US 12,070,865 B2
Device and method for use in cleaning a facade
Avi Abadi, Holon (IL); and Yaron Schwarcz, Tel-Aviv (IL)
Assigned to Skyline Robotics Ltd., Tel Aviv (IL)
Appl. No. 16/967,830
Filed by Skyline Robotics Ltd., Tel Aviv (IL)
PCT Filed Feb. 7, 2019, PCT No. PCT/IL2019/050157
§ 371(c)(1), (2) Date Aug. 6, 2020,
PCT Pub. No. WO2019/155473, PCT Pub. Date Aug. 15, 2019.
Claims priority of provisional application 62/627,785, filed on Feb. 8, 2018.
Prior Publication US 2021/0040757 A1, Feb. 11, 2021
Int. Cl. B25J 9/16 (2006.01); A47L 1/02 (2006.01); B25J 11/00 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 11/0085 (2013.01); A47L 1/02 (2013.01); G05B 2219/39371 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer implemented method for controlling a cleaning process of one or more building facades from an building maintenance elevator of a building, comprising:
receiving a multi-dimensional map of at least a portion of at least one facade of the building;
determining, according to the multi-dimensional map, an ordered sequence of instructions, comprising:
robotic arm instructions for controlling at least one robotic arm of a robotic system mounted on a basket of an elevator platform of the building, and
elevator platform instructions for controlling a position of the basket;
wherein said robotic arm instructions and said elevator platform instructions are temporally intertwined to execute a cleaning pattern covering at least part of the at least one facade along a plurality of different floors;
forwarding said robotic arm instructions to the robotic system for controlling the at least one robotic arm of the robotic system via at least one first interface; and
forwarding said elevator platform instructions to a building maintenance elevator component for controlling the elevation of the basket via a second interface which is different from the at least one first interface;
wherein said at least one first interface comprises a first electromechanical interface of a processing component comprised in a control system of the robotic system and adapted for communicating with the at least one robotic arm via said first electromechanical interface to drive movement of said at least one robotic arm,
wherein the second interface is a communication interface comprised in a control system of the building maintenance elevator which is separate from the control system of the robotic system and adapted for communicating with a remote device to receive said elevator platform instructions, wherein the control system of the building maintenance elevator comprises an output to a second electromechanical interface that deives movement of the elevator platform.