TWM664101U - Balanceable flight-control type building exterior-wall cleaning device and operation system thereof - Google Patents

Abstract

A cleaning device includes an exterior-wall cleaning machine connecting with a lifting mechanism, a cleaning mechanism, a supporting mechanism and an air-driven adjustment mechanism. The lifting mechanism is provided to lift the exterior-wall cleaning machine while the cleaning mechanism is provided to clean an exterior wall on which to engage with the supporting mechanism. The lifting mechanism moves the exterior-wall cleaning machine onto the exterior wall, with executing a cleaning process of the cleaning mechanism on the exterior wall, with executing an air-driven adjustment procedure of the air-driven adjustment mechanism to the cleaning mechanism pressed against the exterior wall and the supporting mechanism balancing on the exterior wall.

Description

Balanced flight-controlled building exterior wall cleaning device and its operating system

This invention relates to a balanceable flight-control type building exterior wall cleaning device and its operating system; in particular, to a balanceable automatic air-driven adjustment building exterior wall cleaning device and its operating system; more particularly, to a balanceable flight-control type building exterior wall cleaning device applicable to curved surfaces or irregular surfaces and its operating system.

Use of robots for cleaning the exterior surface of buildings, for example: China Patent Publication No. CN-106514663 "A multi-layer distributed building exterior surface cleaning robot" discloses a multi-layer distributed building exterior surface cleaning robot, and the multi-layer distributed building exterior surface cleaning robot includes a cleaning function unit layer, a central control core layer, a rotor booster layer, a roller brush cleaning unit, a suction wiper unit and a negative pressure suction cleaning unit.

As mentioned above, the rotor booster layer of the aforementioned CN-106514663 includes a rotor thrust system, and the rotor thrust system is electrically connected to a control unit, and the rotor thrust system includes four rotors, and the four rotors are arranged on a rotor main frame in a central symmetrical manner. During operation, the four rotors can generate a negative pressure to continuously provide a thrust in the working state, so that the thrust is still stable when overcoming obstacles.

Obviously, although the aforementioned invention patent application No. CN-106514663 has disclosed that the building exterior surface cleaning robot has the rotor booster layer and its rotor thrust system and the suction wiper unit and its negative pressure suction cleaning unit, its rotor thrust system is simply a structure in which the negative pressure is provided by the quad-rotor combined with the negative pressure suction of the negative pressure suction cleaning unit. Thus, it still has the technical disadvantages of complex structure and inability to perform stable cleaning operations or stable operations when strong winds blow.

Another common use is for unmanned aerial devices used to clean the brackets of high-voltage power towers, for example: the new patent of the Republic of China Patent Publication No. TW-M621488 "Unmanned aerial device with cleaning function" discloses a type of unmanned aerial device, which includes a fuselage, a spray assembly, two propulsion assemblies, a camera element, a liquid storage container, a booster pump and a landing frame.

As mentioned above, the spray assembly of the aforementioned TW-M621488 is arranged at a head of the fuselage, and the two propulsion assemblies are connected to the opposite sides of the fuselage, and the two propulsion assemblies are located at the opposite sides of the fuselage connected to the head. In addition, the two propulsion assemblies each have an axial direction, and the axial direction is parallel to a predetermined direction, and the predetermined direction extends from a bottom of the fuselage to a top of the fuselage.

However, the aforementioned UAV with cleaning function in No. TW-M621488 is only applicable to cleaning the brackets of high-voltage power towers, and the UAV with cleaning function is only a simple UAV. Therefore, the UAV with cleaning function is not applicable to cleaning the external walls of buildings. In particular, it cannot provide the technical defects of being properly and tightly attached to the external walls of buildings (for example, curved external walls or irregular external walls) for cleaning operations or operating stably when strong winds blow.

Another commonly used device and method for cleaning the exterior walls of buildings is, for example, the invention patent of the Republic of China Patent Publication No. TW-I417150 "Exterior Wall Cleaning Machine", which discloses an exterior wall cleaning machine, and the exterior wall cleaning machine includes a frame, an upper water and air absorbing part, a lower water and air absorbing part, at least one water and air driving part, at least one scrubbing part, at least one water spraying part and a water absorbing part.

As mentioned above, the upper water-vapor suction part of the aforementioned TW-I417150 is arranged on a front side of the frame, and the upper water-vapor suction part faces an outer wall of a building, and the lower water-vapor suction part is arranged on the front side of the frame, and the lower water-vapor suction part faces the outer wall of the building, so as to absorb water vapor. In addition, the water vapor driving part is arranged on the frame, and the water vapor driving part is connected to the upper water-vapor suction part and the lower water-vapor suction part to absorb water vapor and discharge it from the other side (rear side) of the frame.

As mentioned above, the scrubbing part of the aforementioned TW-I417150 is arranged at the front side of the frame, and the scrubbing part is between the upper water-absorbing air part and the lower water-absorbing air part, and the scrubbing part is used to scrub the outer wall of the building, and the spraying part is arranged at the front side of the frame, and the spraying part is between the upper water-absorbing air part and the lower water-absorbing air part, and the spraying part is used to spray water on the outer wall of the building.

As mentioned above, the water absorption part of the aforementioned TW-I417150 is arranged on the front side of the frame, and the water absorption part contacts the outer wall of the building to absorb water, and the water absorption part is located above the upper water absorption air part, and the upper water absorption air part has an opening, and the opening is located on one side of the upper water absorption air part facing the water absorption part.

Another common use is related to building exterior wall cleaning devices and methods, such as: the invention patent of the Republic of China Patent Publication No. TW-I780664 "Exterior wall cleaning equipment and position control method thereof", which discloses an exterior wall cleaning device. The exterior wall cleaning device includes several hanging devices, several hoisting devices, several steel cables, several guiding devices, several hooks, several hanging rings, a cleaning device and a cleaning brush wheel.

As mentioned above, the first hanging device of the aforementioned TW-I780664 is connected to a first hoisting device, and the first hoisting device is connected to a first steel cable, and the first steel cable is connected to a first hook through a first guide device, and the first hook is connected to a first ring, and the first ring is connected to the cleaning device, and the cleaning device is connected to a second ring, and the second ring is connected to a second hook, and the second hook is connected to a second steel cable, and the second steel cable is connected to a second hoisting device through a second guide device, and the second hoisting device is connected to a second hanging device.

As mentioned above, the third hanging device of the aforementioned TW-I780664 is connected to a third hoisting device, and the third hoisting device is connected to a third steel cable, and the third steel cable is connected to a third hook through a third guide device, and the third hook is connected to the first ring, and the first ring is connected to the cleaning device, and the cleaning device is connected to the second ring, and the second ring is connected to a fourth hook, and the fourth hook is connected to a fourth steel cable, and the fourth steel cable is connected to a fourth hoisting device through a fourth guide device, and the fourth hoisting device is connected to a fourth hanging device.

As mentioned above, the cleaning device of the aforementioned TW-I780664 is connected to the cleaning brush wheel, and the first hanging device is located on the left side of one of the second hanging devices, and the second hanging device is located on the left side of one of the third hanging devices, and the third hanging device is located on the left side of one of the fourth hanging devices. In addition, the extension lines of the first steel cable and the second steel cable intersect below one of the first hanging ring and the second hanging ring, and the extension lines of the third steel cable and the fourth steel cable intersect below one of the first hanging ring and the second hanging ring.

Another application is about the automatic building exterior wall cleaning device, for example: the new patent of the Republic of China Patent Announcement No. TW-M266118 "Automatic Exterior Wall Cleaning Device", which discloses an automatic exterior wall cleaning device. The automatic exterior wall cleaning device includes a machine base, a moving platform mechanism, a support mechanism, a cleaning mechanism, a steel cable guide mechanism and several reels.

As mentioned above, the machine base of the aforementioned TW-M266118 is an L-shaped frame, and the machine base has a side frame and a bottom frame, and the side frame is fixed on a wall, and a pair of slide rails are fixed in parallel on the bottom frame. The moving platform mechanism has a base, and the base is supported on the bottom frame of the machine base, and a bottom of the base has a plurality of pulleys, and the pulleys are embedded in the slide rails. A shaft of the pulley is connected to a driving wheel, and the driving wheel is hung with a belt, and the belt is linked to a rotating wheel, and the rotating wheel is arranged on a driving motor of the base, so that the base can perform a lateral displacement on the machine base.

As mentioned above, the pedestal of the aforementioned TW-M266118 is provided with a pair of slide frame rods, and the slide frame rods are sleeved with an adjustable guide wheel, so that the pedestal has a guiding function when sliding and reduces its displacement resistance. The support mechanism is provided with a pair of vertical rods, and the vertical rods are provided with a slide frame rod, and the slide frame rods are sleeved with a telescopic rod, and the telescopic rod is driven by a driving motor to move forward and backward, and the telescopic rod is connected to a plurality of wire wheels.

As mentioned above, the cleaning mechanism of the aforementioned TW-M266118 is provided with a supporting platform, and the supporting platform is provided with a cleaning brush wheel, and the cleaning brush wheel is connected to a driving wheel, and the driving wheel is connected to an active wheel by a belt, so that the cleaning brush wheel rolls. The supporting platform is also provided with an air nozzle and a water nozzle, and the supporting platform is provided with a plurality of slideways and a plurality of guide wheels, so as to contact a wall surface and contact and guide the supporting platform to move. The steel cable reel mechanism includes a driving motor, and the driving motor drives the steel cable reel and the wire wheel, so that the driving motor drives the steel cable reel to reel in or release a steel cable.

As mentioned above, the steel cable guide mechanism of the aforementioned TW-M266118 includes a driving motor, and the driving motor drives a screw rod, and the screw rod is threaded with a threading guide block to drive the steel cable to slide horizontally. The reel is placed on the base of the moving platform mechanism to reel in or guide a jet pipe, a water pipe and an electric wire. The steel cable reel mechanism is used to reel in the steel cable hook to lift the cleaning mechanism for up and down movement, and the base of the mobile platform mechanism drives the pulley to move horizontally on the slide rail to change the cleaning mechanism to move horizontally, and the reel is used to guide and extend the air pipe, water pipe and wire, so that the cleaning mechanism can use the rolling of the cleaning brush wheel and the water and air of the air nozzle and water nozzle to automatically clean the dirt on the wall.

Another common use is related to the building exterior wall cleaning device, for example: the new patent of the Republic of China Patent Announcement No. TW-M286078 "Remote Control Automatic Cleaning Machine for Building Exterior Wall", which discloses a remote control automatic cleaning machine for building exterior wall. The remote control automatic cleaning machine for building exterior wall includes a machine body, a fan, a rotating shaft, several triangular wheels, a drum brush and a horizontal brush.

As mentioned above, the machine body of the aforementioned TW-M286078 is provided with a winder and two transmission motors, and the fan is arranged on a front surface of the machine body, and the fan is connected to a transmission motor by a transmission belt. The rotating shaft is arranged in the machine body, and the rotating shaft is connected to the transmission motor by a transmission belt, and a circular brush is respectively connected to the two ends of the rotating shaft.

As mentioned above, the triangular wheel of the aforementioned TW-M286078 is set in the body, and the triangular wheel is placed on the rotating shaft, and the roller-shaped brush is set on the rotating shaft, and the horizontal brush is set on a sliding block of the body, so that the sliding block is hinged to an eccentric wheel, and the eccentric wheel is connected to the transmission motor, and the body is suspended from the top edge of a building by a winch with a cable, and the body is pulled up so that the body is guided by the triangular wheel, so as to perform an automatic cleaning operation on the outer wall of a building.

Another common use is related to building exterior wall cleaning devices, for example: the new patent of the Republic of China Patent Announcement No. TW-M346468 "Automatic Exterior Wall Cleaning Machine", which discloses an automatic exterior wall cleaning machine. The automatic exterior wall cleaning machine includes a driving mechanism, a cleaning assembly and a suspension device, and the driving mechanism includes a positioning member, and the positioning member is set on the top of the first floor and controls a lateral displacement.

As mentioned above, the cleaning kit of the aforementioned No. TW-M346468 includes a accommodating basket, and the accommodating basket is connected to the driving mechanism in a suspended manner, and the cleaning kit also includes a translation base, and the translation base can be controlled to move to a direction, and the translation base is provided with a clean water output end and a detergent output end, and the clean water output end and the detergent output end are facing a building, so as to perform a cleaning operation.

As mentioned above, the water outlet of the aforementioned TW-M346468 is connected to a pressurizer, and the detergent outlet is connected to a detergent storage box, and the translation base is connected to a power source, and the power source is used to drive the translation base. The suspension device is set on the positioning member to control the cleaning assembly to rise and fall.

Another commonly used device for cleaning the exterior walls of buildings is, for example, the new patent of the Republic of China Patent Announcement No. TW-M407717 "Exterior Wall Cleaning Machine", which discloses an exterior wall cleaning machine, and the exterior wall cleaning machine includes a frame, an upper water and air absorbing part, a lower water and air absorbing part, at least one water and air driving part, at least one scrubbing part, at least one water spraying part and a water absorbing part.

As mentioned above, the upper water-vapor suction part of the aforementioned TW-M407717 is arranged on a front side of the frame, and the upper water-vapor suction part faces an outer wall of a building, and the lower water-vapor suction part is arranged on the front side of the frame, and the lower water-vapor suction part faces the outer wall of the building, so as to absorb water vapor. In addition, the water vapor driving part is arranged on the frame, and the water vapor driving part is connected to the upper water-vapor suction part and the lower water-vapor suction part, so as to absorb water vapor and discharge it from the other side (rear side) of the frame.

As mentioned above, the scrubbing part of the aforementioned TW-M407717 is arranged at the front side of the frame, and the scrubbing part is between the upper water-absorbing air part and the lower water-absorbing air part, and the scrubbing part is used to scrub the outer wall of the building, and the spraying part is arranged at the front side of the frame, and the spraying part is between the upper water-absorbing air part and the lower water-absorbing air part, and the spraying part is used to spray water on the outer wall of the building.

As mentioned above, the water absorption part of the aforementioned TW-M407717 is arranged on the front side of the frame, and the water absorption part contacts the outer wall of the building to absorb water, and the water absorption part is located above the upper water absorption air part, and the upper water absorption air part has an opening, and the opening is located on one side of the upper water absorption air part facing the water absorption part.

Another common use is related to building exterior wall cleaning devices, for example: the new patent of the Republic of China Patent Announcement No. TW-M528801 "Exterior wall automatic cleaning equipment", which discloses an exterior wall automatic cleaning equipment. The exterior wall automatic cleaning equipment includes a vehicle, a cleaning mechanism, a driving mechanism, a power adapter and a rechargeable battery.

As mentioned above, the trolley of the aforementioned No. TW-M528801 includes a housing, a storage space and a towing mechanism, wherein the storage space is arranged in the housing, the cleaning mechanism is arranged on one side of the housing, the driving mechanism drives the cleaning mechanism, and the rechargeable battery is accommodated in the storage space, and the rechargeable battery is electrically connected to the driving mechanism.

Another commonly used building exterior wall cleaning device, for example: the new patent of the Republic of China Patent Announcement No. TW-M581886 "Building Exterior Wall Cleaning Machine", which discloses a building exterior wall cleaning machine. The building exterior wall cleaning machine includes a frame, a clean water nozzle, a cleaning liquid nozzle, a first motor, a scrubbing drum, a second motor, a drying drum, a blower, an air outlet and two hanging devices.

As mentioned above, the frame of the aforementioned TW-M581886 has a top, and the water nozzle and the cleaning liquid nozzle are arranged on the frame and are respectively connected to a water pipe and a cleaning liquid delivery pipe. In addition, the first motor and the second motor are arranged on the frame, and the scrubbing roller and the drying roller are pivotally arranged on the frame, and the scrubbing roller is connected to the first motor to drive and rotate, and the drying roller is connected to the second motor.

As mentioned above, the blower and the air outlet of the aforementioned TW-M581886 are installed on the frame, and the air outlet and the blower are connected by an air duct. In addition, the two hanging devices are respectively installed at the two ends of the top of the frame, and at least one lifting motor is connected between the two hanging devices.

Obviously, although the aforementioned ROC patent announcements No. TW-I417150, No. TW-I780664, No. TW-M266118, No. TW-M286078, No. TW-M346468, No. TW-M407717, No. TW-M528801 and No. TW-M581886 have disclosed various building exterior wall cleaning devices and methods, they still have the technical disadvantage of not being able to provide a suitable and tight attachment to the building exterior wall surface (e.g., curved exterior wall surface or irregular exterior wall surface) for stable cleaning operations or stable operations when strong winds blow.

As mentioned above, the conventional building exterior wall cleaning device and method also has the technical disadvantage of being unable to provide appropriate direct adjustment support or directly and stably lean against the general building exterior wall surface or special building exterior wall surface (for example: curved exterior wall surface or irregular exterior wall surface) to perform stable cleaning operations or stable operations when strong winds blow.

Therefore, the use of the building exterior wall cleaning device and method must have the need to further improve its inability to provide cleaning operations on curved exterior walls that are closely attached to the building exterior wall or irregular exterior walls, or to further improve its inability to provide automatic adjustment and stable operations (for example: strong winds or swaying during operation).

In short, the aforementioned invention patent application No. CN-106514663 of China Patent Publication, the invention and new patent No. TW-M621488, No. TW-I417150, No. TW-I780664, No. TW-M266118, No. TW-M286078, No. TW-M346468, No. TW-M407717, No. TW-M528801 and No. TW-M581886 are only for reference of the technical background of this creation and to illustrate the current state of technical development, and are not intended to limit the scope of this creation.

In view of this, the present invention provides a balanced flying control type building exterior wall cleaning device and its operating system to meet the above needs. A flying control type cleaning host is connected to a lifting mechanism, a multi-axis cleaning mechanism, a support mechanism and a pneumatic adjustment and positioning mechanism. The flying control type cleaning host is moved to the surface of a building exterior wall by the operation of the lifting mechanism, and the multi-axis cleaning mechanism is operated to adjust the cleaning surface. A multi-axis exterior wall cleaning operation is performed on the surface of the building's exterior wall, and the support mechanism is used to support the flying control cleaning host on the surface of the building's exterior wall, and the pneumatic adjustment and positioning mechanism is used to relatively press and support the flying control cleaning host to balance on the surface of the building's exterior wall to perform a pneumatic adjustment and positioning operation, so as to greatly improve the technical shortcomings of the conventional building exterior wall cleaning device and method.

The main purpose of this invention is to provide a balanced flight-controlled building exterior wall cleaning device and its operating system, which is connected to a flight-controlled cleaning host and is equipped with a lifting mechanism, a multi-axis cleaning mechanism and a pneumatic adjustment and positioning mechanism, and the flight-controlled cleaning host is moved to the surface of a building exterior wall by the operation of the lifting mechanism, and a multi-axis exterior wall cleaning operation is performed on the surface of the building exterior wall by the operation of the multi-axis cleaning mechanism, and the The support mechanism supports the flying control cleaning machine on the surface of the building's outer wall, and utilizes the operation of the pneumatic adjustment and positioning mechanism to relatively press and support the flying control cleaning machine and the support mechanism to balance on the surface of the building's outer wall to perform a pneumatic adjustment and positioning operation, so as to achieve the purpose or effect of providing close adhesion to the curved outer wall surface of the building or the irregular outer wall surface of the building, the operation itself produces swings, and stable operation when strong winds blow.

In order to achieve the above purpose, the balanced flight-controlled building exterior wall cleaning device of the preferred embodiment of this invention includes:

A flying control cleaning host, which is used to clean the exterior wall surface of a large building;

A lifting mechanism connected to the flight-controlled cleaning host so that the flight-controlled cleaning host can be lifted and lowered by the lifting mechanism;

A multi-axis cleaning mechanism, which is connected to the flight-controlled cleaning host so that the multi-axis cleaning mechanism can be used to automatically clean the surface of the building's exterior wall;

A supporting mechanism connected to the flying control cleaning host, so that the flying control cleaning host can be supported and operated on the surface of the external wall of the building by using the supporting mechanism; and

A pneumatic adjustment and positioning mechanism, which is connected to the flight-controlled cleaning host, so that the flight-controlled cleaning host and the supporting mechanism can be operated by the pneumatic adjustment and positioning mechanism;

The lifting mechanism is used to move the flying control cleaning machine to the surface of the building's outer wall, and the multi-axis cleaning mechanism is used to perform a multi-axis outer wall cleaning operation on the surface of the building's outer wall. The pneumatic adjustment and positioning mechanism is used to relatively press and support the flying control cleaning machine and the supporting mechanism to balance on the surface of the building's outer wall to perform a pneumatic adjustment and positioning operation.

The flight-controlled cleaning host of the preferred embodiment of the invention is also connected to communicate with at least one flight-controlled operating device so that the flight-controlled operating device can be used to operate the flight-controlled cleaning host.

The flight control operating device of the preferred embodiment of the invention can selectively connect and operate the lifting mechanism, multi-axis cleaning mechanism or pneumatic adjustment and positioning mechanism.

The flight control type operating device of the preferred embodiment of the present invention is selected from a computer device or an operating device with wireless communication function.

The pneumatic adjustment and positioning mechanism of the preferred embodiment of the present invention includes several driving impellers and a control unit.

The pneumatic adjustment and positioning mechanism of the preferred embodiment of the present invention includes at least one servo motor unit, and the servo motor unit is used to drive at least one driving impeller.

The pneumatic adjustment and positioning mechanism of the preferred embodiment of the invention includes at least one gyroscope unit to detect the movement of the flight-controlled cleaning host.

The supporting mechanism of the preferred embodiment of the invention includes a plurality of supporting legs, so that the flying control cleaning host can be supported on the surface of the outer wall of the building by using the plurality of supporting legs.

The supporting foot of the supporting mechanism of the preferred embodiment of the present invention is connected to a connecting arm, and the connecting arm is configured on the flight-controlled cleaning host.

The supporting leg of the supporting mechanism of the preferred embodiment of the invention includes a sliding wheel set, and the sliding wheel set is configured and assembled at an end portion so that the sliding wheel set can be used to lean against or slide on the surface of the outer wall of the building.

The preferred embodiment of this invention utilizes the operation of the pneumatic adjustment and positioning mechanism to perform an automated pneumatic adjustment and positioning operation on the pneumatic adjustment and positioning mechanism to prevent the flight-controlled cleaning host from swaying during its own operation and shaking when blown by strong winds.

The preferred embodiment of the invention selects the exterior wall surface of the building from a curved exterior wall surface or an irregular exterior wall surface, and utilizes the adjustment operation of the pneumatic adjustment and positioning mechanism to operate along the exterior wall surface of the building.

The preferred embodiment of the invention combines the flying control cleaning host with at least one drone device, and uses the drone device to shoot the operation of the flying control cleaning host, so as to obtain at least one large building exterior wall cleaning image or at least one large building exterior wall original image.

The flight-controlled cleaning host of the preferred embodiment of the present invention further includes at least one grounding device.

1: Flight control cleaning host

1a: Flight control type operating device

1b: Cloud equipment

10: Support mechanism

11: Support your feet

12: Sliding wheel set

2: Lifting mechanism

20: First drive unit

21: Suspension mechanism

3: Multi-axis cleaning mechanism

30: Second drive unit

31:Robotic arm

4: Pneumatic adjustment and positioning mechanism

40: Air flow power unit

41: Driving fan wheel

5: Drone device

6: Warning light set

8: Glass curtain wall

9: Grounding device

100: Building exterior wall surface

101: Curved exterior wall

Figure 1: Block diagram of the balanced flight-controlled building exterior wall cleaning operation system of the first preferred embodiment of this invention.

Figure 1A: A three-dimensional schematic diagram of the balanced flight-controlled building exterior wall cleaning operation system and the glass curtain wall of the first preferred embodiment of this invention.

Figure 2: Block diagram of the second best embodiment of the present invention, a balanced flight-controlled building exterior wall cleaning system.

Figure 3: A three-dimensional schematic diagram of the balanced flight-controlled building exterior wall cleaning system and the building exterior wall surface of the second best embodiment of this invention.

Figure 4: A three-dimensional schematic diagram of the second best embodiment of the invention, the balanced flight-controlled building exterior wall cleaning system and another building exterior wall surface (curved exterior wall surface).

Figure 5: A three-dimensional schematic diagram of the second best embodiment of the invention, the balanced flight-controlled building exterior wall cleaning system using a multi-axis cleaning mechanism.

Figure 6: Schematic diagram of the process of the flight control type building exterior wall cleaning method of the preferred embodiment of this invention.

Figure 7: Block diagram of the balanced flight-controlled building exterior wall cleaning system of the third preferred embodiment of this invention.

Figure 8: Block diagram of the balanced flight-controlled building exterior wall cleaning system of the fourth preferred embodiment of this invention.

Figure 9: A three-dimensional schematic diagram of the balanced flight-controlled building exterior wall cleaning system and the building exterior wall surface of the fifth preferred embodiment of the present invention.

Figure 10: Another three-dimensional schematic diagram of the balanced flight-controlled building exterior wall cleaning system and the building exterior wall surface of the fifth preferred embodiment of the present invention.

Figure 11: Another three-dimensional schematic diagram of the fifth preferred embodiment of the present invention, in which the balanced flight-controlled building exterior wall cleaning system is operated on the surface of the building exterior wall (including the curved exterior wall surface).

In order to fully understand this creation, the following will give examples of preferred embodiments and provide detailed descriptions with the attached drawings, which are not intended to limit this creation.

The balanced flight-controlled building exterior wall cleaning device, its operating system and its execution method of the preferred embodiment of this creation are suitable for application to various glass fence cleaning devices, its operating system and its execution method, various glass window cleaning devices for building exterior walls, its operating system and its execution method, various glass curtain wall building exterior wall cleaning devices, its operating system and its execution method, various building exterior wall cleaning devices, its operating system and its execution method or related components and related accessories, but it is not used to limit the scope of application of this creation.

Figure 1 shows a block diagram of the balanceable flight-controlled building exterior wall cleaning operation system of the first preferred embodiment of the present invention; Figure 1A shows a three-dimensional diagram of the balanceable flight-controlled building exterior wall cleaning operation system and the glass curtain wall of the first preferred embodiment of the present invention, which also corresponds to the balanceable flight-controlled building exterior wall cleaning operation system shown in Figure 1.

Please refer to Figures 1 and 1A. For example, the first preferred embodiment of the present invention, the balanced flying control type building exterior wall cleaning operation system, mainly includes a flying control type cleaning host 1, a flying control type operating device 1a and a supporting mechanism 10, and the flying control type operating device 1a is connected to the flying control type cleaning host 1 by wireless communication (for example: mobile communication network or other wireless communication network) to operate the flying control type cleaning host 1.

Please refer to Figures 1 and 1A again. For example, the flight-controlled cleaning host 1, a flight-controlled operating device 1a, or both of the preferred embodiments of the present invention can be connected to communicate with at least one cloud device 1b by wireless communication (e.g., mobile communication network or other wireless communication network), and the cloud device 1b is selected from a cloud server or a device with similar cloud server functions.

Please refer to Figures 1 and 1A again. For example, the support mechanism 10 is connected and configured at a predetermined position of the flying control cleaning host 1, so that the flying control cleaning host 1 can be supported and operated on an exterior wall surface (for example: a glass curtain wall, a building exterior wall or any other exterior wall) by using the support mechanism 10.

Please refer to Figures 1 and 1A again. For example, the support mechanism 10 may optionally include a plurality of support legs 11 (e.g., three support legs, four support legs, or other number of support legs), so that the flight control cleaning host 1 can be properly supported on the outer wall surface (e.g., glass curtain wall, building outer wall, or any other outer wall) by using a plurality of the support legs 11, so as to balance the pneumatic adjustment and positioning operation of the pneumatic adjustment and positioning mechanism 4.

Please refer to Figures 1 and 1A again. For example, the first preferred embodiment of the present invention includes a balanced flying control type building exterior wall cleaning operation system, which further includes a lifting mechanism 2, a multi-axis cleaning mechanism 3 and a pneumatic adjustment and positioning mechanism 4. The flying control type operating device 1a can selectively connect and operate the supporting mechanism 10, the lifting mechanism 2, the multi-axis cleaning mechanism 3 or the pneumatic adjustment and positioning mechanism 4 by wireless communication (e.g., mobile communication network or other wireless communication network).

Please refer to Figure 1 again. For example, the balanced flying control type building exterior wall cleaning operation system of the first preferred embodiment of this invention can be applied to a glass curtain wall 8 (for example: glass curtain building, glass curtain design work or other material design work), and the glass curtain wall 8 has various concave surfaces and various convex surfaces, and the flying control type cleaning host 1 can be appropriately assembled with the lifting mechanism 2, the multi-axis cleaning mechanism 3 and the pneumatic adjustment and positioning mechanism 4.

Please refer to Figures 1 and 1A again. For example, the flight control type operating device 1a is selected from a computer device or an operating device with wireless communication function, and the computer device can be selected from a tablet computer, a mobile communication device, a smart phone, a notebook computer, a desktop computer, a workstation computer or other devices with computer functions, such as a personal digital assistant (PDA) or other devices.

Please refer to Figures 1 and 1A again. For example, the lifting mechanism 2 includes at least one suspension mechanism 21, and the suspension mechanism 21 includes at least one suspension arm (not marked) and several fixing components (not marked), and the suspension arm is used to suspend the flying control cleaning host 1 on the glass curtain wall 8, and the fixing component is used to fix the suspension mechanism 21 to an appropriate position of the glass curtain wall 8, such as: the top or other positions.

Please refer to Figures 1 and 1A again. For example, the multi-axis cleaning mechanism 3 (e.g., including a multi-axis robot arm set) can provide a multi-axis cleaning action on any surface of the glass curtain wall 8, and the pneumatic adjustment and positioning mechanism 4 can provide an appropriate tight adhesion force (e.g., air flow force) on any surface of the glass curtain wall 8, and the multi-axis cleaning action of the multi-axis cleaning mechanism 3 and the appropriate tight adhesion force of the pneumatic adjustment and positioning mechanism 4 cooperate, so that the multi-axis cleaning action of the multi-axis cleaning mechanism 3 and the appropriate tight adhesion force of the pneumatic adjustment and positioning mechanism 4 can cooperate to perform on any surface of the glass curtain wall 8, so as to effectively pressurize and clean or wipe any surface of the glass curtain wall 8.

FIG. 2 shows a block diagram of a balanced flight-controlled building exterior wall cleaning system of the second preferred embodiment of the present invention. Referring to FIG. 2, for example, relative to the first embodiment, the balanced flight-controlled building exterior wall cleaning system of the second preferred embodiment of the present invention mainly includes a flight-controlled cleaning host 1, a support mechanism 10, a lifting mechanism 2, a multi-axis cleaning mechanism 3 and a pneumatic adjustment and positioning mechanism 4, and the flight-controlled cleaning host 1, the support mechanism 10, the lifting mechanism 2, the multi-axis cleaning mechanism 3 and the pneumatic adjustment and positioning mechanism 4 are appropriately configured to form a large building exterior wall automatic cleaning system (for example: a detachable assembly type automatic cleaning system).

Please refer to Figure 2 again. For example, the flight control cleaning host 1 includes a main control unit (not shown, such as a microcomputer control unit or other digital control unit), at least one power supply device (not shown, such as a lithium battery pack or other battery pack), at least one wireless communication module (not shown, such as a short-distance wireless communication module, a long-distance wireless communication module or other wireless network communication module) and at least one external port (not shown).

Please refer to Figure 2 again. For example, the supporting foot of the supporting mechanism 10 (shown in Figure 3) is connected to a connecting arm (not shown) by appropriate technical means (e.g., hinged or other movable methods), and the connecting arm is extended (extending) on the flying control cleaning host 1 in a symmetrical distribution or other configuration (e.g., equiangular spacing or other spacing).

Figure 3 discloses a three-dimensional schematic diagram of the balanceable flight-controlled building exterior wall cleaning system and the building exterior wall surface of the second preferred embodiment of the present invention, and Figure 4 discloses a three-dimensional schematic diagram of the balanceable flight-controlled building exterior wall cleaning system and another building exterior wall surface (curved exterior wall surface or irregular exterior wall surface) of the second preferred embodiment of the present invention, which corresponds to the balanceable flight-controlled building exterior wall cleaning system shown in Figure 2.

Please refer to Figures 2, 3 and 4. For example, the flight control cleaning host 1 has a main frame [not shown], and the main frame has a predetermined size specification, and the main frame can be selected from various shapes of frames or frames, such as: a cross frame, a square frame, a rectangular frame, a circular frame, an elliptical frame, a cylindrical frame, a spherical frame or other symmetrical frames.

Please refer to Figures 2, 3 and 4 again. For example, the flight control cleaning host 1 is used to clean a building's exterior wall surface 100 (as shown in Figure 3, such as glass windows), and the building's exterior wall surface 100 has various irregular structures (such as glass window frame or other structures) or various inclined surfaces (such as 45° or other inclined angles), or the flight control cleaning host 1 is used to clean a curved exterior wall surface 101 (as shown in Figure 4, such as a glass curved exterior wall surface or other curved exterior wall surface), and the curved exterior wall surface 101 has various angle surfaces (such as 45° or other curved surface angles) or various variable angle surfaces.

Please refer to Figures 2, 3 and 4. For example, the supporting leg 11 of the supporting mechanism 10 may optionally include a sliding wheel set 12 (e.g., a general wheel set or an elastic wheel set), and the sliding wheel set 12 is configured and assembled at an end portion (i.e., the end portion of the supporting leg 11), so that the sliding wheel set 12 can be appropriately pressed against or slid (rolled) on the surface of the outer wall of the building.

Please refer to Figures 2, 3 and 4. For example, the sliding wheel set 12 of the supporting foot 11 of the supporting mechanism 10 of another preferred embodiment of the present invention can be selected from a self-propelled vehicle wheel set (e.g., similar to a McNamara wheel set). In this way, the sliding wheel set 12 can be used to move the flying control cleaning host 1 to perform a movement adjustment (e.g., forward, backward, left, right, left turn, right turn or other movement within a predetermined range) on the building's outer wall surface 100 (as shown in Figure 3) or the curved outer wall surface 101 (as shown in Figure 4), so as to enhance the operational flexibility of the flying control cleaning host 1.

Please refer to Figures 2, 3 and 4 again. For example, the lifting mechanism 2 is appropriately connected and configured at a predetermined position of the flight control cleaning host 1, and the lifting mechanism 2 includes a plurality of hanging ropes (not marked, such as steel ropes or other ropes with similar functions), and the lifting mechanism 2 includes a first drive unit 20 (such as a servo motor or other drive unit) and a first control unit (not shown), so as to use the first control unit to connect, control and operate the first drive unit 20.

Please refer to Figures 2, 3 and 4 again. For example, the lifting mechanism 2 can use the first drive unit 20 to reel in or unreel the hanging rope, that is, the lifting mechanism 2 can be used to operate and lift the flying control cleaning host 1 relative to the building's outer wall surface 100 (as shown in Figure 3) or the curved outer wall surface 101 (as shown in Figure 4).

Figure 5 is a three-dimensional schematic diagram of the second preferred embodiment of the present invention, which is a balanced flight-controlled building exterior wall cleaning system using a multi-axis cleaning mechanism. It corresponds to the balanced flight-controlled building exterior wall cleaning system shown in Figures 2, 3 and 4, and it also corresponds to the multi-axis cleaning mechanism shown in Figures 3 and 4.

Please refer to Figures 2, 3, 4 and 5 again. For example, the multi-axis cleaning mechanism 3 is appropriately connected and configured at a predetermined position of the flight control cleaning host 1, and the multi-axis cleaning mechanism 3 includes at least one multi-axis robot arm group or several robot arm groups (not shown, for example: including a robot arm 31 and a pivoting element) and several cleaning brushes (not shown) or several cleaning cloth strips or sponges (not shown). , and the multi-axis cleaning mechanism 3 includes a second drive unit 30 (for example: a servo motor or other drive unit) and a second control unit (not shown), so that the second control unit can be used to connect, control and operate the second drive unit 30, and during the cleaning operation, the robot arm 31 of the multi-axis cleaning mechanism 3 can avoid the support foot 11 of the support mechanism 10 to avoid improper mutual collision.

Please refer to Figures 3 and 4 again. For example, the multi-axis cleaning mechanism 3 can use the second drive unit 30 to swing the robot arm 31 and the cleaning brush back and forth, that is, the multi-axis cleaning mechanism 3 can be used to perform an automatic cleaning operation (for example: a predetermined computer program of a microcomputer control unit) on the building's outer wall surface 100 (as shown in Figure 3) or the curved outer wall surface 101 (as shown in Figure 4).

Please refer to Figures 2, 3 and 4 again. For example, the pneumatic adjustment and positioning mechanism 4 is appropriately connected and configured at a predetermined position of the flight-controlled cleaning host 1, and the pneumatic adjustment and positioning mechanism 4 includes an air flow power unit 40, and the air flow power unit 40 of the pneumatic adjustment and positioning mechanism 4 includes a plurality of driving impellers 41, a control unit (not shown) and at least one servo motor unit (not shown), so as to use the pneumatic adjustment and positioning mechanism 4 to operate the flight-controlled cleaning host 1.

Please refer to Figures 2, 3 and 4 again. For example, the drive impeller 41 includes a plurality of blades (not shown) or a plurality of variable pitch angle blades, and each blade of the drive impeller 41 can be selected to have a predetermined blade angle, and the predetermined blade angle of each blade of the drive impeller 41 can be automatically adjusted according to different needs, so as to determine the output airflow direction of the drive impeller 41.

Please refer to Figures 2, 3 and 4 again. For example, the servo motor unit (not shown) of the pneumatic adjustment and positioning mechanism 4 is used to drive at least one driving impeller, and the driving impeller can provide at least one axial airflow, and the axial airflow includes a forward axial airflow (for example: approaching the outer wall surface of the building) or a reverse axial airflow (for example: away from the outer wall surface of the building).

Please refer to Figures 2, 3 and 4 again. For example, the pneumatic adjustment and positioning mechanism 4 also includes at least one gyroscope unit (not shown) to detect at least one action of the flight control cleaning host 1 (for example: approaching the surface of the building's outer wall, moving away from the surface of the building's outer wall, closely adhering to the curved surface of the building's outer wall or operating on the irregular surface of the building's outer wall, causing the machine to sway during its own operation, and operating stably when strong winds blow).

Please refer to Figures 2, 3 and 4 again. For example, the gyroscope unit of the pneumatic adjustment and positioning mechanism 4 can be selected from a MEMS gyroscope unit, a capacitive gyroscope unit, an optical fiber gyroscope unit (laser gyroscope unit) or other gyroscope units (for example: chip-type gyroscope unit or wireless transmission signal gyroscope unit).

FIG. 6 is a schematic flow chart of the balanced flight-controlled building exterior wall cleaning method of the preferred embodiment of the present invention, which corresponds to the balanced flight-controlled building exterior wall cleaning system shown in FIG. 2. Please refer to FIGS. 2, 3, 4, 5 and 6. The balanced flight-controlled building exterior wall cleaning method of the preferred embodiment of the present invention includes step S1: First, for example, the lifting mechanism 2, the multi-axis cleaning mechanism 3, the supporting mechanism 10, the pneumatic adjustment and positioning mechanism 4 and related peripheral equipment are connected and configured on the flight-controlled cleaning host 1 (for example: flight-controlled automatic cleaning machine) in an automatic, semi-automatic or manual manner.

Please refer to Figures 2, 3, 4, 5 and 6. For example, the computer program of the flight control cleaning host 1 of another preferred embodiment of the invention can be transmitted or modified using the Internet, and is applicable to various information network systems, such as various local area networks (LANs), various wireless local area networks (wireless LANs) or various cloud server systems (cloud server systems), so as to perform remote operations.

Please refer to Figures 2, 3, 4, 5 and 6 again. The balanced flying control type building exterior wall cleaning method of the preferred embodiment of the present invention includes step S2: Then, for example, the flying control type cleaning host 1 and the supporting mechanism 10 are moved to a predetermined position on the building exterior wall surface 100 (as shown in Figure 2) or the curved exterior wall surface 101 (as shown in Figure 3) by using appropriate technical means to automatically, semi-automatically or manually utilize the lifting mechanism 2 (for example: automatic lifting mechanism) to operate (for example: ascending operation or descending operation).

Please refer to Figures 2, 3, 4, 5 and 6. For example, the flight-controlled cleaning host 1, the lifting mechanism 2, the multi-axis cleaning mechanism 3, and the pneumatic adjustment and positioning mechanism 4 are executed as computer-executable process steps, which can be executed or operated on various computer devices, such as workstation computers, desktop computers, laptop computers, tablet computers, mobile communication devices, smart phones or other devices with computer functions.

Please refer to Figures 2, 3, 4, 5 and 6 again. The balanced flight control type building exterior wall cleaning method of the preferred embodiment of the present invention includes step S3: Then, for example, the multi-axis cleaning mechanism 3 (for example: multi-axis automatic cleaning mechanism) is operated automatically, semi-automatically or manually using appropriate technical means to perform a multi-axis automatic exterior wall cleaning operation on the building exterior wall surface 100 (as shown in Figure 3) or the curved exterior wall surface 101 (as shown in Figure 4).

Please refer to Figures 2, 3, 4, 5 and 6 again. The balanced flight control type building exterior wall cleaning method of the preferred embodiment of the present invention includes step S4: Then, for example, the flight control type cleaning is automatically, semi-automatically or manually operated by using appropriate technical means to utilize the pneumatic adjustment and positioning mechanism 4 (for example: automatic adjustment and positioning mechanism) and its air flow power unit 40 to operate The main machine 1 and the supporting mechanism 10 are relatively pressed and supported to balance on the building's outer wall surface 100 (as shown in FIG. 3) or the curved outer wall surface 101 (as shown in FIG. 4) to perform a pneumatic adjustment and positioning operation, that is, they are pressed and tightly positioned on the building's outer wall surface 100 (as shown in FIG. 3) or the curved outer wall surface 101 (as shown in FIG. 4) with appropriate force.

Please refer to Figures 2, 3, 4, 5 and 6. For example, the pneumatic adjustment and positioning mechanism 4 and its airflow power unit 40 are operated (e.g., forward axial airflow, left forward airflow, right forward airflow, reverse axial airflow, left reverse airflow or right reverse airflow) to perform an automated pneumatic adjustment and positioning operation on the multi-axis cleaning mechanism 3, the supporting mechanism 10 and the pneumatic adjustment and positioning mechanism 4 to prevent the flight control cleaning host 1 from swaying during its own operation and shaking when blown by strong wind.

Please refer to Figures 2, 3 and 4 again. For example, the forward axial airflow or reverse axial airflow can be selected to automatically adjust the predetermined blade angle of each blade of the pneumatic adjustment and positioning mechanism 4 and its driving impeller 41 to determine the output airflow direction of the driving impeller 41, and the predetermined blade angle of each blade of the driving impeller 41 can be selected to be automatically adjusted according to different needs.

Please refer to Figures 2, 3, 4, 5 and 6 again. For example, the building outer wall surface 100 is selected from a curved outer wall surface (as shown in Figure 4) or an irregular outer wall surface (as shown in Figure 3). The pneumatic adjustment and positioning mechanism 4 and its air flow power unit 40 are adjusted to move the multi-axis cleaning mechanism 3, the support mechanism 10 and the pneumatic adjustment and positioning mechanism 4 along the curved surface of the building outer wall surface 100 (as shown in Figure 3) or the curved outer wall surface 101 (as shown in Figure 4) to perform a close cleaning operation.

FIG. 7 shows a block diagram of the balanceable flight-controlled building exterior wall cleaning system of the third preferred embodiment of the present invention, which corresponds to the balanceable flight-controlled building exterior wall cleaning system shown in FIG. 2. Please refer to FIG. 7, for example, relative to the second embodiment, the balanceable flight-controlled building exterior wall cleaning system of the third preferred embodiment of the present invention is combined with at least one drone device 5, and the drone device 5 includes at least one camera lens (not marked), so as to use the camera lens of the drone device 5 to shoot the cleaning operation or other operations of the flight-controlled cleaning host 1.

Please refer to Figure 7 again. For example, another preferred embodiment of the present invention can use the camera lens of the drone device 5 to shoot the cleaning operation of the flight-controlled cleaning host 1, so as to obtain at least one large building exterior wall cleaning image (after cleaning) or at least one large building exterior wall original image (before cleaning), and connect the drone device 5 to communicate with the flight-controlled cleaning host 1, its main control unit or its computer equipment, so as to immediately view its operation.

FIG. 8 shows a block diagram of the balanced flight-controlled building exterior wall cleaning system of the fourth preferred embodiment of the present invention, which corresponds to the balanced flight-controlled building exterior wall cleaning system shown in FIG. 2. Referring to FIG. 8, for example, relative to the second embodiment, the flight-controlled cleaning host 1 and the supporting mechanism 10 of the balanced flight-controlled building exterior wall cleaning system of the fourth preferred embodiment of the present invention further include at least one grounding device 9 to prevent the friction of the supporting mechanism 10 or the multi-axis cleaning mechanism 3 from generating static electricity or outdoor lightning strikes, so as to improve the operational safety of the flight-controlled cleaning host 1.

Please refer to FIG. 8 again. For example, the flight control cleaning host 1 of another preferred embodiment of the invention further includes at least one warning light set 6 or at least one alarm sound set [not shown, such as a buzzer] or at least one lighting light set [not shown, such as cooperating with the drone device 5, as shown in FIG. 7], and the warning light set 6 is fixed on the flight control cleaning host 1, and the warning light set 6 or the lighting light set can be selected from an LED module.

FIG. 9 discloses a three-dimensional schematic diagram of the balanceable flight-controlled building exterior wall cleaning system and the surface of the building exterior wall of the fifth preferred embodiment of the present invention. FIG. 10 discloses another three-dimensional schematic diagram of the balanceable flight-controlled building exterior wall cleaning system and the surface of the building exterior wall of the fifth preferred embodiment of the present invention, which corresponds to the balanceable flight-controlled building exterior wall cleaning system shown in FIG. 9. FIG. 11 discloses another three-dimensional schematic diagram of the balanceable flight-controlled building exterior wall cleaning system of the fifth preferred embodiment of the present invention operating on the surface of the building exterior wall (including the curved exterior wall surface), which corresponds to the balanceable flight-controlled building exterior wall cleaning system shown in FIGS. 9 and 10.

Please refer to Figures 9, 10 and 11. For example, the fifth preferred embodiment of the present invention, the balanced flight-controlled building exterior wall cleaning system, mainly includes a flight-controlled cleaning host 1, a support mechanism 10, a lifting mechanism 2, a multi-axis cleaning mechanism 3 and a pneumatic adjustment and positioning mechanism 4.

Please refer to Figures 9, 10 and 11 again. For example, the main frame of the flight control cleaning host 1 can be selected from an I-shaped or H-shaped frame, and it is hinged or connected to the support foot 11 and the sliding wheel set 12 of the support mechanism 10, and the sliding wheel set 12 slides on the surface 100 of the outer wall of the building.

The above preferred embodiments are only examples to illustrate the present invention and its technical features. The technology of the embodiments can still be appropriately implemented in various substantially equivalent modifications and/or replacement methods; therefore, the scope of rights of the present invention shall be subject to the scope defined by the attached patent application scope. The copyright of this case is limited to the use of patent applications in the Republic of China.

1: Flight control cleaning host

1a: Flight control type operating device

1b: Cloud equipment

10: Support mechanism

8: Glass curtain wall

Claims (16)

A balanced flight-controlled building exterior wall cleaning device and its operating system, comprising: a flight-controlled cleaning host, which is used to clean the exterior wall surface of a building or a glass curtain wall; a lifting mechanism, which is connected and configured to the flight-controlled cleaning host, so that the flight-controlled cleaning host can be operated and lifted by the lifting mechanism; a multi-axis cleaning mechanism, which is connected and configured to the flight-controlled cleaning host, so that the multi-axis cleaning mechanism can be used to automatically clean the exterior wall surface of the building or the glass curtain wall; a supporting mechanism, which is connected and configured to the flight-controlled cleaning host, so that the flight-controlled cleaning host can be supported and operated on the exterior wall surface of the building by the supporting mechanism and a pneumatic adjustment and positioning mechanism, which is connected and configured on the flight-controlled cleaning host, so as to use the pneumatic adjustment and positioning mechanism to operate the flight-controlled cleaning host and the supporting mechanism; wherein the flight-controlled cleaning host is moved to the surface of the building's outer wall or the glass curtain outer wall by the operation of the lifting mechanism, and a multi-axis outer wall cleaning operation is performed on the surface of the building's outer wall or the glass curtain outer wall by the operation of the multi-axis cleaning mechanism, and the flight-controlled cleaning host and the supporting mechanism are relatively pressed and supported and balanced on the surface of the building's outer wall or the glass curtain outer wall by the operation of the pneumatic adjustment and positioning mechanism to perform a pneumatic adjustment and positioning operation. According to the balanced flight-controlled building exterior wall cleaning device and its operating system as described in Item 1 of the patent application scope, the supporting mechanism includes a plurality of supporting legs, so that the flight-controlled cleaning host can be supported on the surface of the building exterior wall by using the plurality of supporting legs. According to the balancing flight-controlled building exterior wall cleaning device and its operating system described in Item 2 of the patent application scope, the supporting foot of the supporting mechanism is connected to a connecting arm, and the connecting arm is configured on the flight-controlled cleaning host. According to the balancing flight-controlled building exterior wall cleaning device described in Item 2 of the patent application, the supporting leg of the supporting mechanism includes a sliding wheel set so that the sliding wheel set can be used to lean against or slide on the surface of the building exterior wall. According to the 4th item of the patent application scope, the balanceable flying control type building exterior wall cleaning device and its operating system, wherein the sliding wheel assembly is configured and assembled at an end portion. According to the balanced flight-controlled building exterior wall cleaning device and its operating system described in Item 1 of the patent application scope, the flight-controlled cleaning host is also connected to communicate with at least one flight-controlled operating device so that the flight-controlled operating device can be used to operate the flight-controlled cleaning host. According to the 6th item of the patent application scope, the balanced flying control type building exterior wall cleaning device and its operating system, wherein the flying control type operating device can selectively connect and operate the lifting mechanism, multi-axis cleaning mechanism or pneumatic adjustment and positioning mechanism. According to the 6th item of the patent application scope, the balanced flying control type building exterior wall cleaning device and its operating system, wherein the flying control type operating device is selected from a computer device or an operating device with wireless communication function. According to the balanced flight-controlled building exterior wall cleaning device and its operating system described in Item 1 of the patent application scope, the pneumatic adjustment and positioning mechanism includes several drive impellers and a control unit. According to the balanced flight-controlled building exterior wall cleaning device and its operating system described in Item 1 of the patent application scope, the pneumatic adjustment and positioning mechanism includes at least one servo motor unit, and the servo motor unit is used to drive at least one driving impeller. According to the 1st item of the patent application scope, the balanced flight-controlled building exterior wall cleaning device and its operating system, wherein the pneumatic adjustment and positioning mechanism includes at least one gyroscope unit to detect the movement of the flight-controlled cleaning host. According to the balanced flying control type building exterior wall cleaning device and its operating system described in Item 1 of the patent application scope, the pneumatic adjustment and positioning mechanism is operated to perform an automated pneumatic adjustment and positioning operation to prevent the flying control type cleaning host from swaying during its own operation and shaking when strong winds blow. According to the balanced flight-controlled building exterior wall cleaning device and its operating system described in Item 1 of the patent application scope, the building exterior wall surface or the glass curtain wall is selected from a curved exterior wall surface or an irregular exterior wall surface, and the pneumatic adjustment and positioning mechanism is adjusted to operate along the building exterior wall surface or the glass curtain wall. According to the balanced flying control type building exterior wall cleaning device and its operating system described in Item 1 of the patent application scope, the flying control type cleaning host is combined with at least one drone device, and the drone device is used to shoot the operation of the flying control type cleaning host, so as to obtain at least one image of the exterior wall of a building being cleaned or at least one original image of the exterior wall of a building. According to the balanced flight-controlled building exterior wall cleaning device and its operating system as described in Item 1 of the patent application scope, the flight-controlled cleaning host also includes at least one grounding device. According to the balanced flight-controlled building exterior wall cleaning device and its operating system described in Item 1 of the patent application scope, during the cleaning operation, at least one robot arm of the multi-axis cleaning mechanism avoids several supporting feet of the supporting mechanism to avoid improper mutual collision.

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