CN112806894B - Glass curtain wall cleaning method and bionic robot - Google Patents
Glass curtain wall cleaning method and bionic robot Download PDFInfo
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- CN112806894B CN112806894B CN202110075882.8A CN202110075882A CN112806894B CN 112806894 B CN112806894 B CN 112806894B CN 202110075882 A CN202110075882 A CN 202110075882A CN 112806894 B CN112806894 B CN 112806894B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 247
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 156
- 239000011521 glass Substances 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000009193 crawling Effects 0.000 claims abstract description 64
- 230000003592 biomimetic effect Effects 0.000 claims abstract description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 51
- 230000008569 process Effects 0.000 claims description 19
- 239000007788 liquid Substances 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 8
- 239000006260 foam Substances 0.000 claims description 7
- 238000002360 preparation method Methods 0.000 claims description 7
- 238000005507 spraying Methods 0.000 claims description 6
- 230000001680 brushing effect Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000005201 scrubbing Methods 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims 1
- 238000005096 rolling process Methods 0.000 description 8
- 239000012459 cleaning agent Substances 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 230000009194 climbing Effects 0.000 description 5
- 239000006096 absorbing agent Substances 0.000 description 4
- 241000252254 Catostomidae Species 0.000 description 3
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a cleaning method of a glass curtain wall, which comprises the steps of S1, dividing glass to be cleaned into a plurality of cleaning areas with equal areas according to the single-step cleaning area of a bionic robot; s2, determining a starting point of the bionic robot, and sequentially connecting the central points of all the cleaning areas to form a motion track of the bionic robot; s3, defining the central point of the first cleaning area of each piece of glass as an entry point; s4, controlling the single-step crawling distance of the bionic robot according to the central points of the adjacent cleaning areas, enabling the bionic robot to traverse the central points of all the cleaning areas according to the motion trail and cleaning each cleaning area; in step S4, the position of the biomimetic robot is corrected each time the biomimetic robot crawls to the cleaning area where the entry point is located. The cleaning method disclosed by the invention can ensure that the glass can be cleaned completely and comprehensively, and the cleaning efficiency is improved. The invention also discloses a bionic robot for implementing the method.
Description
Technical Field
The invention relates to the field of cleaning of buildings, in particular to a glass curtain wall cleaning method and a bionic robot for implementing the glass curtain wall cleaning method.
Background
The problem that the manual operation danger coefficient is high and the cleaning efficiency is low exists in the cleaning of the current glass curtain wall. The invention patent application with the publication number of CN109907689A discloses a climbing type high-altitude glass wiping robot, which comprises a chassis, a climbing mechanism for climbing, a movable cleaning device for cleaning, a sucking disc sucking point cleaning device for cleaning a sucking disc sucking point, and a control device for the devices, wherein the climbing mechanism comprises two groups of mechanical arms for climbing and vacuum sucking discs for fixing the robot. The invention patent application with the publication number of CN108852144A discloses an automatic cleaning device and a cleaning method for a glass curtain wall, which comprises a water absorber, a cleaning agent water tank, an atomizing nozzle, a rolling brush rotating mechanism, a chassis and a scraper, wherein the water absorber is arranged above the chassis, the cleaning agent water tank is connected with the atomizing nozzle through a water pipe, the rolling brush is arranged at the front lower part of the chassis and is connected with a driving motor through a rolling brush rotating mechanism, the driving motor is arranged above the chassis and is positioned between the cleaning agent water tank and the rolling brush rotating mechanism, the scraper is arranged below the chassis and is connected with the water absorber through an air pipe, when the glass curtain wall is cleaned, the atomizing nozzle atomizes the cleaning agent and sprays the cleaning agent on the surface of the rolling brush, the rolling brush rotating mechanism controls the rolling brush to rotate under the action of the driving motor, the rolling brush coats the atomized cleaning agent on the curtain wall and cleans the curtain wall in the rotating process, the scraper is fixed at the rear part of the chassis and is used for scraping redundant sewage, and the water absorber is used for recovering the sewage scraped by the scraper.
The above patent application only discloses a robot for cleaning glass curtain wall, and the robot easily causes repeated cleaning or omission of partial area in the cleaning process, resulting in low cleaning efficiency and incomplete cleaning.
Disclosure of Invention
In order to improve the cleaning efficiency of the glass curtain wall and ensure thorough and complete cleaning, the invention provides a glass curtain wall cleaning method, and the specific technical scheme is as follows.
A method for cleaning glass curtain wall includes the following steps
S1, dividing the glass to be cleaned into a plurality of cleaning areas with equal areas according to the single-step cleaning area of the bionic robot;
s2, determining a starting point of the bionic robot, and sequentially connecting the central points of all the cleaning areas to form a motion track of the bionic robot;
s3, defining the central point of the first cleaning area of each piece of glass as an entry point;
s4, controlling the single-step crawling distance of the crawling foot of the bionic robot according to the distance between the central points of the adjacent cleaning areas, so that the bionic robot traverses the central points of all the cleaning areas according to the motion trail and cleans each cleaning area;
in step S4, the position of the biomimetic robot is corrected each time the biomimetic robot crawls to the cleaning area where the entry point is located.
Further, the process of correcting the position of the biomimetic robot includes: determining the vertical distance between the entry point of each piece of glass and the two sides of the length and the width of the glass in step S3; after the bionic robot climbs to a cleaning area where an entry point is located, measuring the vertical distance between the center point of the cleaning area of the bionic robot and the two sides of the length and the width of the glass where the entry point is located; and (4) obtaining correction quantities of all joints of the bionic robot according to the error between the measured distance and the distance determined in the step (S3) so as to correct the position of the bionic robot.
Further, the step crawling distance of the crawling foot of the bionic robot is controlled according to the distance between the central points of the adjacent cleaning areas, and the step crawling distance comprises the following steps: taking the center point of the cleaning area of the bionic robot as the origin of a base coordinate system, and taking the center of a sucker of a crawling foot of the bionic robot as the origin of a tool coordinate system; acquiring the offset of the single-step crawling distance of the central point of the cleaning area of the bionic robot; and the offset of the center of the sucker is obtained through the conversion of a coordinate system, and the control quantity of the motion of each joint of the bionic robot is obtained through the inverse kinematics of the crawling foot position and posture change.
Further, after the biomimetic robot finishes cleaning the current cleaning area in step S4, it is determined whether the current cleaning area is the final cleaning area; if yes, recovering the bionic robot; and if not, controlling the bionic robot to climb to the next cleaning area.
Further, the center point of the last cleaning area of each glass is defined as a leaving point in step S3; after the bionic robot is controlled to crawl to the next cleaning area, whether the bionic robot leaves from the cleaning area where the leaving point is located is judged; if yes, adjusting the bionic robot to enter a ranging preparation state pose; if not, the bionic robot is adjusted to enter a working preparation state pose.
Further, the process of cleaning the current cleaning area by the bionic robot comprises the following steps: firstly, spraying foam washing liquid to a current cleaning area, and brushing the current cleaning area; cleaning solution is then sprayed onto the cleaning area and the cleaning solution and residual foam from the scrubbing are wiped off.
The invention also provides a bionic robot for implementing the glass curtain wall cleaning method, which comprises a trunk, working feet, crawling feet and a distance measuring sensor; the working feet are connected with the trunk and used for cleaning glass; the crawling foot is connected with the trunk and used for keeping the trunk fixed and driving the trunk to crawl; the distance measuring sensor is connected with the trunk and used for measuring the vertical distance between the center point of the cleaning area of the bionic robot and the length and width of the glass.
Further, the crawling foot comprises a first multi-joint mechanical arm, a vacuum chuck and an electric air pump, wherein the vacuum chuck is connected with one end of the first multi-joint mechanical arm; the electric air pump is connected with the vacuum chuck through a hose and is used for controlling the air pressure in the vacuum chuck; the working foot comprises a second multi-joint mechanical arm and a cleaning device, and the cleaning device is rotatably connected with the second multi-joint mechanical arm through a sixth motor.
Further, the first multi-joint mechanical arm or the second multi-joint mechanical arm comprises a fixed arm, a rotating arm, a first swinging arm, a second swinging arm, a third swinging arm and a fourth swinging arm which are connected in sequence; the fixed arm is connected with the trunk; the rotating arm is rotatably connected with the fixed arm through a first motor; the first swing arm is connected with the rotating arm in a swinging mode through a second motor; the second swinging arm is connected with the first swinging arm in a swinging manner through a third motor; the third swinging arm is connected with the second swinging arm in a swinging way through a fourth motor; the fourth swing arm is swingably connected to the third swing arm by a fifth motor.
The cleaning system comprises a cleaning water tank, a trunk water tank, a cleaning water pump and a high-pressure spray head, wherein the cleaning water tank is placed at a high position of a building and is connected with the trunk water tank through a cleaning liquid pipeline, the cleaning water pump is arranged in the trunk water tank and is connected with the trunk water tank, and the cleaning water pump is mounted in the trunk and moves along with the trunk; and the high-pressure spray head is connected with the cleaning water pump and is used for spraying cleaning solution.
Has the beneficial effects that: 1. according to the glass curtain wall cleaning method provided by the invention, the glass to be cleaned is divided into a plurality of cleaning areas with equal areas according to the single-step cleaning area of the bionic robot, the bionic robot is controlled to clean the glass area by area according to the track formed by the central points of all the cleaning areas, and the position of the bionic robot is corrected when the bionic robot climbs to the cleaning area where the entry point of each piece of glass is located, so that the cleaning efficiency is improved, and the complete and complete cleaning of all the areas to be cleaned of the glass is ensured.
2. According to the glass curtain wall cleaning method provided by the invention, when the bionic robot crawls to the cleaning area where the entry point is located, the position of the bionic robot is corrected by measuring the vertical distance between the center point of the cleaning area of the bionic robot and the length and width sides of the glass where the entry point is located, so that the accuracy of the position of the bionic robot in the crawling process is ensured, and the thorough and complete cleaning of all areas to be cleaned of the glass is ensured; the position of the bionic robot is adjusted when the bionic robot enters each piece of glass, the adjusting method is simple and convenient, and the cleaning efficiency is improved to the maximum extent.
3. According to the bionic robot, the multi-joint mechanical arm with multiple degrees of freedom is designed to rotate and swing, so that the flexibility of the bionic robot in the crawling and cleaning processes is improved; the single-step cleaning area of the bionic robot is increased through the matching of the rotating arm and the plurality of swinging arms, so that the cleaning efficiency is improved.
4. According to the bionic robot, the cleaning water tank is separated from the bionic robot, and the cleaning water tank is arranged at the high position of a building, so that the operation load of the bionic robot is reduced, and the operation safety of the bionic robot is improved.
Drawings
FIG. 1 is a schematic flow chart of the glass curtain wall cleaning method of the present invention;
FIG. 2 is a schematic view of the present invention dividing the glass to be cleaned into a plurality of equal-area cleaning regions;
FIG. 3 is a schematic view of the bionic robot for cleaning glass curtain walls;
FIG. 4 is a schematic view of the overall structure of the bionic robot of the present invention;
FIG. 5 is a schematic view of the first multi-joint robot or the second multi-joint robot according to the present invention.
Reference numerals: 1. cleaning the water tank; 2. glass; 3. a torso; 4. a working foot; 5. crawling feet; 6. a ranging sensor; 7. a control unit; 11. cleaning the water pump; 12. a high pressure spray head; 13. a trunk water tank; 41. an electric air pump; 42. a first multi-joint mechanical arm; 43. a vacuum chuck; 44. an electronic valve; 45. a hose; 51. a second multi-joint mechanical arm; 52. cleaning the brush; 53. cleaning the scraping strip; 101. a fixed arm; 102. a rotating arm; 103. a first swing arm; 104. a second swing arm; 105. a third swing arm; 106. a fourth swing arm; 107. a first motor; 108. a second motor; 109. a third motor; 110. a fourth motor; 111. a fifth motor; 112. and a sixth motor.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Example 1
The embodiment provides a glass curtain wall cleaning method, which comprises the following steps:
s1, dividing the glass to be cleaned into a plurality of cleaning areas with equal areas according to the single-step cleaning area of the bionic robot;
s2, determining a starting point of the bionic robot, and sequentially connecting the central points of all the cleaning areas to form a motion track of the bionic robot;
s3, defining the central point of the first cleaning area of each piece of glass as an entry point;
s4, controlling the single-step crawling distance of the crawling foot of the bionic robot according to the distance between the central points of the adjacent cleaning areas, enabling the bionic robot to traverse the central points of all the cleaning areas according to the motion trail and cleaning each cleaning area;
in step S4, the position of the biomimetic robot is corrected each time the biomimetic robot crawls to the cleaning area where the entry point is located.
According to the glass curtain wall cleaning method provided by the embodiment, the crawling path of the bionic robot is planned off line before the bionic robot is used for cleaning glass, and the bionic robot cleans the glass according to the planned path, so that the completeness and the thoroughness of cleaning are ensured. In the off-line planning, dividing the glass to be cleaned into a plurality of cleaning areas with equal areas according to the single-step cleaning area of the bionic robot, wherein the single-step cleaning area of the bionic robot refers to the area of the bionic robot during single-step cleaning, and the single-step cleaning area of the bionic robot can be defined according to the requirements of actual working conditions; determining a starting point of the bionic robot, sequentially connecting the central points of all the cleaning areas to form a motion track of the bionic robot, traversing the central points of all the cleaning areas by the bionic robot according to the motion track, and cleaning all the cleaning areas respectively; during off-line planning, the central point of the first cleaning area of each piece of glass is defined as an entry point, the first cleaning area of each piece of glass refers to the cleaning area which is passed by the crawling robot when the crawling robot crawls to the glass, and in the crawling process of the bionic robot, when the bionic robot crawls to the cleaning area where the entry point is located each time, the position of the bionic robot is corrected. The position of the crawling robot is corrected when the glass enters each piece of glass, the crawling robot is guaranteed to move along a planned track, all the glass is completely cleaned, and meanwhile the cleaning efficiency of the bionic robot is guaranteed.
In this embodiment, the process of correcting the position of the biomimetic robot includes: determining the vertical distance between the entry point of each piece of glass and the two sides of the length and the width of the glass in step S3; after the bionic robot climbs to a cleaning area where an entry point is located, measuring the vertical distance between the center point of the cleaning area of the bionic robot and the two sides of the length and the width of the glass where the entry point is located; and correcting the position of the biomimetic robot according to the error between the measured distance and the distance determined in the step S3 to obtain the correction amount of each joint of the biomimetic robot. The method comprises the steps of determining the vertical distance between the entry point of each piece of glass and the length and width sides of the glass during trajectory planning, measuring the vertical distance between the central point of the cleaning area of the bionic robot and the length and width sides of the glass where the entry point is located by using a distance measuring device when the bionic robot reaches the entry point of a certain piece of glass, and calculating the correction amount of each joint of the bionic robot according to the error between the measured vertical distance and the vertical distance determined during planning, so that the position of the bionic robot is corrected.
In this embodiment, the process of correcting the position of the biomimetic robot further includes correcting the overall orientation of the biomimetic robot, and the process of correcting the overall orientation of the biomimetic robot includes: in step S3, determining an angle between the axis of the reference coordinate system and the two sides of the length and width of the glass, using the central point of the cleaning area as the origin of the reference coordinate system; when the bionic robot climbs to a cleaning area where an entry point is located, taking the center point of the cleaning area of the bionic robot as the original point of a base coordinate system, and measuring included angles between the axis of the base coordinate system and the two sides of the length and the width of the glass by using a distance measuring device; and correcting the overall orientation of the bionic robot according to the included angles between the axial direction of the reference coordinate system and the two sides of the length and the width of the glass and the error between the axial line of the base coordinate system and the included angles between the axial line of the reference coordinate system and the two sides of the length and the width of the glass.
The position of the bionic robot is corrected by the method, the position of the bionic robot does not need to be measured in real time, and the correction process is simple.
Specifically, as shown in fig. 1, the detailed steps of the glass curtain wall cleaning method in the present embodiment include:
firstly, dividing glass to be cleaned into a plurality of cleaning areas with equal areas according to the single-step cleaning area of the bionic robot;
secondly, determining a starting point of the bionic robot, and sequentially connecting the central points of all the cleaning areas to form a motion track of the bionic robot;
defining the central point of the first cleaning area of each glass as an entry point and the central point of the last cleaning area of each glass as an exit point;
fourthly, controlling the single-step crawling distance of the crawling foot of the bionic robot according to the distance between the central points of the adjacent cleaning areas;
fifthly, initializing each subsystem of the bionic robot, and starting the bionic robot to work;
sixthly, judging whether the bionic robot is at an entry point, and adjusting the bionic robot to a working preparation state pose to clean the current cleaning area after confirmation;
seventhly, after the bionic robot finishes cleaning the current cleaning area, judging whether the current cleaning area is a final cleaning area; if yes, recovering the bionic robot; if not, controlling the bionic robot to climb to the next cleaning area;
eighthly, after the bionic robot is controlled to crawl to the next cleaning area, judging whether the bionic robot leaves from the cleaning area where the leaving point is located; if yes, adjusting the bionic robot to enter a ranging preparation state pose; and if not, adjusting the pose of the bionic robot to enter a working preparation state.
In this embodiment, the process of controlling the single-step crawling distance of the crawling foot of the biomimetic robot according to the distance between the central points of the adjacent cleaning areas includes: taking the center point of the cleaning area of the bionic robot as the origin of a basic coordinate system, and taking the center of a sucker of a crawling foot of the bionic robot as the origin of a tool coordinate system; acquiring the offset of the single-step crawling distance of the central point of the cleaning area of the bionic robot; and the offset of the center of the sucker is obtained through the conversion of a coordinate system, and the control quantity of the motion of each joint of the bionic robot is obtained through the inverse kinematics of the crawling foot position and posture change.
In this embodiment, the process of cleaning the current cleaning area by the biomimetic robot includes: firstly, spraying foam washing liquid to a current cleaning area, and brushing the current cleaning area; cleaning solution is then sprayed onto the cleaning area and the cleaning solution and residual foam from the scrubbing are wiped off.
In this embodiment, the determination of whether the biomimetic robot is located in the cleaning area where the entry point is located, whether the biomimetic robot leaves from the exit point, and whether the current cleaning area is the final cleaning area may be determined according to the number of crawling of the biomimetic robot.
The glass curtain wall cleaning method provided by the embodiment can ensure that the bionic robot can comprehensively clean all glass, and avoid the efficiency of missed cleaning; and the position of the bionic robot is corrected when the bionic robot enters each piece of glass, so that the cleaning efficiency of the bionic robot is ensured.
Example 2
The embodiment provides a bionic robot for implementing the glass curtain wall cleaning method in the embodiment 1, which comprises a trunk 3, a working foot 4, a crawling foot 5 and a distance measuring sensor 6; the working feet 4 are connected with the trunk 3 and used for cleaning the glass 2; the crawling foot 5 is connected with the trunk 3 and used for keeping the trunk 3 fixed and driving the trunk 3 to crawl; the distance measuring sensor 6 is connected with the trunk 3 and used for measuring the vertical distance between the center point of the cleaning area of the bionic robot and the two sides of the length and the width of the glass 2.
The bionic robot disclosed by the embodiment drives the bionic robot to crawl through the crawling foot 5, so that the bionic robot traverses the central points of all cleaning areas, and all the cleaning areas are respectively cleaned through the working foot 4; when the bionic robot climbs to a cleaning area where an entry point of a certain piece of glass 2 is located, the vertical distance between the center point of the cleaning area of the bionic robot and the length and width of the glass 2 is measured through the distance measuring sensor 6 to correct the position of the bionic robot.
In the present embodiment, as shown in fig. 4, the crawling foot 5 includes a first multi-joint mechanical arm 42, a vacuum chuck 43 and an electric air pump 41, wherein the vacuum chuck 43 is connected with one end of the first multi-joint mechanical arm 42; the electric air pump 41 is connected with the vacuum sucker 43 through a hose 45 and is used for controlling the air pressure inside the vacuum sucker 43; the working foot 4 comprises a second multi-joint robot arm 51 and a cleaning device which is rotatably connected to the second multi-joint robot arm 51 by a sixth motor 112. The vacuum chuck 43 is driven to move by the movement of a plurality of joints of the first multi-joint mechanical arm 42, and the vacuum chuck 43 adsorbs and releases the glass 2 by changing the air pressure in the vacuum chuck 43 through the electric air pump 41. The cleaning device is driven to move by the motion of a plurality of joints of the second multi-joint mechanical arm 51, so that the single-step cleaning area of the bionic robot is increased.
In the embodiment, as shown in fig. 4, the bionic robot comprises four crawling feet 5 and four working feet 4, wherein the crawling feet 5 are divided into an upper left crawling foot, a lower left crawling foot, an upper right crawling foot and a lower right crawling foot; the number of the electric air pumps 41 is two, the two electric air pumps 41 are respectively connected with an electronic valve 44, one electric air pump 41 controls the vacuum suckers 43 on the upper left crawling foot and the lower right crawling foot through the electronic valve 44, the other electric air pump 41 controls the vacuum suckers 43 on the lower left crawling foot and the upper right crawling foot through the other electronic valve 44, and the two electric air pumps 41 respectively control the vacuum suckers 43 on the two groups of crawling feet 5 to realize crawling and adsorption of the bionic robot; the working feet 4 comprise two first working feet and two second working feet, the cleaning device on the first working feet is a cleaning brush 52 and is used for brushing the glass 2, the cleaning device on the second working feet is used for cleaning the cleaning liquid and the foam by a cleaning scraping strip 53, the two first working feet are symmetrically arranged along the trunk 3, and the two second working feet are also symmetrically arranged along the trunk 3.
Specifically, the first multi-joint robot 42 has the same structure as the second multi-joint robot 51, and as shown in fig. 5, the first multi-joint robot 42 or the second multi-joint robot 51 includes a fixed arm 101, a rotating arm 102, a first swing arm 103, a second swing arm 104, a third swing arm 105, and a fourth swing arm 106 connected in this order; the fixed arm 101 is connected with the trunk 3; the rotating arm 102 is rotatably connected with the fixed arm 101 through a first motor 107; the first swing arm 103 is swingably connected to the rotating arm 102 by a second motor 108; the second swing arm 104 is swingably connected to the first swing arm 103 by a third motor 109; the third swing arm 105 is swingably connected to the second swing arm 104 by a fourth motor 110; the fourth swing arm 106 is swingably connected to the third swing arm 105 by a fifth motor 111. In the crawling and walking process of the bionic robot, the rotating arm 102 is controlled to rotate by the first motor 107, the first swing arm 103, the second swing arm 104, the third swing arm 105 and the fourth swing arm 106 are respectively controlled to swing by the second motor 108, the third motor 109, the fourth motor 110 and the fifth motor 111, the single-step cleaning area and the single-step crawling distance of the bionic robot are increased, and the obstacle crossing capability of the bionic robot is improved. The single-step crawling distance specifically refers to an offset value of an origin of a reference coordinate system of the bionic robot after the left upper crawling foot, the left lower crawling foot, the right upper crawling foot and the right lower crawling foot move once respectively.
In the embodiment, the bionic robot further comprises a cleaning system, the cleaning system comprises a cleaning water tank 1, a trunk water tank 13, a cleaning water pump 11 and a high-pressure spray head 12, the cleaning water tank 1 is placed at a high position of a building and is connected with the trunk water tank 13 through a cleaning liquid pipeline, the cleaning water pump 11 is placed in the trunk water tank 13 and is connected with the trunk water tank 13, and the cleaning water pump 11 is installed in the trunk 3 and moves along with the trunk 3; the high-pressure spray head 12 is connected with the cleaning water pump 11 and is used for spraying cleaning liquid. A small amount of cleaning liquid is stored in the trunk water tank 13, the cleaning water pump 11 pumps water from the trunk water tank 13, and when the liquid level of the cleaning liquid in the trunk water tank 13 is lower than a set value, the trunk water tank 13 is filled with water through the cleaning water tank 1.
The cleaning water tank 1 is placed at a high position of a building, so that the load of the bionic robot is reduced, and the safety of the bionic robot during operation is improved. In order to further reduce the load of the bionic robot, a power supply system for supplying power to each motor and a motor control system for controlling the motion of each motor are also placed at the high position of the building; the power supply system is connected with the bionic robot through a cable assembly and supplies power to all assemblies of the bionic robot; the motor control system is connected with a control unit 7 on the bionic robot and used for controlling the action of each motor.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.
Claims (7)
1. A glass curtain wall cleaning method is characterized in that: comprises the following steps
S1, dividing the glass to be cleaned into a plurality of cleaning areas with equal areas according to the single-step cleaning area of the bionic robot;
s2, determining a starting point of the bionic robot, and sequentially connecting the central points of all the cleaning areas to form a motion track of the bionic robot;
s3, defining the central point of the first cleaning area of each piece of glass as an entry point;
s4, controlling the single-step crawling distance of the crawling foot of the bionic robot according to the distance between the central points of the adjacent cleaning areas, enabling the bionic robot to traverse the central points of all the cleaning areas according to the motion trail and cleaning each cleaning area;
in step S4, the position of the biomimetic robot is corrected each time the biomimetic robot crawls to the cleaning area where the entry point is located;
the process of correcting the position of the bionic robot comprises the following steps: determining the vertical distance between the entry point of each piece of glass and the two sides of the length and the width of the glass in step S3; after the bionic robot climbs to a cleaning area where an entry point is located, measuring the vertical distance between the center point of the cleaning area of the bionic robot and the two sides of the length and the width of the glass where the entry point is located; correcting the position of the bionic robot by obtaining correction quantities of all joints of the bionic robot according to the error between the measured distance and the distance determined in the step S3;
the process of correcting the position of the bionic robot further comprises correcting the overall orientation of the bionic robot;
the process of correcting the overall orientation of the bionic robot comprises the following steps: in step S3, determining an angle between the axis of the reference coordinate system and the two sides of the length and width of the glass, using the central point of the cleaning area as the origin of the reference coordinate system; when the bionic robot climbs to a cleaning area where an entry point is located, taking the center point of the cleaning area of the bionic robot as the original point of a base coordinate system, and measuring included angles between the axis of the base coordinate system and the two sides of the length and the width of the glass by using a distance measuring device; correcting the overall orientation of the bionic robot according to the included angles between the axial direction of a reference coordinate system and the length and width sides of the glass and the error between the axial line of a base coordinate system and the included angles between the axial line of the reference coordinate system and the length and width sides of the glass;
the bionic robot comprises a trunk (3), a working foot (4), a crawling foot (5) and a distance measuring sensor (6); the working feet (4) are connected with the trunk (3) and used for cleaning the glass (2); the crawling foot (5) is connected with the trunk (3) and used for keeping the trunk (3) fixed and driving the trunk (3) to crawl; the distance measuring sensor (6) is connected with the trunk (3) and used for measuring the vertical distance between the center point of the cleaning area of the bionic robot and the two sides of the length and the width of the glass (2);
the crawling foot (5) comprises a first multi-joint mechanical arm (42), a vacuum sucker (43) and an electric air pump (41), wherein the vacuum sucker (43) is connected with one end of the first multi-joint mechanical arm (42); the electric air pump (41) is connected with the vacuum sucker (43) through a hose (45) and is used for controlling the air pressure inside the vacuum sucker (43); the working foot (4) comprises a second multi-joint mechanical arm (51) and a cleaning device, and the cleaning device is rotatably connected with the second multi-joint mechanical arm (51) through a sixth motor (112).
2. The method for cleaning glass curtain walls according to claim 1, characterized in that: the process of controlling the single-step crawling distance of the crawling foot of the bionic robot according to the distance between the central points of the adjacent cleaning areas comprises the following steps: taking the center point of the cleaning area of the bionic robot as the origin of a basic coordinate system, and taking the center of a sucker of a crawling foot of the bionic robot as the origin of a tool coordinate system; acquiring the offset of the single-step crawling distance of the central point of the cleaning area of the bionic robot; and the offset of the center of the sucker is obtained through the conversion of a coordinate system, and the control quantity of the motion of each joint of the bionic robot is obtained through the inverse kinematics of the crawling foot position posture change.
3. The method for cleaning a glass curtain wall as claimed in claim 1, wherein: after the biomimetic robot finishes cleaning the current cleaning area in step S4, determining whether the current cleaning area is a final cleaning area; if yes, recovering the bionic robot; and if not, controlling the bionic robot to climb to the next cleaning area.
4. A method for cleaning glass curtain walls according to claim 3, characterized in that: defining the center point of the last cleaning zone of each glass as a leaving point in step S3; after the bionic robot is controlled to crawl to the next cleaning area, whether the bionic robot leaves from the cleaning area where the leaving point is located is judged; if yes, adjusting the bionic robot to enter a distance measurement preparation state pose; and if not, adjusting the pose of the bionic robot to enter a working preparation state.
5. The method for cleaning a glass curtain wall as claimed in any one of claims 1 to 4, wherein: the process of cleaning the current cleaning area by the bionic robot comprises the following steps: firstly, spraying foam washing liquid to a current cleaning area, and brushing the current cleaning area; cleaning solution is then sprayed onto the cleaning area and the cleaning solution and residual foam from the scrubbing are wiped off.
6. The method for cleaning glass curtain walls according to claim 1, characterized in that: the first multi-joint mechanical arm (42) or the second multi-joint mechanical arm (51) comprises a fixed arm (101), a rotating arm (102), a first swinging arm (103), a second swinging arm (104), a third swinging arm (105) and a fourth swinging arm (106) which are connected in sequence; the fixed arm (101) is connected with the trunk (3); the rotating arm (102) is rotatably connected with the fixed arm (101) through a first motor (107); the first swing arm (103) is connected with the rotating arm (102) in a swinging mode through a second motor (108); the second swing arm (104) is connected with the first swing arm (103) in a swinging mode through a third motor (109); the third swing arm (105) is connected with the second swing arm (104) in a swinging mode through a fourth motor (110); the fourth swing arm (106) is swingably connected to the third swing arm (105) by a fifth motor (111).
7. The method for cleaning glass curtain walls according to claim 1, characterized in that: the cleaning system comprises a cleaning water tank (1), a trunk water tank (13), a cleaning water pump (11) and a high-pressure spray head (12), wherein the cleaning water tank (1) is placed at a high position of a building and is connected with the trunk water tank (13) through a cleaning liquid pipeline, and the cleaning water pump (11) is placed in the trunk water tank (13) and is connected with the trunk water tank (13); the high-pressure spray head (12) is connected with the cleaning water pump (11) and is used for spraying cleaning liquid.
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| CN114458036A (en) * | 2022-01-10 | 2022-05-10 | 武汉大学 | High-altitude cleaning robot and high-altitude cleaning method |
| CN114715305A (en) * | 2022-05-07 | 2022-07-08 | 广东电网有限责任公司 | Bionic quadruped robot for cleaning live equipment |
| CN115268468B (en) * | 2022-09-27 | 2023-01-24 | 深圳市云鼠科技开发有限公司 | Method, device, equipment and medium for correcting wall-following coordinates of cleaning robot |
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Application publication date: 20210518 Assignee: Hunan Hongyuyun Technology Co.,Ltd. Assignor: Hunan City University Contract record no.: X2023980052590 Denomination of invention: A cleaning method for glass curtain walls and a biomimetic robot Granted publication date: 20220621 License type: Common License Record date: 20231215 |