate embodiments, configurations, or aspects other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention the present invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment, configuration, or aspect. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of the present invention.
Moreover, though the description of the present disclosure has included description of one or more embodiments, configurations, or aspects and certain variations and modifications, other variations, combinations, and modifications are within the scope of the present invention, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative embodiments, configurations, or aspects to the extent permitted, including alternate, interchangeable and/or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and/or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.
,CLAIMS:We Claim(s):
1. A robotic device (100) comprising; a chassis (104), a pair of propellers (106) mounted on either side of the chassis (104) and a plurality of end effectors (110) mounted on the chassis (104);
the pair of propellers (106) manoeuvre the robotic device (100) in horizontal, vertical or in an inclined direction;
a plurality of actuators (114) actuating the plurality of end effectors (110) to perform a variety of tasks on a surface; and
a retractable guide member (124) passing through a plurality of slots (122) provided on the chassis (104) for guiding the robotic device (100) while performing the variety of tasks on the surface.
2. The robotic device (100) as claimed in claim 1, wherein the actuators (114) actuate the end-effectors (110) through a pair of articulating arms (108) and an attachment plate (116) mounted on the chassis (104) of the robotic device (102).
3. The robotic device (100) as claimed in claim 1, wherein the pair of articulating arms (108) are configured to actuate in horizontal and vertical direction.
4. The robotic device (100) as claimed in claim 1, wherein the attachment plate (116) is configured to exhibit multi-plane actuation and enabling the end effectors (110) to perform the variety of tasks on the surface in different planes.
5. The robotic device (100) as claimed in claim 1, wherein a plurality of imaging devices (122) and a plurality of sensors (124) are positioned on the chassis (104) to receive at least one input from the surface and processing the input by a processing module (102) to plan a variety of task to be performed on the surface.
6. The robotic device (100) as claimed in claim 1, wherein the end effectors (110) further comprise a wiper (126), a roller (128), a brush (130) or a central roller (132) in combination or alone.
7. The robotic device (100) as claimed in claim 1, wherein the end effectors (110) are configured to perform cleaning, sanitizing and/or painting on the surface of a building.
8. The robotic device (100) as claimed in claim 1, wherein a control module (300) is provided with a control transceiver (302) and a remote controller (304) for controlling the robotic device (100) manually.