Apparatus and method for continuously cleaning and painting of large surfaces and high walls

A system for applying working equipment onto an external wall of a structure. One system comprises a suspended platform anchored to the structure, operably vertically moveable at a constant speed along the external wall; and a positioning system arranged to determine and control a predefined motion pattern of the working equipment relative to the suspended platform, the positioning system mounted on the suspended platform. The predefined motion pattern is selected such as to allow continuous and uniform application of the working equipment horizontally and vertically onto the external wall during the vertical movement of the suspended platform along the external wall. The predefined motion pattern comprises a diagonal movement comprising a vertical component and a horizontal component, wherein the vertical component is equal and opposed to the vertical movement of the suspended platform.

BACKGROUND

1. Technical Field

The present invention relates to the field of maintaining structures, and more particularly, to uniformly processing external walls.

2. Discussion of Related Art

Processing external walls of structures (e.g. painting, cleaning, polishing) are complicated tasks characterized by strenuous work in risky conditions, and an ever growing extent and need.

BRIEF SUMMARY

Embodiments of the present invention provide a system for applying working equipment onto an external wall of a structure. One system comprises a suspended platform anchored to the structure, operably vertically moveable at a constant speed along the external wall; and a positioning system arranged to determine and control a predefined motion pattern of the working equipment relative to the suspended platform, the positioning system mounted on the suspended platform. The predefined motion pattern is selected such as to allow continuous and uniform application of the working equipment horizontally and vertically onto the external wall during the vertical movement of the suspended platform along the external wall.

Accordingly, according to an aspect of the present invention, there is provided a system, wherein the predefined motion pattern comprises a diagonal movement comprising a vertical component and a horizontal component, wherein the vertical component is equal and opposed to the vertical movement of the suspended platform.

Accordingly, according to another aspect of the present invention, there is provided a system, wherein the predefined motion pattern comprises a plurality of cycles. Each cycle comprises: vertical movements in which the working equipment is applied to vertical segments of the external wall; and diagonal movements comprising a vertical component and a horizontal component, wherein the vertical component is equal and opposed to the vertical movement of the suspended platform, and in which the working equipment is applied to horizontal segments of the external wall.

Accordingly, according to yet another aspect of the present invention, there is provided a system, wherein the working equipment comprises at least one of: a painting instrument, a wall cleaning instrument, a wall processing instrument.

Embodiments of the present invention provide a method of applying a working equipment onto an external wall of a structure. One method comprises: movably connecting the working equipment to a suspended platform anchored to the structure and arranged to move vertically up and down along the external wall; and moving the working equipment according to a predefined motion pattern relative to the suspended platform and applying the working equipment onto the external wall. The predefined motion pattern is selected such as to allow continuous and uniform application of the working equipment horizontally and vertically onto the external wall during the vertical movement of the suspended platform along the external wall.

Embodiments of the present invention provide a system for applying working equipment onto an external wall of a structure. One system comprises a suspended platform; a positioning system; a plurality of supporting wheels; and a plurality of ventilators. The suspended platform is anchored to the structure, operably vertically moveable at a constant speed along the external wall, and arranged to cover a plurality of vertical bands on the external wall by moving up and down the vertical bands. The positioning system is arranged to determine and control a predefined motion pattern of the working equipment relative to the suspended platform. The positioning system is mounted on the suspended platform and comprises: a support connected to the suspended platform; a conveyor pivotly mounted on the support, the conveyor arranged to be controllably swung on a pivot; and a transporter connected to the conveyor and arranged to be controllably moved along the conveyor according to the predefined motion pattern. The working equipment is connected to the transporter such as to be applicable to the external wall. The supporting wheels are connected to the suspended platform and arranged to stabilize and direct movements of the suspended platform. The ventilators are connected to the suspended platform and are arranged to secure a constant contact to the external wall and to stabilize suspended platform. The predefined motion pattern is selected such as to allow continuous and uniform application of the working equipment horizontally and vertically onto the external wall during the vertical movement of the suspended platform along the external wall. The predefined motion pattern comprises a plurality of cycles, each cycle comprising: vertical movements of the transporter generated by swings of the conveyor, in which the working equipment is applied to vertical segments of the external wall; and diagonal movements of the transporter along the conveyor, each diagonal movement comprising a vertical component and a horizontal component, wherein the vertical component is equal and opposed to the vertical movement of the suspended platform, and in which the working equipment is applied to horizontal segments of the external wall.

DETAILED DESCRIPTION

FIG. 1is a schematic illustration of a system for applying working equipment99onto an external wall98of a structure, according to some embodiments of the invention. The system comprises a suspended platform150anchored to the structure e.g., by cables151connected to a crane (188inFIG. 3D) on the rooftop (189inFIG. 3D). Structure may include buildings, ships, chimneys, shafts, granaries, etc. In operation, suspended platform150is arranged to move vertically at a constant speed up and down along external wall98. Suspended platform150is arranged to allow applying working equipment99onto extended parts of external wall98by sequentially applying working equipment99to vertical bands (seeFIG. 3D) of external wall98. The system further comprises a positioning system100mounted on suspended platform150and arranged to determine and control a predefined motion pattern of working equipment99. The predefined motion pattern is selected such as to allow continuous and uniform application of working equipment99horizontally and vertically onto external wall98during the vertical movement of suspended platform150along external wall98.

According to some embodiments of the invention, working equipment99may comprise various instruments for painting, cleaning or processing external wall98, such as: a painting instrument, a wall cleaning instrument, a wall processing instrument.

According to some embodiments of the invention, predefined motion pattern may be selected as to generate horizontal and vertical movements of working equipment99, and in particular avoid diagonal movement of working equipment99. Predefined motion pattern is selected such that its superposition upon the vertical movement of suspended platform150generates horizontal and vertical predefined motion patterns. For example, the predefined motion pattern may be diagonal with a vertical component that is equal and opposed to the vertical movement of suspended platform150.

According to some embodiments of the invention, the predefined motion pattern may be implemented using positioning system100mounted upon suspended platform150. Positioning system100may comprise a transporter110connected to a conveyor101, e.g. comprising pulleys103. Working equipment99is connected to transporter110such as to operate on external wall98. Transporter110and conveyor101are arranged to allow moving working equipment99according to the predefined motion pattern. For example, conveyor101may be mounted on a pivot109of a support102(pivot109may be connected to support102e.g. via a bearing) connected to suspended platform150. Conveyor101may be allowed to swing (105) on pivot109in a controlled manner (seeFIGS. 3A,3B,3C below).

According to some embodiments of the invention, a control unit113may control swinging of conveyor101, e.g. by means of a piston117arranged to heave and lower conveyor101. A motor112may be connected to conveyor101and arranged to move (104) transporter110along conveyor101. Motor112may be either connected to transporter110or not, and motion control of transporter110may be a combination of direct influence of either motor112, conveyor101or both. Control unit113is connected to motor112and arranged to control motor112. Altogether, control unit113, motor112, conveyor101, pulleys103, pivot109and transporter110are arranged and configured to move working equipment99according to the predefined motion pattern.

According to some embodiments of the invention, accessories such as lighting means116or a camera114may be attached to suspended platform150to improve working quality and allow external control on working equipment99via control unit113. For example a control center (not shown) may be connected to camera114, receive images of external wall98and working equipment99, and control the predefined motion pattern via control unit113.

According to some embodiments of the invention, suspended platform150may further comprise a stabilization unit149connected to suspended platform150and arranged to secure a constant contact to external wall98, to stabilize suspended platform150and to direct movements of suspended platform150. Stabilization unit149may comprise, for example supporting wheels155or ventilators152,153.

According to some embodiments of the invention, suspended platform150may be stabilized and in constant contact with external wall98by means of supporting wheels155, as well as by air pressure generated by ventilators152,153at the sides of suspended platform150that are remote from external wall98. Supporting wheels155and ventilators152,153may be controllable and used to enhance the efficiency and uniformity of applying working equipment99.

FIGS. 2A and 2Bare schematic illustrations of positioning systems100, according to some embodiments of the invention.FIG. 2Ais a non-perspective view of an embodiment similar to the one described inFIG. 1. Positioning system100comprises transporter110movably connected to conveyor101, that is pivotly mounted on support102and arranged to be swung by piston117. Support102is connected to suspended platform150. Conveyor101is pivotly mounted on support102, and is arranged to be controllably swung on pivot109. Transporter110is connected to conveyor101and is arranged to be controllably moved along conveyor101according to the predefined motion pattern. Working equipment99is connected to transporter110such as to be applicable to external wall98. The system may further comprise piston117connected to a motor (not shown) and to control unit113. Piston117is arranged to heave and lower conveyor101according to control commands from control unit113. The system may further comprise motor112connected to transporter110and to control unit113. Control unit113is arranged to move transporter110according the predefined motion pattern in relation to movements of conveyor101.

FIG. 2Billustrates a different embodiment of positioning system100comprising a fixed horizontal conveyor101with a movably attached transporter110, and a vertical piston105supporting working equipment99that is mounted upon transporter110. Conveyor101is arranged to move (106) working equipment99horizontally, while vertical piston105is arranged to move (107) working equipment99vertically. Vertical motion107may be arrange to counteract the vertical motion of suspended platform150. Positioning system100may comprise support102, fixed horizontal conveyor101and transporter110. Support102is connected to suspended platform150, and conveyor101is mounted on support102. Transporter110is connected to fixed horizontal conveyor101and arranged to be controllably moved along conveyor101according to the predefined motion pattern. Transporter110may comprise vertical piston105and working equipment99may be connected to vertical piston105such as to be applicable onto external wall98. Vertical piston105may be arranged to controllably move working equipment99according to the predefined motion pattern in relation to the controlled movements of transporter110on fixed horizontal conveyor101.

According to some embodiments of the invention, the predefined motion pattern comprises a plurality of cycles, each cycle comprising vertical movements and diagonal movements of working equipment99. The vertical movements are generated by movements of vertical piston105, in which working equipment99is applied to vertical segments of external wall98. The diagonal movements comprise vertical movements generated by movements of vertical piston105and horizontal movements generated by fixed horizontal conveyor101. The vertical movements are equal and opposed to the vertical movement of suspended platform150, and the horizontal movements are configured to enable applying working equipment99to horizontal segments of external wall98.

FIGS. 3A,3B,3C and3D are high level schematic diagrams illustrating application of working equipment99during a vertical movement180of suspended platform150, according to some embodiments of the invention.FIG. 3Ais an illustration of processed segments160,163,165,167(in grey) of external wall98, within a vertical band (seeFIG. 3D) processed by working equipment99on suspended platform150during a single downwards vertical movement180. One cycle of positioning system100applying working equipment99is shown in detail inFIG. 3BandFIG. 3C. The cycle comprises four phases—marked by the letters A, B, C, D. At phase A, transporter110moves (170) along conveyor101at an inclined position, such that the vertical component of movement107equals and is opposite to vertical movement180of suspended platform150. Thus, the movement of transporter110and working equipment99in respect to external wall98equals the horizontal component (161) of movement170. During phase A, working equipment99is applied onto horizontal segment160of external wall98. At phase B, conveyor101swings and transporter110moves vertically downwards (171), applying working equipment99on vertical segment163of external wall98by a vertical movement162that combines vertical movements of transporter110(171) and suspended platform150(180). At phase C, after swing171is completed, transporter110moves diagonally172, with a vertical component that is equal and opposite to vertical movement180of suspended platform150. In this manner, the movement of transporter110and working equipment99relative to external wall98equals the horizontal component of movement172, which is marked by164. During phase C, working equipment99is applied to horizontal segment165of external wall98. Finally, phase D is similar to phase B, and comprises a downwards swing173of transporter110, resulting in a vertical movement166of working equipment99and its application to vertical segment167of external wall98. The cycle is repeated until a vertical band185(FIG. 3D) of external wall98is processed by working equipment99.

FIG. 3Dillustrates the system comprises a suspended platform150anchored to the structure e.g., by cables151connected to crane188on the rooftop189. In operation, suspended platform150is arranged to move vertically at a constant speed up181and down180along external wall98. Suspended platform150is arranged to allow applying working equipment99onto extended parts of external wall98by sequentially applying working equipment99to vertical bands185,186of external wall98. The system further comprises positioning system100mounted on suspended platform150and arranged to determine and control a predefined motion pattern of working equipment99. The predefined motion pattern is selected such as to allow continuous and uniform application of working equipment99horizontally and vertically onto external wall98during vertical movement180,181of suspended platform150along external wall98.

According to some embodiments of the invention, consequent vertical bands185,186of external wall98may be processed by moving suspended platform150vertically up (181) and down (180) at consequent vertical bands185,186. The motion pattern of transporter110may be adjusted to upwards vertical movement181of suspended platform150by replacing the downwards movement180with the upwards movement181in calculating the predefined motion pattern. In particular, movements170,171,172and173may be adapted such that combining their vertical components with upwards movement181still allow continuous and uniform processing of the horizontal and vertical segments of external wall98. Suspended platform150may switch between vertical bands185,186by horizontal movements187at the ends of vertical bands185,186.

According to some embodiments of the invention, the predefined motion pattern comprises multiple cycles. Each cycle may comprise vertical movements171,173and diagonal movements170,172. Vertical movements171,173allow applying working equipment99to vertical segments163,167of external wall98. Diagonal movements170,172comprise a vertical component and a horizontal component. The vertical component is equal and opposed to vertical movement180,181of suspended platform150. Thus, the movement of working equipment99relative to external wall98is horizontal161,164and allows applying working equipment99onto external wall98to process horizontal segments160,165of external wall98.

FIGS. 4A and 4Bare schematic illustrations of stabilization unit149, according to some embodiments of the invention. Stabilization unit149is connected to suspended platform150and arranged to secure a constant contact to external wall98, to stabilize suspended platform150and to direct movements of suspended platform150. Stabilization unit149may comprise, for example supporting wheels155or ventilators152,153.FIG. 4Aillustrates stabilization and direction determination by controlling supporting wheels155. In particular, some of supporting wheels155, for example upper supporting wheels157, may be movably connected to suspended platform150by a flexible connection156, and connected via a shaft158to a control unit159that may comprise a motor on an actuator. Moving upper supporting wheels157allows controlling the motion of suspended platform150, for example correct its path or change between vertical bands185,186of external wall98(movements187,FIG. 3D).FIG. 4Billustrates stabilization and direction determination by controlling air pressure generated by ventilators152,153at the sides of suspended platform150that are remote from external wall98. For example, ventilators153at the sides of suspended platform150may control its lateral movements, while ventilators152at the back of suspended platform150may secure a constant contact to, or keep a predefined gap from external wall98.

FIG. 5is a high level schematic flowchart of a method of applying a working equipment onto an external wall of a structure, according to some embodiments of the invention. The method comprises: movably connecting the working equipment to a suspended platform anchored to the structure and arranged to move vertically up and down along the external wall (stage200); and moving the working equipment according to a predefined motion pattern relative to the suspended platform and applying the working equipment onto the external wall (stage210). The predefined motion pattern is selected such as to allow continuous and uniform application of the working equipment horizontally and vertically onto the external wall during the vertical movement of the suspended platform along the external wall.

According to some embodiments of the invention, the method may further comprise stabilizing and controlling the vertical movement of the suspended platform (stage220). Stabilization may be achieved by various means, including wheels or ventilators applying pressure to the external wall and the suspended platform.

According to some embodiments of the invention, the predefined motion pattern comprises a diagonal movement comprising a vertical component and a horizontal component, wherein the vertical component is equal and opposed to the vertical movement of the suspended platform. The method may comprise moving the working equipment diagonally such that the vertical component of the diagonal movement is equal and opposite to the vertical movement of the suspended platform (stage230).

According to some embodiments of the invention, the method may further comprise applying the working equipment onto horizontal segments and onto vertical segments of the external wall (stage240). Avoidance of overlaps between the segments may allow uniform application of the working equipment.

According to some embodiments of the invention, the working equipment may comprise any of: a painting instrument, a wall cleaning instrument, a wall processing instrument.

According to some embodiments of the invention, the systems and methods disclosed allow automating the processing of external walls98while keeping high application standards by compensating for vertical movement180,181of suspended platform150by movements of positioning system100. The net movement allows uniform application of working equipment99.

Any publications, including patents, patent applications and articles, referenced or mentioned in this specification are herein incorporated in their entirety into the specification, to the same extent as if each individual publication was specifically and individually indicated to be incorporated herein. In addition, citation or identification of any reference in the description of some embodiments of the invention shall not be construed as an admission that such reference is available as prior art to the present invention.