Patent Publication Number: US-2010130108-A1

Title: Aviram

Description:
The present application claims priority from the patent application No. 183209 filed in Israel on 15 May 2007 by the present applicant and having the same title. 
     TECHNICAL FIELD 
     The present relates to a stabilized, suspended platform for performing work at high locations, under remote control. 
     BACKGROUND ART 
     At present, there is a problem of cleaning windows and walls of tall buildings. The work is expensive, labor-intensive and may be hazardous. The weather has to be considered as well. When it rains or there are strong winds, work may be still more difficult. 
     Sometimes a scaffolding has to be erected. 
     An irregular-shaped building or statue may be still more difficult to clean. 
     DISCLOSURE OF INVENTION 
     The present invention relates to a suspended platform with a capability of moving in space, under remote control. The platform may include means for holding various accessories to perform a wide variety of tasks as desired. 
     The platform may be used in a device for cleaning windows and building facades using brushes, water jets and/or sand blasting. 
     The platform may be used for cleaning by pressured sand, for example in cleaning windows or buildings. 
     One goal of the invention is to perform various tasks at elevated locations, such as the side of a building, without endangering workers, using a platform which is movable in space. 
     One embodiment of the invention comprises a device suspended on a cable from the top of the building. The cable includes mechanical support means, together with a supply of electricity, water, communications, etc. 
     The device may be controlled from a remote, safe location. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  illustrates a platform system movable about the front of a building 
         FIG. 2  details means for stabilizing the platform 
         FIG. 3  details the block diagram of a stabilized platform system 
         FIG. 4  details a propeller or ventilator with two-dimensional aiming means 
         FIG. 5  details a platform with means for stabilizing it located in a box under the platform 
         FIG. 6  details a platform with means for stabilizing it located in a box under the platform and including two front propellers. 
     
    
    
     BEST MODE FOR CARRYING OUT THE INVENTION 
       FIG. 1  illustrates a platform  3  movable about the front of a building  1 . The suspended platform  3  has a capability of moving in space as defined by the tri-dimensional axes  2 , under remote control from a remote control unit  5 . 
     The stabilized platform  3  is suspended from upper support means  4 . Support means  4  include traction means such as an electric motor rotating main wheel  42 , with auxiliary wheel  43 , for pulling or releasing part of the cable  41 , thus moving the platform  3  up or down, in the direction  22  (z axis). 
     Furthermore, support means  4  may move laterally, in the direction  21  (x axis) for example along lateral movement tracks  44  mounted there. 
     The vertical and lateral movements can bring the suspended platform  3  to a desired location on the wall of the building  1 . 
     Additionally, the platform  3  includes means for self-propulsion using one or more propellers or ventilators  31 , three such units being mounted in the embodiment as illustrated. 
     The ventilators may exert a force and/or cause a movement in directions  23 ,  24 ,  25  as illustrated. 
     Furthermore, each ventilator may be mounted on a base with means for changing its direction, for example in elevation and/or azimuth, as detailed elsewhere in the present disclosure. 
     Thus, the direction of the force applied by each ventilator can be controlled and adjusted as desired. 
     For example, ventilators may be activated to bring the platform  3  closer to the building or even inside it to a limited extent. This may be desirable when applying a brush to forcibly clean the wall. 
     In another application, winds may move the platform away from the desired location. The ventilators may apply a counter-thrust to keep the platform in place. 
     In yet another application, the platform may start a pendulous movement, for example after a lateral movement of unit  4 . The ventilators may be so activated as to dampen, or stop, such undesired movements or oscillations. 
     Usually, unit  4  will be used for large movements, while the ventilators in platform  3  will be used for fine lateral movements and stabilization. 
     A platform cable  41  includes mechanical support cable, as well as conduits for electric power, communications, water, pneumatic pressure and/or detergents. 
     Platform  3  may be equipped with means for holding various accessories to perform a desired task, for example a device for cleaning windows and building facades using brushes or sand blasting. 
     The goal: performing various tasks at high locations, such as the side of a building, without endangering workers, using a platform which is movable in space. 
     One embodiment—a device hung on a cable from the top of the building. The cable includes mechanical support together with a supply of electricity, water, communications, etc. 
     The device may be controlled from a remote, safe location using means  5 . 
       FIG. 2  details means for stabilizing the platform  3 . 
     The stabilized platform  3  is suspended from a cable  41  which may include a mechanical support cable, electric power, control signals, pneumatic pressure, water, etc. 
     1. Movement of the Device 
     The device includes a plurality of propellers  31 ,  32 ,  33  which may be used to move the device in a generally horizontal plane, under operator&#39;s control. Usually these are small movements and/or forces applied to counter wind forces. 
     The cable  41  may be used to move the device vertically and for large horizontal movements. 
     This allows the device a tri-dimensional movement in space. 
     2. Structure of the Device 
     The device is modular and its structure may be adapted to the needs of the user, for example: 
     To wash windows and walls of a skyscraper a suitable brush may be added, with an adequate supply of water and chemicals/detergents and possibly the removal of waste water. 
     Sand blast cleaning of walls and statues using a sand compressor and adequate accessories. 
     Various brushes may be used to clean small enclaves/cavities/recessions or poisonous/hazardous places. 
     The device may be suspended from a helicopter, for example, and will self-adjust to a problematic spot, such as mines extraction, etc. 
     May use a trailing hook or other equipment. 
     3. Controlling the Device 
     The device may be controlled by wire or wireless. It is possible to attach various sensors, including for example contact or smell sensors, video cameras, microphones, gravity sensors, acceleration sensors, inertial direction sensors such as gyroscopes, etc. 
     Illumination means  39  may also be attached to the device. 
     A computer, microcomputer or controller  34  in the device may control the various functions of the device, while communicating with a remote control device or computer  5 . 
     The propellers  31 ,  32 ,  33  are mounted each on a propeller base  312 ,  322 ,  332  respectively. Preferably each propeller base is capable of azimuth and/or elevation rotation, thus the direction of the thrust can be controlled. 
     A control unit  34  is used to activate the propellers as well as illumination means  39 , for example. The unit  34  also communicates with a remote control means, by wire or wireless. Sensor signals may be processed locally for stabilizing the platform  3 , or may be transmitted to a remote location. 
     Such sensor signals may include signals from a TV camera  35 , bumpers and/or sensor means  36 , etc. 
     Inputs relating to the location of the device and the work in progress may be transferred from a video camera  35  and other sensors to the operator. 
     Holding means  37  may be used for clasping work accessories, such as brushes, sand blasting, water spray, etc. 
       FIG. 3  details the block diagram of a stabilized platform system, including a remote control unit  5 , communicating with the support means  4  and with the platform controller  34 . 
     Thus, large movements as well as fine movements and platform stabilization may be performed as directed from the remote control unit  5 . 
     The remote control unit may include a microcontroller and a transmitter/receiver, with display means  51  and control input means  52 . 
     The unit  4  includes means for moving the platform  3  in two dimensions (lateral and height) according to commands from unit  5 . 
     The platform  3  includes a control unit  34  communicating with unit  5 , both for receiving commands and for transmitting signals from the sensors mounted on the platform, for example a TV camera  35 , bumpers and/or sensor means  36 , gyro inertial sensor means  381  and/or other sensors  382  including earth gravity sensor means for example. 
     The control unit  34  may activate illumination means  39  when desired (at dark). 
     Furthermore, the unit  34  includes means (hardware and software) for activating the propellers  31 ,  32 ,  33 —for each controlling its power (the force, or thrust exerted) as well as its direction in azimuth and elevation. 
     In a preferred embodiment, a closed loop servo system is used to locate (fine movements) and stabilize the platform  3 . 
     The loop may be closed with the controller  34 , or using a computer at a remote location such as unit  5 , and/or may be controlled manually. 
     The platform can be stabilized by using a closed loop servo control system and method, to keep the platform at a desired location in space despite various disturbances such as wind. 
     The stabilized suspended platform may include means for controlling the propeller power and orientation under servo loop control. 
     The servo means may include input means for receiving a desired location command, sensor means for detecting deviations from the desired location and propeller means for exerting a force to move the platform to the desired location. The commands may be received from a remote location. The sensors may include video, gyroscope inertial sensors, radar, ultrasound, infrared and/or other sensors. 
     The servo control loop may be used both to position the platform at a desired location, and to keep it there despite various disturbances. 
     Moreover, a controlled force may be applied, for example a brush on the platform using a controlled pressure on a window while cleaning it. 
     The unit  34  may also be used to activate work accessories mounted on platform  3 , such as a rotating brush for example. 
     Uses of the Device 
     The present device may find many uses, for example: 
     Cleaning windows or walls of tall buildings. 
     Advantages: can be used 24 hours per day, in any weather and wind force. More productive than manual labor, without endangering human life. 
     Cleaning of facades, statues and irregularly-shaped building, using for example brushes and sand blasting. 
     The platform may be used for cleaning by pressured sand, using suitable accessories. 
     Advantages: Eliminates the need for a scaffold, can reach (to a limited degree) inside a building in a horizontal plane. 
     Using sensors and an advanced structure and control means, the device can achieve complete control on a force or pressure applied to various locations, even in the presence of winds. 
     The device allows to work on a statue or wall from a distance, without physical contact with the target surface. 
     The device may be used for work in hazardous places such as sewers, chemical factories or chemical reservoirs, etc. 
     It can be used off helicopters to connect a holding hook, delivery of equipment to problematic locations and/or beyond the horizontal plane of the holding platform, work on mine fields without touching the ground, or adjusting a ladder or stretcher as required. 
     The device can be used to adjust a fuel pipe from a refueling aircraft or various cables off a flying airplane. 
       FIG. 4  details a propeller or ventilator with two-dimensional aiming means  31 . It includes a propeller or ventilator frame  311 , connected to the axis of a first stepper motor  312 , with the body of the motor  312  being mounted on the frame  313 , for the elevation angle adjustment. 
     The ventilator frame  313  can also be rotated in azimuth using a second stepper motor  314 , which is mounted on frame  313  and with its axis connected to the support rod  315 . 
       FIG. 5  details a platform  3  with means for stabilizing it located in a box  6  under the platform. This is another preferred embodiment of the device of  FIG. 2 , for example. 
     The stabilized platform  3  is suspended from a cable  41  which may include a mechanical support cable, electric power, control signals, pneumatic pressure, water, etc. 
     Movement of the Device 
     The device includes a plurality of propellers  31  and  32  as illustrated, and preferably also a propeller on the lateral wall of the box  6  opposite that with the propeller  31 . These propellers may be used to move the platform  3  in a generally horizontal plane, under operator&#39;s control. 
     Usually these are small movements and/or forces applied to counter wind forces. 
     The cable  41  may be used to move the device vertically and for large horizontal movements. 
     This allows the device a tri-dimensional movement in space. 
     The propellers  31 ,  32 , etc. preferably are mounted on axes to allow their rotation about horizontal and vertical axes as illustrated, so as to direct the thrust (the force activated to stabilize the platform  3 ) in the desired direction. 
     A two axis positioner may be used for each propeller. 
     Furthermore, each propeller may be set to rotate in one or the opposite direction, so as to direct the force activated on the platform  3  as desired. 
     By mounting the propellers in a box  6  under the platform  3 , the platform  3  is left with a larger surface free for work tools for cleaning buildings. 
     The work area on the platform  3  is better separated from the wind generated by the propellers. 
     Furthermore, the propellers are better protected from the environment. 
     The users or operators of the device are better protected too. 
     The structure may be more stable and easier to control. 
       FIG. 6  details a platform  6  with means for stabilizing it located in a box under the platform and including two front propellers  32 ,  325 . This embodiment offers improved performance where a larger force is required to be applied on the wall to be cleaned, or to apply a different force on the left and right sides of the device. 
     The drawing also illustrates the lateral propellers  31  and  33 . 
     The left and right sides of the platform may be supported with cables  411  and  413 , respectively. 
     INDUSTRIAL APPLICABILITY 
     A suspended, stabilized platform may be used for cleaning vertical surfaces or irregular surfaces. 
     The platform may perform various tasks at high locations, such as the side of a building, without endangering workers, using a platform which is movable in space. 
     It will be recognized that the foregoing is but one example of an apparatus and method within the scope of the present invention and that various modifications will occur to those skilled in the art upon reading the disclosure set forth hereinbefore.