CN114947647A - Intelligent cleaning robot for glass curtain wall and use method thereof - Google Patents

Abstract

The invention discloses an intelligent glass curtain wall cleaning robot and a method for using the same, and develops a mobile cleaning robot that can work vertically on the glass curtain wall. The robot includes a sling safety module, a frame module, a cleaning module, a walking air path module, a stain identification module and an intelligent central control module, wherein the conversion frame is located at the cross transition connection of the transverse travel frame and the longitudinal travel frame where, between the transverse travel frame and the conversion frame, the screw mechanism and the linear guide mechanism are movably matched and driven by the servo motor II to adjust the relative position between the two; and, between the longitudinal travel frame and the conversion frame The relative position between the two is adjusted by the screw mechanism and the linear guide mechanism, and the relative position between the two is adjusted by the drive of the servo motor I; the cleaning module is installed on the conversion frame. The robot integrates the functions of obstacle recognition, automatic walking, intelligent judgment, automatic cleaning and purification.

Description

Glass curtain wall intelligent cleaning robot and its use method

technical field

The invention relates to the technical field of glass curtain wall exterior wall cleaning equipment, in particular to an intelligent glass curtain wall cleaning robot and a method for using the robot.

Background technique

The glass curtain wall exterior wall cleaning automation technology is actively researched at home and abroad. The ultimate goal of the research is to provide an intelligent robot that can intelligently identify obstacles, automatically walk, intelligently clean and purify, and is safe and reliable.

Most of the solutions in the prior art are only aimed at some specific and partial functions, and lack an integrated intelligent cleaning robot.

For example, based on safety considerations, the adsorption method is generally suction cup adsorption or turbofan negative pressure attachment. It can be seen that most of the non-magnetically conductive walls use the negative pressure adsorption of the sealed cavity, and the high-speed rotating fan is used to generate negative pressure. The machine is attached to the glass curtain wall, but the disadvantage is that the rotating fan will generate a lot of noise, which will seriously affect the indoor residents.

For example, in the way of movement, the wheeled wall-climbing robot is generally difficult to cross when encountering obstacles, and cannot adapt to the window frames between some glass curtain walls; although the obstacle-crossing performance of the footed wall-climbing robot is excellent, the overall stability of the movement is It has poor performance and cannot carry cleaning tools for cleaning operations; although the crawler-type wall-climbing robot moves faster, its steering performance is poor.

For another example, in the field of intelligent cleaning and purification, when most curtain wall cleaning robots clean panels, they are not equipped with waste water recycling devices and circulating water tanks. When cleaning a complete glass building, it is easy to waste a lot of water resources, and cleaning water is also It will cause some pollution to the environment.

4. Most of the curtain wall cleaning robots have bulky structure, too long, occupy a large space, are not easy to transport, and the installation process is more troublesome.

5. There is no anti-overturning structure. The ordinary cross-shaped cleaning robot is adsorbed on the horizontal frame. When the vertical frame moves, the body is unstable and shakes.

6. The cleaning structure cannot automatically replace the cleaning rag, and the cleaning rag will be adhered to by dust and stains, which will reduce the cleaning effect and the cleanliness.

To sum up, the new energy-saving and environmentally friendly glass curtain wall intelligent cleaning robot can purify and reuse clean sewage through a waste water recycling device, thereby reducing the waste of water resources and improving the utilization rate of clean water. Therefore, the glass curtain wall cleaning robot designed by our team is mainly designed for the cleaning of fully hidden frames, semi-hidden frames and internal point-supported glass curtain walls, reducing energy consumption, reducing carbon emissions and saving water resources during the operation.

SUMMARY OF THE INVENTION

Based on the above background, a mobile cleaning robot that can work vertically on the glass curtain wall is developed. The pursuit of glass curtain wall cleaning robots will eventually drive robotic automation. The invention provides an intelligent cleaning robot for glass curtain walls, which integrates the functions of obstacle recognition, automatic walking, intelligent judgment, automatic cleaning and purification, and provides a safe and reliable use method, which runs automatically and solves the problems in the prior art. The problems of insufficient safety and reliability and insufficient intelligence, especially for the cleaning operations of fully hidden frames, semi-hidden frames and internal point-supported glass curtain walls, have priority applicability.

The technical scheme adopted by the present invention to solve its technical problems is:

The glass curtain wall intelligent cleaning robot includes a sling safety module, a rack module, a cleaning module, a stain identification module, a walking air path module and an intelligent central control module, among which,

The sling safety module is fixedly installed on the roof of the building, and the rack module is connected to the rack module by means of safety ropes for crash prevention;

A rack module, including a transverse travel rack, a longitudinal travel rack, and a conversion rack, wherein the conversion rack is located at the cross transition connection of the transverse travel rack and the longitudinal travel rack, wherein the transverse travel rack, the longitudinal travel rack It is a frame structure and is movably matched between the horizontal travel frame and the conversion frame through the screw mechanism and the linear guide mechanism, and is driven by the servo motor II to adjust the relative position between the two; and, and in the longitudinal travel frame and conversion The racks are movably matched by the lead screw mechanism and the linear guide mechanism, and are driven by the servo motor I to adjust the relative position between the two;

At least one air cylinder is respectively fixed at both ends of the transverse travel frame and the longitudinal travel frame, and the end of the piston rod of the air cylinder is fixed with a suction cup, and the suction cup generates a negative pressure suction force of not less than 0.5Mpa;

a cleaning module, the cleaning module is installed on the conversion frame, the cleaning module is operated by attaching a rag to the glass to be cleaned and spraying water for cleaning, and an automatic filtering device and a water supply device are arranged in the cleaning module;

The stain identification module, including supporting sensors and cameras, wherein the end of the horizontal traveling rack or/and the vertical traveling rack is equipped with an obstacle avoidance sensor or/and a camera, and the image information collected by the obstacle avoidance camera is combined with the GPS positioning system for the cleaning robot. Record and feedback the traveling state of the fuselage; the rack module is equipped with a nine-axis sensor to feedback the fuselage attitude information;

A monitoring camera or/image sensor for real-time observation of the dust density of the glass panel is set on the cleaning module;

Each suction cup is equipped with an air pressure sensor to measure the negative pressure value inside the suction cup in real time to ensure safe and reliable suction of the suction cup;

The walking air path module uses the compressed air generated by the air compressor to generate negative pressure adsorption force through the vacuum generator and act on the suction cup;

The intelligent control module, with Arduino Mega 2560 as the core, controls the on-off of the relay module to control the switch and suction of the solenoid valve and the air pump, and coordinates the coordination of the stain identification module, the walking air path module and the cleaning module in combination with the data collected by the sensor and camera Work.

A conversion frame of a folding structure is composed of a top plate, a bottom plate, a turntable and a lock pin, and has a 90-degree folding action and a position locking function. Internal rotation, through this rotation, the frame can be rotated from a "cross" shape to a "one" shape folding structure, and a lock pin is arranged between the top plate and the bottom plate, and the lock pin is provided with corresponding pins at the two rotation limit positions. Holes to achieve position locking. After locking the position, the folding and unfolding positions can be stabilized.

The conversion frame is only a square aluminum plate, through which the frame is kept in a "cross" state.

The glass curtain wall intelligent cleaning robot adopts the mode of external water supply. The body is only equipped with a lightweight waste water circulating water tank. The external water supply takes water from the fire hydrants and other devices on the roof. The air compressor that provides compressed air is also mounted on the roof. To reduce the overall load of the machine.

The cleaning module is equipped with a waste water recovery device on the outer side of the lower end of the vertical traveling frame, and the collected waste water is injected into the filter device after passing through the single-phase throttle valve, and then the water pipe is transported to the circulating water tank mounted above the cleaning module, and then by the circulating water tank. The water pump supplies the filtered cleaning water to the cleaning module cleaning operation, and realizes the partial recycling and reuse of the cleaning water.

And set a turbidity detection sensor in the cleaning module to detect the quality of the filtered water. When it is detected that the water quality exceeds the standard, it will intelligently remind and stop to replace the clean water.

The waste water recovery device is composed of a waste water recovery cover and a filter screen, wherein the waste water recovery cover is located at the lowest point of the equipment.

For the cleaning module, the cleaning module adopts a self-powered circulating rag, the circulating rag is an end-to-end ring and is attached to and wipes the glass surface under the drive of the micro-motor, and the circulating rag is attached above the circulating rag. A scraper is installed, the scraper has an adsorption slit, the scraper absorbs part of the sewage in the rag by means of negative pressure provided by the pump, and plays the role of automatic cleaning and scrubbing of the rag to ensure the overall cleanliness of the rag.

The circulating rag is a composite densely woven cleaning rag consisting of an outermost layer of fleece, a middle layer of sponge layer and an innermost layer of fleece.

The filter device is located above the rag system. The filter device is composed of a Laval nozzle structure, a filter element and a filter chamber. The Laval nozzle structure is used, and the positive pressure compressed air is used as the power. The waste water in the hood is lifted and smoothly enters the filter bin of the filter device, wherein the Laval nozzle structure is a power lifting structure, which is used to extract the waste water from the scraper and the waste water recovery hood.

The filter element is a disposable filter element, which can be replaced and installed in the filter chamber.

A clean water supply port is also provided on the clean water side of the circulating water tank for supplying clean water.

The spray nozzle in the cleaning module sprays water or water mist along the two ends of the rag to wet and clean the rag. The clean water source of the spray nozzle comes from the circulating water tank and the high-altitude water supply.

In the stain recognition module, the OV2710 KS2A17 high-speed 120fps high frame rate 2 million USB image sensor is used to monitor the glass curtain wall, and the detection information is sent back to the upper computer. If the degree of contamination of the glass area to be cleaned is relatively large, reduce the speed of the robot, and then wipe the cleaning head repeatedly in this part to improve the cleaning effect. The lower computer mainly collects images, digitizes images, and sends image-related data to the upper computer through the image sensor. After receiving the numerical image information, the upper computer realizes image restoration after algorithm calculation for the operator to view. The whole process is essentially up and down. Bit-machine image transmission.

In order to improve the information transmission speed and save the data storage space, the lower computer performs discrete cosine transform (DCT) compression on the image collected by the sensor and sends it to the upper computer. The upper computer then performs inverse discrete cosine transform (IDCT) to achieve image restoration, DCT transform Usually, the image is divided into 8×8 sub-blocks, and DCT transform is performed on each sub-block, and then the transform result is quantized and encoded.

The cleaning process of the glass curtain wall intelligent cleaning robot created by the present invention is as follows:

Step 1, the sling safety module is fixed on the roof, the cleaning robot device is placed at the high point of the glass curtain wall to be cleaned, the water circuit, electric circuit and air circuit are connected, and the control signal is given by the main controller, and the longitudinal, The external air pump of the horizontal suction cup group is in the initial state after ventilation.

Step 2, start the cleaning operation of the glass curtain wall, the main controller gives a control signal to the vertical suction cup air pump, the suction cup of the vertical traveling rack is separated from the glass panel of the curtain wall, and the horizontal traveling rack is adsorbed on the glass curtain wall; open the cleaning module, cycle The rag wipes the glass curtain wall, and the suction nozzle of the scraper squeezes and scrapes the sewage and stains on the circulating rag, and then passes through the Laval nozzle structure, the filter element and the filter chamber in sequence, and then enters the circulating water tank; through the spray nozzle The circulating rag and glass curtain wall panel are sprayed with clean water, and the cleaning sewage flows down the glass panel, after filtering, it reaches the waste water recovery hood, and after filtering, it is transported to the circulating water tank;

The main controller starts the vertical traveling frame to move laterally left and right to complete the cleaning operation of the horizontal rectangular glass curtain wall. After the cleaning of this part is completed, the general controller starts the horizontal walking frame to move up and down, so as to realize the vertical rectangular glass curtain wall. cleaning operations;

Whether it is horizontal cleaning or vertical cleaning, when encountering stubborn stains, the image sensor will transmit the detection information to the upper computer, and the operator will stop the operation or reduce the cleaning speed according to the degree of contamination of the glass curtain wall, so that the cleaning module will stop the stains on the curtain wall. Parts are wiped repeatedly until they are clean;

Longitudinal walking cleaning process: The main controller starts the vertical walking servo motor I, and drives the vertical walking lead screw to rotate, so that the horizontal walking frame connected with the conversion frame can move longitudinally until the horizontal walking frame is separated from the lowest end of the vertical walking frame. 5cm; the general controller gives a control signal to the horizontal suction cup air pump, adjusts the horizontal walking suction cup and the curtain wall glass to generate adsorption force, detects the pressure signal through the air pressure sensor set at the lateral suction cup group, and gives feedback in time, so that the operator can understand the curtain wall in time The working state of the robot; the general controller makes the two suction cups for vertical walking fall off the glass curtain wall, and the general controller controls the vertical walking servo motor I to drive the vertical walking screw to rotate, so that the vertical walking frame moves longitudinally to realize the vertical walking process.

When the cleaning process is not completed, when the traveling frame moves to the vicinity of the window frame, the ultrasonic sensors equipped at the legs of the traveling frame cooperate with the frame drive module to realize the automatic obstacle avoidance function. During the movement process, the nine-axis sensor obtains the robot posture in time. information, and feed it back to the host computer, so that the operator can grasp the posture and stable state of the robot in time and make corresponding adjustments; when the cleaning process is completed, when the traveling frame moves to the vicinity of the window frame, the ultrasonic sensor equipped on the legs of the traveling frame In cooperation with the rack drive module, the parameters are fed back to the upper computer, and the operator can control the obstacle with one key.

Intelligent water circulation process: including three paths, one of which is: scraper, Laval tube, filter element, filter bin, water pump, and circulating water tank. The second way is: waste water recovery cover, water pump, circulating water tank. The three circuits are the roof water supply tank, external water pipe, solenoid valve, and circulating water tank.

There are two water spray channels, one of which is: circulating water tank, water pump, and spray nozzle I. The spray nozzle I is located inside the cleaning module shell and is used to humidify the cleaning cloth. The water supply here is used for cleaning the curtain wall cleaning cloth. . The second way is: circulating water tank, water pump, spray nozzle II. The spray nozzle II is located on the outside of the cleaning module shell, and is used to spray cleaning water and cleaning agent on the glass panel. A water level gauge is set in the circulating water tank to control the liquid level. When the water level is too high or too low, it will automatically alarm. When it is too high, the external water supply will be stopped until the water level returns to normal before supplying water.

The beneficial effects of the present invention are:

1. In the cleaning robot, the synergy of ultrasonic sensors and cameras can be used to achieve flexible obstacle avoidance, and real-time monitoring of the traveling process can be obtained.

2. The new cleaning module design, through the simultaneous work of atomizing spray nozzle and rolling cleaning, ensures the recycling of waste water, saving cleaning water and high-efficiency and high-quality cleaning effect.

3. The foldable and detachable traveling rack structure design can greatly save the floor space, facilitate carrying and transportation, and has low assembly difficulty and high structural stability.

4. The intelligent control system supports wired, infrared, wireless and other control methods, and can complete multiple cleaning instructions with one key, simplifying the operator's workload.

5. The external water supply and external air compressor greatly reduce the weight of the cleaning robot, and the safety rope of the sling safety module mounted on the fuselage ensures the safety and reliability of the cleaning work to a great extent.

6. The servo motor drives the ball screw with the sliding block and the guide rail. The transmission is stable, the friction is small, the response speed and sensitivity of the working mechanism are high, and the motion rigidity of the whole machine is high, which can realize high-precision, smooth and stable linear motion.

Description of drawings

Figure 1 is a perspective view of the robot in the folded state.

Fig. 2 is a second perspective view of the robot in a folded state.

Figure 3 is a front view of the robot in a folded state.

Figure 4 is a top view of the robot in a folded state.

Figure 5 is a bottom view of the robot in a folded state.

Figure 6 is a perspective view of the robot in the working state.

Figure 7 is a partial view of the folding mechanism.

FIG. 8 is a plan view of FIG. 7 .

FIG. 9 is a perspective view of the cleaning module.

FIG. 10 is a side view of FIG. 9 .

FIG. 11 is a front view of FIG. 9 .

Figure 12 is a schematic view of the internal explosion of the cleaning module equipped with the drive motor assembly.

FIG. 13 is another view of FIG. 12 .

Figure 14 is a schematic diagram of the structure and principle of the dust collecting and dehumidifying device.

Figure 15 Schematic diagram of robotic cleaning.

Figure 16 is a schematic diagram of the air circuit control of the vacuum system.

Figure 17 is a schematic diagram of the gas circuit vacuum detection control.

Figure 18 is a flowchart of the robot's autonomous obstacle avoidance.

Figure 19 is a general block diagram of the robot control system.

Figure 20 Cleaning path planning.

Figure 21 shows the lateral gait plan (the black end of the suction cup is the moving end).

Figure 22 shows the longitudinal gait plan (the black end of the suction cup is the moving end).

Pictured: 100 sling safety modules, 200 rack modules,

210 longitudinal travel frame, 211 rectangular frame I, 212 fixed frame II, 213 vacuum suction cup I, 214 double-rod cylinder I,

220 Horizontal Travel Frame, 221 Rectangular Frame II, 222 Fixed Frame II, 223 Cylinder II, 224 Vacuum Suction Cup II, 225 Cylinder Mounting Plate II, 226 Suction Cup Mounting Plate II, 227 Screw II, 228 Servo Motor II, 229 Linear Guide II,

300, 90 degree folding structure, 310 top plate, 320 bottom plate, 330 turntable, 340 lock pin,

400 cleaning module, 410 waste water recovery device, 411 waste water recovery hood,

420 filter device, 421 Laval nozzle structure, 422 filter element, 423 filter chamber,

430 circulating water tank, 431 filter,

440 cleaning device, 441 rag, 442 rotating shaft, 443 micro motor, 444 scraper, 445 spray nozzle.

Detailed ways

An intelligent cleaning robot for glass curtain wall, divided according to functions, the robot is composed of a sling safety module, a rack module, a cleaning module, a stain identification module, a walking air path module and an intelligent central control module, wherein the stain identification module passes through various The identification of the sensing terminal provides reliable walking data for walking, and cooperates with the cleaning module to effectively clean the glass.

It has horizontal and vertical walking, crossing obstacles, glass panel cleaning, intelligent water supply, real-time monitoring, waste water recycling and anti-overturning function design. It can monitor real-time progress, flexible vertical and horizontal travel, intelligent and controllable obstacle crossing, and has the advantages of high automation, high cleaning efficiency, high wastewater recovery rate, good mobility, strong operability, wide application range, energy saving and environmental protection. higher level characteristics.

It is used to replace the traditional manual high-altitude cleaning operations, and the entire cleaning process does not require contact between humans and robots or glass panels, realizing the purpose of replacing humans with machines.

For ease of description, the physical vertical direction of the building is positioned as the longitudinal direction, ie the longitudinal X coordinate. The horizontal direction of the building is defined as the lateral direction, that is, the lateral Y coordinate, and the direction perpendicular to the glass to be cleaned is defined as the Z coordinate. Various descriptions in the following implementation process are based on this.

In this embodiment, in order to facilitate the introduction and description, the parts of the same specification installed in different positions are distinguished by the methods of I, II, ..., such as vacuum suction cup I, vacuum suction cup II, this naming method should not be used cause unnecessary ambiguity.

A detailed introduction and description will be given below in conjunction with specific accompanying drawings 1 to 22 .

The sling safety module 100 is installed on the roof of the building. The frame in this robot mainly walks along the glass surface to be cleaned by means of adsorption. The sling safety module here suspends the frame by means of ropes, which is a safety measure. Use auxiliary methods, such as setting up anti-fall locks, to prevent crashes. The sling safety module can also be replaced by an anchor point of a fixed structure, which is also within the protection scope of the present invention.

The sling safety module described above also has the ability to adjust the position along the lateral direction.

The sling safety module is composed of an electric drive trolley, a hoist, and a rope. The electric drive trolley is a wheeled trolley and has the basic ability to travel along the Y direction at a fixed distance, that is, it can travel along the Y direction for a certain distance.

The upper end of the rope is tied to the hoist, and the lower end of the rope bypasses the anti-winding crossbar to connect with the frame module.

The rack module 200 adopts a foldable cross-shaped rack, and solves the problem of poor movement stability of the traditional cross-shaped rack. The present invention makes the following designs for the horizontal and vertical traveling racks: the upper and lower ends of the vertical traveling rack 210 are respectively fixed with a vacuum suction cup at the bottom of the cylinder through connecting plates, and the left and right ends of the horizontal traveling rack 220 are respectively connected at the bottom of the cylinder through connecting plates Each of the three vacuum suction cups arranged in a triangular structure is fixed to realize the step in the lateral direction (X-direction axis) and the up-down direction (Y-direction axis). At the same time, in view of the large volume and inconvenience of carrying the traditional cross-shaped rack, the present invention adopts a more advanced folding rack. After being folded, the rack is in a straight shape, which greatly reduces the volume of the rack.

The position adjustment of the above-mentioned horizontal and vertical traveling racks is carried out by means of an electrically driven lead screw slider structure, so as to realize the stepping action in the horizontal and vertical directions.

The folding, specific functions include

Function A: In order to facilitate the carrying, transportation and disassembly of the cleaning robot, the conversion frame between the horizontal and vertical traveling frames is improved, so that the horizontal and vertical frames can be rotated (rotation range 0-90°). The traveling frame can be rotated from a "cross" shape to a "one" shape, and two self-locking mechanisms are arranged on the rotating device of the conversion frame, so that the frame can realize automatic lock, and ensure the stability of the fuselage mechanism.

Function B. In order to realize the folding of the fuselage, lengthen the length of the longitudinal travel frame and the guide rail by 30%-40% (adjustable).

Specifically, the rack is composed of a transverse traveling rack 220, a longitudinal traveling rack 210, and a 90-degree folding structure 300 (transition rack). Among them, the main frame of the horizontal traveling frame 220 is formed by assembling aluminum alloy profiles to form a horizontal rectangular frame II 221 and a fixed frame II 222 located at both ends of the horizontal rectangular frame II. The fixed frame II is used to install the cylinder II 223 and the vacuum suction cup II 224. , the fixed frame is in the shape of a door and is perpendicular to the above-mentioned rectangular frame. A cylinder mounting plate II 225 is fixedly installed at the end of the fixed frame II in the Z direction. The cylinder mounting plate II 225 is also the installation part of the cylinder II. The cylinder II is a double-rod cylinder. A suction cup mounting plate II 226 is installed at the end of the piston rod of the cylinder II. Two vacuum suction cups II 224 are fixedly installed on the suction cup mounting plate II. The vacuum suction cup II adopts the suction cups sold in the conventional market, adopts the principle of negative pressure adsorption, and is in contact with the glass for adsorption. An air pressure sensor is added inside each suction cup to detect the negative pressure value between the suction cup and the suction glass, so as to judge whether the suction is in a normal state.

A lead screw II 227 is installed in the length direction of the above-mentioned rectangular frame II, one end of the lead screw II is movably connected with the rectangular frame II through a bearing, and the other end is connected with a servo motor II 228 through a coupling. Specifically, a pair of linear guide rails II 229 are installed on the double rails of the rectangular frame II. The linear guide rails II are connected to the top plate of the 90-degree folding structure 300 through the slider, that is to say, the top plate and the linear guide rails are matched by linear guide rail assemblies. The lead screw block used in conjunction with the above-mentioned lead screw is also fastened and fixed on the top plate by screws. During the working process, the horizontal traveling frame is driven by the above-mentioned servo motor II to move horizontally in the X direction, that is, the walking in the horizontal direction is realized by stepping the set distance each time.

The cleaning module 400 is installed just below the above-mentioned rectangular frame 221 near the central position, that is, the cleaning module 400 moves together with the rectangular frame 221 .

The longitudinal travel frame 210 is roughly the same in structure as the above-mentioned transverse travel frame, and is also composed of a rectangular frame I211, a fixed frame I212, a vacuum suction cup I213, a double-rod cylinder I214, etc. The difference is that in this structure, the number of suction cups is two. indivual. And the lead screw slider in the longitudinal traveling frame is fixedly connected with the bottom plate, and the bottom plate is a specific component of the 90-degree folding structure.

The lengths of the longitudinally traveling rack and the guide rail are lengthened by 30%-40% to form a space for accommodating the transversely traveling rack in a folded state, and a waste water recovery device is provided at the bottom end of the longitudinally traveling rack.

The outer sides of the horizontal and vertical racks are equipped with ultrasonic sensors + real-time cameras, and the cleaning robot is equipped with two cameras to precisely control its cleaning work on the hidden frame glass curtain wall, control it to prepare for cleaning obstacles, and record cleaning at the same time Feedback on the safe use of the glass panel during the process. This enables flexible obstacle avoidance. And through the image information fed back by the camera to the background combined with the GPS positioning system to record and feedback the traveling state of the cleaning robot. The gyroscope angle sensor mounted on the fuselage transmits data through two modes of TCP and UDP, and feeds back the attitude information (angular velocity, angle) of the fuselage.

The 90-degree folding structure 300 is designed and manufactured for the convenience of carrying, transportation and disassembly of the cleaning robot. Specifically, the 90-degree folding structure is composed of a top plate 310, a bottom plate 320, a turntable 330 and a locking pin 340, and has a 90-degree folding action and a position locking function. Specifically, the above-mentioned top plate 310 and bottom plate 320 are square aluminum plates, holes are drilled on the aluminum plate, the two plates are stacked in an aligned manner, and a turntable 330 is set in the center position, that is, between the top plate and the bottom plate The state can be rotated within a range of 90 degrees. Through this rotation, the rack can be rotated from a "cross" shape to a "one" shape folding structure. A locking pin is arranged between the top plate and the bottom plate, and the locking pin is provided with corresponding pin holes at the two rotation limit positions to achieve position locking. After locking the position, the folding and unfolding positions can be stabilized.

The above lock pins and pin holes form a positional self-locking mechanism, which enables the frame to achieve self-locking in both the "cross" shape and the "one" shape, and ensures the stability of the fuselage mechanism.

The style of the above-mentioned self-locking mechanism is not unique, and an electric turntable structure can also be used, and fast folding can also be realized.

The above-mentioned conversion frame can also be replaced by an aluminum plate, which does not have a folding function and adopts a non-folding cross-shaped walking frame, and a pneumatic suction cup and a two-way pneumatic cylinder are installed at the bottom of each frame. The retracting speed of the suction cup is realized by adjusting the pneumatic cylinder to realize walking and adsorption. The ball screw and nut mechanism is used, as shown in Figure 8-3, to achieve lateral and longitudinal movement, and the center panel is fixed on the guide rail. The mechanism has the characteristics of smooth movement, low noise, high precision, low friction and reversibility. This style is also within the protection scope of the present invention.

9 to 14, and FIG. 1, the cleaning module 400 is equipped with a waste water recovery device 410 on the outer side of the lower end of the longitudinal traveling frame, and the collected waste water is injected into the filter device 420 after passing through the single-phase throttle valve, and then the water pipe is transported to the cleaning device The circulating water tank 430 mounted above the module, and then the water pump of the circulating water tank supplies the filtered cleaning water to the cleaning device 440 for cleaning operation, so as to realize the circulation of the cleaning water. A turbidity detection sensor is set in the cleaning module to detect the quality of the filtered water. When it is detected that the water quality exceeds the standard, an intelligent reminder will be given and the machine will stop to replace the clean water.

The detailed module composition is introduced in detail:

The waste water recovery device 410 is composed of a waste water recovery cover 411 and a filter screen. The waste water recovery cover is located at the lowest point of the equipment, that is, the lowest end of the rectangular frame I211, and is fixed by an L-shaped cantilever, which is used to collect the leakage from the high point. The dripping water, water spots, etc., are returned to the filtering device 420 for filtering.

The cleaning module 440 adopts a self-powered circulating rag system. Specifically, the rag 441 in the cleaning module is driven to rotate by two rotating shafts 442, and the power of the rotating shaft adopts a chain-driven micro-motor 443 drive. And a scraper 444 is installed on the top of the circulating rag, the scraper has an adsorption slit, and the scraper absorbs a part of the sewage in the rag by providing negative pressure through the pump to automatically clean and scrub the rag. to ensure the overall cleanliness of the rag. Specifically, a composite densely woven cleaning rag (including three layers: the outermost layer of flannel - wipes dust and decontamination, the middle layer of sponge layer - absorbs sewage, the innermost layer of fleece - has a compact structure, strong wear resistance and stickiness fixed to the conveyor belt on the outside of the roller). When the cleaning rag with sewage and dust at the suction nozzle at the scraper 444 is rotated from below it, the strong suction will suck the sewage and dust on the rag to make it dry and clean, so that the next cleaning can be better. area to be cleaned. After the vacuum cleaner passes the sewage and dust through a small filter device, the obtained clean water is input into the waste water circulating water tank. The scraper between the rag and the cleaning module shell can scrape off part of the sewage adsorbed on the rag surface and the sponge layer and remove it.

The filter device 420, located above the rag system, adopts the Laval nozzle structure 421, and is powered by positive pressure compressed air to lift the waste water from the scraper 444 and the waste water recovery cover 411, and familiarly enter the filter in the filter chamber of the device. The above filter device 420 is composed of a Laval nozzle structure 421, a filter element 422 and a filter chamber 423, wherein the Laval nozzle structure 421 is a power lifting structure for extracting the waste water from the scraper 444 and the waste water recovery cover 411 . The filter element 422 is a disposable filter element, which is replaceable and installed in the filter chamber. In the filter chamber, impurities and dirt are retained by the filter element 422, which belongs to primary filtration. The filtered water is re-input to the circulating water tank through the filtered water output pipe at the bottom of the filter chamber for filtration. A large number of filter plates and filters are installed in the circulating water tank. bag, the water in the circulating water tank is finely filtered. The power lift between the filter chamber and the circulating water tank also adopts the Laval nozzle structure.

The water in the circulating water tank 430 has two specifications of waste water and clean water. The waste water located in front of the filter screen 431 is discharged by a special return pipe, and the clean water is then supplied by the water pump of the circulating water tank to the cleaning device 440 for cleaning. Operation.

Further, a clean water supply port is also provided on the clean water side of the circulating water tank for supplying clean water.

The spray nozzle 445 in the cleaning device and its installation, the spray nozzle described above sprays water or water mist along the two ends of the rag, that is, near the rotating shaft, to wet and clean the rag. The clean water source of the spray nozzle comes from the circulating water tank.

The following describes the intelligent system and its working principle:

1. The gas circuit control process and principle of the vacuum system:

The air circuit of the vacuum system, refer to Figure 16, the hardware composition mainly includes: air compressor (including air source, air storage tank, pneumatic triple parts, air relief valve), two-position five-way solenoid valve, single-phase throttle valve, double-rod cylinder , Two-position three-way solenoid valve, vacuum generator assembly, vacuum suction cup group.

The working process of the air circuit control: 1) Power on first, then turn on the air compressor, the compressed air generated by the operation of the air compressor is stored in the air storage tank, so that the air pressure in the tank increases continuously, and then automatically stops the pressurization after reaching the rated value; 2 ) The leaked gas is dry and clean, and the total gas path is divided into four parts, which lead to the suction cups and cylinders at each leg of the newly entered rack; 3) The air path connections at each leg are the same, and the total amount of air at each leg is divided. The gas path divides the compressed gas into two parts through a three-way, one way of compressed air passes through the three-position two-way solenoid valve that controls the suction cup group, and communicates with the vacuum generator and vacuum suction cup through the air pipe, and the other way of compressed air passes through the two-position five-way. The solenoid valve is connected to the throttle valve and the double-rod cylinder through the gas pipe. The expansion and contraction of the double-rod cylinder is realized by the circuit-controlled two-position, five-way solenoid valve, and the suction and release of the suction cup group is realized by the circuit-controlled two-position, three-way solenoid valve. (Pressure detection device - the pressure relay can be set at the suction pipe of the suction cup to detect the suction of the suction cup group and ensure that the suction cup group is tightly attached to the working surface.)

In the above components, the working principle of the vacuum generator is to spray the transmitted compressed air through its internal Laval nozzle structure. As a result, the air at the vacuum port of the Laval nozzle is continuously sucked away, so that a certain degree of vacuum is formed in the cavity between the vacuum suction cup and the suction surface, so that the suction cup is tightly adsorbed on the surface of the curtain wall. Because of its small size, simple structure, light weight and convenient installation, a vacuum generator is selected as the vacuum generator for the curtain wall cleaning robot.

The vacuum generator vacuumizes the suction cup group. When the suction cup is not fully attached or partially attached, the vacuum safety valve at the suction cup intake pipe will block the air from entering. When the suction cup is tightly attached to the glass curtain wall surface, the vacuum will continue to be drawn. A vacuum switch for detecting the vacuum degree of the suction cup group can be set in some circuits, and the vacuum degree at this place will be converted into an input signal and transmitted to the single-chip microcomputer (control system).

2. Motion Control

Before the curtain wall cleaning operation, first measure the building surface structure, the measured data includes: single panel size, window frame height, standard layer, non-standard layer related parameters, etc., and then input data to the single-chip microcomputer, the data includes: Travel path planning, travel rack moving distance, end position, etc. In order to prevent the robot from colliding with the open window (exhaust fan), the cameras and sensors at the feet of the robot will locate the detected and searched obstacles, and transmit them to the control system to realize real-time communication to ensure cleaning. The job went smoothly.

3. Photoelectric isolation

In order to prevent the failure of the motor drive part from burning out the lower computer, a photoelectric isolation module is added between the lower computer and the motor drive board to protect the lower computer. Photoelectric isolation isolates the input signal and the output signal through an optocoupler, which can effectively improve the anti-interference ability of the circuit, protect the microcontroller or the main control board, and can also convert the signal voltage.

4. Air circuit vacuum detection function

The real-time detection of the vacuum degree of the suction cup is realized by the air pressure sensor. When the vacuum degree reaches the threshold value, a signal is output, so that the lower computer can control the movement of the robot. The negative pressure value measured from the air pressure sensor is an analog value, which cannot intuitively judge the pressure value of the suction cup, and it is also inconvenient for the Mega 2560 to process data and then control the robot action. Therefore, the relay is used to control the on-off. The value conversion can directly judge the pressure value of the suction cup at this time, and send it to the upper computer for display. The air pressure sensor is arranged between the solenoid valve and the vacuum generator. As shown in Figure 17, the suction cup detects the negative pressure value of each suction cup in real time through the air pressure sensor, and transmits the data to the Mega2560 through analog-to-digital conversion. The Mega2560 controls the speed of the negative pressure motor Realize negative pressure closed-loop control. The entire adsorption module provides reliable adsorption force for robot movement and operation under the control of the lower computer.

5. Automatic obstacle avoidance function

Each of the four legs of the robot's traveling frame is equipped with an ultrasonic sensor to monitor the movement direction of the robot in real time. In order to ensure that the curtain wall cleaning robot does not collide with the window frame, the critical value between each leg of the traveling frame and the obstacle is set to 5cm. The robot can realize the function of autonomous obstacle avoidance by using multiple ultrasonic sensors combined with the traveling frame drive module. The specific process is as follows: : When a single curtain wall panel is not cleaned, the robot encounters an obstacle during the movement. When the horizontal distance between the robot and the obstacle is less than or equal to the critical value, the robot stops moving in the original moving direction and performs longitudinal displacement. , the displacement distance is the width of the cleaning device. After the displacement is completed, the movement in the opposite direction to the original direction is performed. When the longitudinal distance is less than or equal to the critical value, the robot will perform lateral displacement, and the displacement distance is the width of the cleaning module. After displacement, it will move in the opposite direction of the original movement direction. When it is in the corner, it will perform obstacle crossing, so as to achieve the purpose of obstacle detection, autonomous obstacle avoidance and obstacle crossing preparation. The robot's autonomous obstacle avoidance flowchart is shown in Figure 18.

6. Motion status detection

The nine-axis sensor WT901 can be selected as the robot attitude detection device. It supports TCP/UDP connection and consists of a three-axis gyroscope, a three-axis accelerometer, a three-axis Euler angle and a three-axis magnetic field, and the output digital quantities are all 16 bits. The digital motion processor (DMP) that comes with WT901 combined with the embedded motion processing library (MPL) can directly convert the sensor raw data into quaternion output. Pull angle, ie (pitch angle pitch, roll angle roll and yaw angle yaw).

The stain recognition module, including various sensors and cameras used together. The brain in the stain recognition module uses Arduino Mega 2560 as the driving and adsorption part of the main control microcontroller to control modules such as relays, 42-type stepper motors, and TB6600 drivers. Through the 24v switching power supply, the 220v AC voltage is converted into a stable 24v DC voltage to supply power for the entire product. Step down the 24v DC voltage to 12v DC power supply through three LM2596s DC-DC step-down modules, two of which are connected to the GND and VCC pins of the TB6600 to supply power to the TB6600 stepper motor driver and work normally for the 42-type stepper motor Lay the voltage foundation, A+, A-, B+, B- should be connected to the four signal pins of the stepper motor, connect ENA-, DIR-, PUL- to the ground, ENA+, DIR+, PUL+ are connected to the Arduino Mega On the 2560 pin, ENA+ is connected to the low level, the high and low levels of DIR+ control the forward and reverse direction of the stepper motor, and the PUL+ input sine wave with high and low ratings controls the movement of the stepper motor.

Another LM2596s DC-DC step-down module reduces the 24v DC voltage to 12v DC voltage, powers the water pump and the DC motor, and controls the operation of the water pump and the DC motor through the on-off of the relay module. The 24v DC voltage is directly connected to the LM2596 regulated power supply module, and through the potentiometer, the voltage of the output port is reduced to 3.3v and 5v, which supplies power to the Arduino Mega2560 and provides high potential for switches and relays. By pressing the switch button, the high level of the Arduino Mega2560 is passed in to achieve control. The Arduino Mega 2560 controls the on-off of the relay module to control the switch and pull-in of the solenoid valve and the air pump, so as to control the whole system more harmoniously and work together. Among them, the outer sides of the horizontal and vertical racks are equipped with ultrasonic sensors + real-time cameras, so as to realize flexible obstacle avoidance, and through the image information fed back by the camera to the background combined with the GPS positioning system, the traveling status of the cleaning robot can be recorded and fed back. The gyroscope angle sensor mounted on the fuselage transmits data through two modes of TCP and UDP, and feeds back the attitude information (angular velocity, angle) of the fuselage. The external camera above the cleaning module observes the dust density of the glass panel in real time, and adjusts the cleaning mode according to the cleanliness of the glass panel (when the panel has a lot of dust, the cleaning method is adopted multiple times and the cleaning speed is accelerated. Travel each foot of the rack An air pressure sensor is installed at the suction cup to measure the negative pressure value inside the suction cup to ensure safe and reliable suction of the suction cup.

The mechanical transmission in the stain identification module adopts a servo motor to drive the ball screw, the ball screw passes through the nut seat, and the other end is fixed on the screw support seat. The nut seat is connected to the support plate, and the sliding block fixed on the conversion frame is driven by the rotation of the lead screw to move in the guide rail type, and the step span in each horizontal and vertical direction is controlled by controlling the servo motor.

Each of the four-end suction cup groups of the traveling frame is connected with the corresponding double-rod air cylinder, and the air cylinder is used to raise and lower the fuselage. The double-rod cylinder has four states (completely ejected, fully retracted, ejected by half the stroke, and ejected by a quarter of the stroke). By using a three-position, five-way solenoid valve, an induction switch (optional magnetic switch) is set for the position where the cylinder stops. , proximity switch or photoelectric switch control).

Specifically, referring to FIG. 15 , when the cleaning robot performs the longitudinal cleaning operation, the cylinder of the longitudinal travel rack pops up by a quarter stroke, and makes the cleaning rag press on the glass, and the cylinders of the transverse travel rack are fully retracted, so that the transverse travel rack is fully retracted. The frame is in the suspended state. Driven by the servo motor of the vertical traveling frame, the cleaning rag cleans the glass along the surface of the glass within the longitudinal travel range. The cleaning process adopts the top-down sequence to clean the glass one by one.

When it is necessary to clean the stains that are difficult to clean, start the special program. The starting process of the special program is as follows: when cleaning the stubborn stains, the cylinders at the horizontal and vertical travel racks are ejected by a quarter stroke, that is, horizontal and vertical. The six suction cups on the traveling frame are all adsorbed on the glass panel at the same time, increasing the pressure between the brush roller and the glass, and cleaning the stains at a fixed point.

In order to ensure the cleaning speed of the cleaning robot and facilitate the control of the robot's travel. We use the horizontal reciprocating motion to form an S-shaped travel route to clean the glass wall. As shown in Figure 5-7, the cleaning robot starts cleaning from the upper left corner of the top of the wall. When the cleaning robot moves to the top of the horizontal wall, the longitudinal station is changed, and the change distance is 200mm, and then it continues to move to the left, repeating Cycle until the entire area to be cleaned is cleaned and then stop working. Refer to Figure 20 for cleaning path planning.

When it is necessary to perform horizontal cleaning, the cylinder at the horizontal traveling frame is ejected by a quarter stroke, and the vertical cylinder is fully retracted, and the cleaning is carried out from left to right or from right to left. When the cleaning robot crosses the obstacle, adjust the pop-up height of the suction cup of the traveling rack according to the height of the obstacle (window frame, etc.). When crossing the obstacle horizontally, all the vertical traveling racks are ejected, and the cylinders at the horizontal traveling rack are all retracted and moved horizontally. Crossing, when 1/2-3/4 of the fuselage crosses the obstacle, the cylinders at the horizontal frame are all ejected and tightly adsorbed to the glass panel. At this time, the suction cup of the vertical traveling frame is deflated, the cylinder retracts its full stroke, and the vertical frame crosses to the right. After the complete crossing, the cylinders are all ejected, the suction cup is tightly adsorbed on the panel, and the crossing action is repeated until the other side of the horizontal frame is moved. A sucker group also crossed the obstacle.

Taking into account the weight of the fuselage, the external water supply mode is adopted, and the fuselage is only equipped with a lightweight waste water circulating water tank. The suction cup group adopts an external air compressor pipeline to complete the suction and discharge function of the suction cup group. The external water supply takes water from devices such as fire hydrants on the roof, and the air compressor is also mounted on the roof to reduce the overall load on the machine.

In order to ensure the cleaning speed of the cleaning robot and facilitate the control of the travel, the glass panel is cleaned by a reciprocating S-shaped travel route, as shown in FIG. 15 .

Specifically, referring to FIG. 19 , the intelligent control part in the stain identification module has the following composition and function.

1. Control system

The brain in the intelligent control system uses the Arduino Mega 2560 as the driving and adsorption part of the main control microcontroller to control modules such as relays, 42-type stepper motors, and TB6600 drivers. Through the 24v switching power supply, the 220v AC voltage is converted into a stable 24v DC voltage to supply power for the entire product. Step down the 24v DC voltage to 12v DC power supply through three LM2596s DC-DC step-down modules, two of which are connected to the GND and VCC pins of the TB6600 to supply power to the TB6600 stepper motor driver and work normally for the 42-type stepper motor Lay the voltage foundation, A+, A-, B+, B- should be connected to the four signal pins of the stepper motor, connect ENA-, DIR-, PUL- to the ground, ENA+, DIR+, PUL+ are connected to the ArduinoMega2560 pin On the pin, ENA+ is connected to low level, the high and low levels of DIR+ control the forward and reverse direction of the stepper motor, and PUL+ inputs the sine wave with high and low evaluation to control the movement of the stepper motor.

The TB 6600 is controlled by the Mega 2560 to drive two NEMA17 (42-type stepper motors), and the two stepper motors are rotated forward and reversed to drive the lead screw to control the machine's up, down, left, and right movements, and control the eight paths of solenoid valves and Control the suction of the relay of each pipeline to control the suction cup. By controlling the digital motor of the gearbox, the cleaning disk is driven to rotate, and the water pump is controlled to spray water to the panel through the external water pipe, and the panel cleaning effect is better through the coordinated action of the upper glass scraper and the rotating cleaning disk.

2. Power system

The LM2596s DC-DC step-down module reduces the 24v DC voltage to 12v DC voltage, supplies power for the water pump and the DC motor, and controls the operation of the water pump and the DC motor through the on-off of the relay module. The 24v DC voltage is directly connected to the LM2596 regulated power supply module, and through the potentiometer, the voltage of the output port is reduced to 3.3v and 5v to supply power to the Arduino.Mega 2560 and provide high potential for switches and relays. By pressing the switch button, the high level of the Arduino Mega 2560 is passed in to achieve control. The Arduino Mega 2560 controls the on-off of the relay module to control the switch and pull-in of the solenoid valve and the air pump, so as to control the whole system more harmoniously and work together.

3. Cleanliness detection

In order to improve the cleaning effect of the robot, the OV2710 KS2A17 high-speed 120fps high frame rate 2 million USB image sensor is used to monitor the glass curtain wall, and the detection information is sent back to the host computer. The operator on the ground adjusts the robot running speed according to the pollution degree of the glass curtain wall of the high-rise building. , If the degree of contamination of the glass area to be cleaned is relatively large, reduce the speed of the robot, and then wipe the cleaning head repeatedly in this part to improve the cleaning effect. The lower computer mainly realizes image acquisition, image digitization, and image-related data sending to the upper computer through the image sensor. After receiving the numerical image information, the upper computer realizes the image restoration through the relevant algorithm for the operator to view. The whole process is essentially the upper and lower positions. machine image transmission. Image data occupies much more storage space than text data. Generally, image data has redundancy, so it is necessary to perform certain image compression. In order to improve the information transmission speed and save the data storage space, the lower computer performs discrete cosine transform (DCT) compression on the image collected by the sensor and sends it to the upper computer. The upper computer then performs inverse discrete cosine transform (IDCT) to achieve image restoration. The DCT transform usually divides the image into 8*8 sub-blocks, performs DCT transform on each sub-block separately, and then quantizes and encodes the transform result.

DCT transform must be combined with quantization to achieve the effect of compression. Quantization is to divide the DCT coefficient by the quantization factor and then round it to the nearest integer with reference to the grayscale quantization table. After DCT transformation, the low-frequency coefficients (the main information of the image) are mainly concentrated in the upper left corner of the matrix, and the high-frequency coefficients are mainly concentrated in the lower right corner of the matrix and have very small values. After quantization, they become zero, so the number of valued coefficients is small. According to the principle of variable length coding, short code words are used to encode bytes with high probability, and long word codes are used to encode bytes with low probability, so as to realize image compression and achieve the purpose of fast transmission of image information.

4. Siemens CP343-1 Ethernet communication module 6GK7343-1EX30

Communication processor CP 343-1 for connection of CP343-1 to Industrial Ethernet, communication via ISO and TCP/IP, PROFINET IO controller or PROFINET I/O device, integrated 2-port switch ERTEC 200S7, extract/write , send/receive RFC1006, Multicast, DHCP, NTC-CPU Sync with and without diagnostics, initialization via LAN, 2 RJ45 ports, suitable for LAN 10/100Mbit/s.

As the main controller of the robot body, the lower computer mainly controls various movements of the robot. As the object of remote control by the operator, the host computer mainly indirectly controls the movement of the robot body or obtains relevant movement parameters. In order to realize the normal data exchange between the upper computer and the lower computer, it is necessary to select a reasonable communication method according to the communication environment. Therefore, the operator can achieve real-time monitoring of the robot working at heights through the host computer, so as to prevent the robot from leaving the control range of humans and improve safety. Using the communication method between the upper and lower computers, the operator can control the motion state of the robot, and at the same time, through the relevant information fed back by the robot sensing system, he can perceive the working environment around the robot and improve the intelligence and flexibility of the robot control system.

CPU with large program memory and program size for demanding applications. For serial machines, special machines as well as cross-domain automation tasks in factories as a centralized controller in production lines with centralized and distributed O. PROFINET connection with dual-port switch with high processing power for binary and floating-point operations. PROFINET IO controller for distributed/O operation via PROFINET. PROFINET I-Device as an intelligent PROFINET device for connecting CPUs with SIMATIC or third-party PROFINETO controllers. Distributed intelligence is implemented via PROFINET in a Component Based Automation (CBA) system. PROFINET proxy for PROFIBUS DP intelligent devices in Component Based Automation (CBA) systems. Integrated web server with option to create user-defined web sites into MPI/PROFIRIIS DP master/slave interface. The SIMATIC engineering tools are supported via the isochronous mode of PROFIBUS and PROFINET.

The cleaning process of the glass curtain wall intelligent cleaning robot created by the present invention is as follows:

Step 1, place the cleaning robot device on the glass curtain wall panel to be cleaned, and supply water and electricity to the cleaning robot through external hanging wires, air pipes and water pipes, so that the suction cups on the horizontal traveling rack and the vertical traveling racks are connected. In contact with the glass curtain wall, the control signal is given by the main controller, and the external air pump of the suction cup: that is, the two suction cups in the vertical traveling rack are adsorbed on the curtain wall glass, and the two suction cup groups in the horizontal traveling rack are also adsorbed at the same time. on the curtain wall glass.

Step 2: Start the cleaning operation of the glass curtain wall, and the main controller will give a control signal to the vertical suction cup air pump.

Adjust the suction force between the suction cup of the vertical traveling rack and the curtain wall glass panel, and detect the pressure signal through the air pressure sensor set at the suction cup of the horizontal traveling rack. curtain wall. At the same time, the drive motor on the cleaning module is turned on to drive the connected drive gear to rotate, so as to drive the transmission chain to drive the rotating shaft connected to the driven gear to rotate synchronously, so that the rag is cyclically rolled, and the rag is a ring connected end to end And it rotates with the rotating shaft, so as to realize the wiping operation of the glass curtain wall. The process is dynamic and circular enough to maintain the wiping effect. At the same time, the master controller gives a control signal to the power air pump of the scraper, and a negative pressure cavity is formed at the narrow slit of the scraper formed by the active airflow of the power pump, and the suction nozzle of the scraper rotates towards the rag to be cleaned by circulation. The direction is opposite, and the inclined design has a certain squeezing and scraping effect on the cleaning rag, so that the sewage and stains of the cleaning rag are sucked into the dust suction channel, so that the rag is kept clean. Through this process, the stains on the glass surface of the curtain wall are removed It is taken away by a rag, and then scraped off by a scraper with a suction nozzle. The scraped stains and sewage pass through the filter device composed of Laval nozzle structure, filter element and filter bin. The hood is discharged, and the filtered water flows into the filter chamber. There is a pump outside the filter chamber. One end of the pump is connected to the outlet pipe of the filter chamber, and the other end is connected to the water inlet pipe of the circulating water tank and inserted into the circulating water tank, so that the filtered water can be used for clean water after filtering. supply. At the same time, one end of the circulating cleaning water inlet pipeline is connected with the external water supply pipe for curtain wall cleaning, and the other end is connected with the external water pump outlet pipe of the circulating water tank, and the water supply is utilized by the circulating water pump. The circulating water is continuously sprayed onto the rag through the spray nozzle inside the cleaning shell (cleaning the upper edge of the rag) (wet the cleaning rag). It is good to clean the stains on the glass curtain wall. The waste water recovery cover of the cleaning sewage and waste water recovery device is fixed on the vertical traveling rack, just below the cleaning module, and two filters are set inside to clean the sewage along the glass panel. It flows down and is filtered by the first filter screen and collected into the waste water recovery hood directly below it. The waste water recovery hood is equipped with a second sewage filter screen, and the second filter screen will filter and process the cleaned solid waste. It remains in the sewage collection tank, and the filtered water is transported by the water pump. The water pump is installed on the outside of the waste water recovery cover. sent to the circulating water tank.

Referring to the paths in Fig. 20 to Fig. 22, the Mega 2560 master controller activates the servo motor II fixed on the horizontal travel frame, drives the ball screw to rotate, and converts the frame so that the longitudinal travel frame connected with the conversion frame is The horizontal movement to the left and right ensures that the cleaning mechanism completes the cleaning operation of the horizontal rectangular area glass curtain wall. After the cleaning of this part is completed, the main controller of Mega 2560 starts the servo motor I fixed on the vertical traveling frame, and drives the vertical ball screw to rotate, so that the horizontal traveling frame connected with the conversion frame moves up and down, so as to realize Longitudinal (vertical) rectangular area glass curtain wall cleaning operations.

Whether it is horizontal cleaning or vertical cleaning, when encountering stubborn stains, the OV2710 image sensor will transmit the detection information to the upper computer. According to the pollution degree of the glass curtain wall, the operator will control the vertical travel servo motor II and the horizontal travel servo motor by Mega 2560. Motor I stops running or reduces the cleaning speed, so that the cleaning module repeatedly wipes the stained part of the curtain wall until it is cleaned, thereby improving the cleaning effect.

Longitudinal walking cleaning process: The Mega 2560 master controller starts the vertical walking servo motor I, and drives the vertical walking screw to rotate, so that the horizontal walking frame connected with the conversion frame can move longitudinally until the horizontal walking frame is separated from the vertical walking frame. 5cm at the bottom. The Mega 2560 sends a control signal to the lateral suction cup air pump, adjusts the lateral walking suction cup and the curtain wall glass to generate adsorption force, detects the pressure signal through the air pressure sensor set at the lateral suction cup group, and gives feedback in time, so that the operator can know the working status of the curtain wall robot in time. safety and reliability. The Mega 2560 master controller makes the vertical walking two suction cups fall off the glass curtain wall. At this time, the whole robot mainly relies on the horizontal two suction cup groups to be adsorbed on the glass curtain wall. The longitudinal travel servo motor I is controlled by the Mega2560 master controller to drive the longitudinal travel lead screw to rotate, so that the longitudinal travel frame moves longitudinally, thereby realizing the longitudinal travel process. During this process, the cleaning module has been completing the cleaning operation. When the cleaning process is not completed, when the traveling frame moves to the vicinity of the window frame, the ultrasonic sensors equipped at the legs of the traveling frame cooperate with the frame drive module to realize the automatic obstacle avoidance function. During the movement process, the nine-axis sensor obtains the robot posture in time. The information is fed back to the host computer, so that the operator can grasp the robot's posture and stable state in time and make corresponding adjustments. When the cleaning process is completed, when the traveling frame moves to the vicinity of the window frame, the ultrasonic sensors equipped at the legs of the traveling frame cooperate with the frame drive module to feed back the parameters to the upper computer, and the operator can control the obstacle with one key. In the same way, the cleaning operation process of the next glass panel is carried out.

Intelligent water circulation process: including three paths, one of which is: scraper, Laval tube, filter element, filter bin, water pump, and circulating water tank. The second way is: waste water recovery cover, water pump, circulating water tank. The three circuits are the roof water supply tank, external water pipe, solenoid valve, and circulating water tank.

There are two water spray channels, one of which is: circulating water tank, water pump, and spray nozzle I. The spray nozzle I is located inside the cleaning module shell and is used to humidify the cleaning cloth. The water supply here is used for cleaning the curtain wall cleaning cloth. . The second way is: circulating water tank, water pump, spray nozzle II. The spray nozzle II is located on the outside of the cleaning module shell, and is used to spray cleaning water and cleaning agent on the glass panel. A water level gauge is set in the circulating water tank to control the liquid level. When the water level is too high or too low, it will automatically alarm. When it is too high, the external water supply will be stopped until the water level returns to normal before supplying water.

Claims (12)

1. An intelligent cleaning robot for glass curtain walls, which comprises a sling safety module, a frame module, a cleaning module, a walking gas circuit module, a stain recognition module and an intelligent central control module, and is characterized in that,

the sling safety module is fixedly arranged at the roof of a building and is used for connecting the anti-falling machine with the rack module in a safety rope mode;

the frame module comprises a transverse advancing frame, a longitudinal advancing frame and a conversion frame, wherein the conversion frame is positioned at a cross transition joint of the transverse advancing frame and the longitudinal advancing frame, the transverse advancing frame and the longitudinal advancing frame are of frame structures, and the transverse advancing frame and the conversion frame are movably matched through a screw rod mechanism and a linear guide mechanism and are driven by a servo motor II to adjust the relative positions of the transverse advancing frame and the conversion frame; the longitudinal traveling rack and the conversion rack are movably matched through a screw rod mechanism and a linear guide mechanism and are driven by a servo motor I to adjust the relative position between the longitudinal traveling rack and the conversion rack;

at least one cylinder is respectively fixed at two ends of the transverse advancing rack and the longitudinal advancing rack, a suction disc is fixed at the tail end of a piston rod of the cylinder,

the cleaning module is arranged on the conversion rack, the cleaning module works in a mode that cleaning cloth is attached to glass to be cleaned and water is sprayed for cleaning, and a circulating water tank for storing water is fixed on the conversion rack;

the device comprises a stain recognition module, a sensor or/and a camera for obstacle avoidance, wherein the sensor or/and the camera is carried at the end part of a transverse travelling rack or/and a longitudinal travelling rack; a nine-axis sensor is carried in the frame module to feed back the attitude information of the machine body; a sensor or/and a camera for observing the dust density of the glass panel in real time is/are arranged on the cleaning module;

the walking gas circuit module generates negative pressure adsorption force by using compressed air through the vacuum generator and acts on the sucker; a negative pressure sensor is arranged in the gas path, and the negative pressure value inside the sucker is measured in real time;

and the intelligent central control module and the master controller control the on-off of the relay module to control the on-off and the suction of the electromagnetic valve and the air pump and coordinate the cooperative work of the stain recognition module, the walking air circuit module and the cleaning module.

2. The intelligent cleaning robot for the glass curtain wall as claimed in claim 1, wherein the conversion frame is composed of a top plate, a bottom plate, a rotary table and a lock pin, and has 90-degree folding action and position locking function, the rotary table is arranged between the top plate and the bottom plate, and can rotate between the top plate and the bottom plate within 90 degrees, through the rotation, the frame is rotated from a cross shape to a linear folding structure, the lock pin is arranged between the top plate and the bottom plate, the lock pin is provided with corresponding pin holes at two rotation limit positions, so that position locking is realized, and after the lock position is locked, the folding and unfolding positions are stabilized.

3. The intelligent cleaning robot for glass curtain walls as claimed in claim 1, wherein the conversion frame is only a square aluminum plate, and the frame is maintained in a cross state by the conversion frame.

4. The intelligent cleaning robot for glass curtain walls according to claim 1, characterized in that the intelligent cleaning robot for glass curtain walls adopts an external water supply mode, the external water supply takes water from the roof and is connected with a circulating water tank through an electromagnetic valve, and an air compressor for providing compressed air is installed on the roof.

5. The intelligent cleaning robot for the glass curtain wall as claimed in claim 1, wherein a wastewater recovery cover is carried on the outer side of the lower end of the longitudinal traveling frame, and collected wastewater is lifted and injected into the circulating water tank after being filtered.

6. The intelligent cleaning robot for the glass curtain wall as claimed in claim 1, wherein a turbidity detection sensor is arranged in the circulating water tank to detect the quality of filtered water, and when the quality of the filtered water exceeds the standard, intelligent reminding is performed and the cleaning water is stopped to be replaced.

7. The intelligent cleaning robot for the glass curtain wall as claimed in claim 1, wherein the cleaning module is a self-powered circulating cleaning cloth, the circulating cleaning cloth is in an annular shape connected end to end and is driven by a micro motor to clean the surface of the glass, a scraper is attached to the upper side of the circulating cleaning cloth and provided with a negative pressure suction nozzle, the negative pressure suction nozzle is connected with a laval nozzle structure, a filtering element and a filtering bin in sequence, and the filtering bin is connected with a circulating water tank.

8. The intelligent cleaning robot for glass curtain walls according to claim 7, wherein the circulating cleaning cloth is a composite closely woven cleaning cloth consisting of an outermost layer of flannelette, a middle layer of sponge and an innermost layer of flannelette.

9. The intelligent cleaning robot for the glass curtain wall as claimed in claim 1, wherein a spray nozzle I for spraying the circulating cleaning cloth and a spray nozzle II for spraying the glass are arranged in the cleaning module.

10. Use method of the intelligent cleaning robot for glass curtain walls according to claims 1 to 9, characterized in that:

firstly, a sling safety module is fixed on a roof, a cleaning robot device is placed at a high point position of a glass curtain wall to be cleaned, a water path, a circuit and a gas path are connected, a master controller gives out control signals, an external air pump of a longitudinal sucker group and a transverse sucker group is started at the same time, after ventilation, four transverse suckers on a transverse advancing rack are in contact with two longitudinal suckers on a longitudinal advancing rack and the glass curtain wall, and the cleaning robot device is in an initial state;

starting the cleaning operation of the glass curtain wall, wherein the master controller gives a control signal to the longitudinal sucker air pump, the sucker of the longitudinal advancing rack is separated from the glass panel of the curtain wall, and the transverse advancing rack is adsorbed on the glass curtain wall; opening the cleaning module, wiping the glass curtain wall by the circulating cleaning cloth, extruding and scraping sewage and stains on the circulating cleaning cloth by a suction nozzle opening of the scraping plate, and enabling the sewage and the stains to sequentially pass through the Laval nozzle structure, the filtering element and the filtering bin and then enter the circulating water tank; cleaning water is fed into the circulating cleaning cloth and the glass curtain wall panel through the spray nozzle for spraying, the cleaning sewage flows down along the glass panel, reaches the waste water recovery cover after being filtered, and is conveyed to the circulating water tank after being filtered;

the main controller starts the longitudinal traveling rack to move left and right transversely to complete the cleaning operation of the glass curtain wall with the transverse rectangular area, and after the part is cleaned, the main controller starts the transverse traveling rack to move up and down, so that the cleaning operation of the glass curtain wall with the longitudinal rectangular area is realized;

no matter horizontal cleaning or vertical cleaning operation is carried out, when stubborn stains are encountered, the image sensor transmits detection information to the upper computer, and an operator stops running or reduces the cleaning speed according to the pollution degree of the glass curtain wall, so that the cleaning module repeatedly wipes the stains on the curtain wall until the stains are cleaned.

11. The use method of the intelligent glass curtain wall cleaning robot as claimed in claim 10, is characterized in that: the longitudinal walking cleaning process comprises the following steps: a main controller starts a longitudinal walking servo motor I to drive a longitudinal walking screw rod to rotate, so that a transverse walking frame connected with a conversion frame realizes longitudinal movement until the transverse walking frame is 5cm away from the lowest end of the longitudinal walking frame; a master controller gives a control signal to the transverse sucker air pump, the transverse walking sucker and the curtain wall glass are adjusted to generate adsorption force, a pressure signal is detected through an air pressure sensor arranged at the transverse sucker group and fed back in time, and an operator can know the working state of the curtain wall robot in time; the main controller enables the two suckers to longitudinally walk to fall off the glass curtain wall, and the main controller controls the longitudinal walking servo motor I to drive the longitudinal walking screw rod to rotate, so that the longitudinal walking rack longitudinally moves, and the longitudinal walking process is realized.

12. The use method of the intelligent glass curtain wall cleaning robot as claimed in claim 10, is characterized in that: when the cleaning process is not finished and the traveling rack moves to the position near the window frame, the ultrasonic sensors arranged at the support legs of the traveling rack are matched with the rack driving module to realize the automatic obstacle avoidance function, the nine-axis sensors timely acquire the posture information of the robot in the moving process and feed the posture information back to the upper computer, so that an operator timely grasps the posture and the stable state of the robot and makes corresponding adjustment; when the cleaning process is completed and the advancing rack moves to the position near the window frame, the ultrasonic sensor arranged at the supporting leg of the advancing rack is matched with the rack driving module, parameters are fed back to the upper computer, and one-key obstacle crossing is realized through the operation of an operator.

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